diff --git a/grounding_cot/PnPCounterToSink/extras/episode_000000/cot_annotations.json b/grounding_cot/PnPCounterToSink/extras/episode_000000/cot_annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..72ebf6e50fd8b6588091155eacbd3928e5628cdc --- /dev/null +++ b/grounding_cot/PnPCounterToSink/extras/episode_000000/cot_annotations.json @@ -0,0 +1,25178 @@ +{ + "sample_key": "PnPCounterToSink|0", + "subtask_list": [ + "approach the apple", + "grasp the apple", + "lift the apple", + "move to the sink", + "place the apple in the sink" + ], + "segment_labels_raw": { + "1": [ + "approach the apple", + "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping." + ], + "2": [ + "grasp the apple", + "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it." + ], + "3": [ + "lift the apple", + "The robot's gripper is holding the red apple and has moved it vertically upwards, separating it from the counter surface to transition towards the sink." + ], + "4": [ + "lift the apple", + "The robot arm is positioned over the sink holding the red apple, consistent with the previous 'lift' action. The apple remains suspended above the counter surface rather than being placed down or moved away, indicating the lifting phase is ongoing or just completed." + ], + "5": [ + "move to the sink", + "The robot arm is positioned over the sink and is holding the apple, which has been lifted from the counter. The end-effector is moving towards the sink basin, indicating the transition between lifting the object and placing it." + ], + "6": [ + "move to the sink", + "The robot's end-effector is positioned over the sink area and remains static in this segment, consistent with the motion phase of moving toward the target location rather than interacting with the apple." + ], + "7": [ + "place the apple in the sink", + "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step." + ], + "8": [ + "place the apple in the sink", + "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action." + ], + "9": [ + "place the apple in the sink", + "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there." + ] + }, + "instruction": "pick the apple from the counter and place it in the sink", + "suite": "PnPCounterToSink", + "num_frames": 413, + "segment_count": 9, + "movement_statistics": { + "mean": [ + 0.001595468758213611, + 0.0009460394624051284, + -0.0025198894502007634, + 0.0016326530440203106, + -0.002400553420233398, + -0.002307160139043272, + -0.3075060532687651 + ], + "std": [ + 0.006571605706678429, + 0.011081258753989074, + 0.011161951481150564, + 0.005523703253014605, + 0.009888894756057103, + 0.00952801937707925, + 0.9515461245799219 + ], + "Q1": [ + -0.020000001415610313, + -0.03174285814166069, + -0.019600000604987143, + -0.008399999719113111, + -0.04714285582304001, + -0.05428571254014969, + -1.0 + ], + "Q99": [ + 0.014557142779231069, + 0.024957143142819403, + 0.028714286610484117, + 0.025542857199907298, + 0.009999999776482582, + 0.0, + 1.0 + ] + }, + "frames": [ + { + "frame_index": 0, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move left 287 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 1 mm; move left 626 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [119,135], [132,149]\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 119, + 135, + 132, + 149 + ] + ], + "delta_full_state": [ + 0.0, + 0.0010714286472648382, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.0014285714132711291, + 0.28678572177886963, + -0.0021428572945296764, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.15747020311113902, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move left 287 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 1 mm; move left 626 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 1, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move left 309 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 1 mm; move left 625 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0039285714738070965, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.0014285714132711291, + 0.3085714280605316, + -0.0021428572945296764, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.2582512351362356, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move left 309 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 1 mm; move left 625 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 2, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move left 328 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 1 mm; move left 621 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0057142856530845165, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.0014285714132711291, + 0.3278571665287018, + -0.002500000176951289, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.3212393770721509, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move left 328 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 1 mm; move left 621 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 3, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move left 345 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 1 mm; move left 615 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 149, + 101 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.007500000298023224, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.0014285714132711291, + 0.34535717964172363, + -0.0032142859417945147, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.3842275354335054, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move left 345 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 1 mm; move left 615 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 4, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 9 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move left 361 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 1 mm; move left 608 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 149, + 101 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.008928571827709675, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.0014285714132711291, + 0.36107146739959717, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.4346180555524133, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 9 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move left 361 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 1 mm; move left 608 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 5, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 11 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move left 376 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 1 mm; move left 599 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 149, + 101 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.0003571428533177823, + 0.011071428656578064, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.0014285714132711291, + 0.37571433186531067, + -0.0057142856530845165, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.13683311140387677, + 0.5102038193053364, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 11 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move left 376 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 1 mm; move left 599 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 6, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 12 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move left 389 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 1 mm; move left 588 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 148, + 101 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.0003571428533177823, + 0.011785714887082577, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.0010714286472648382, + 0.38892862200737, + -0.007857142947614193, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.13683311140387677, + 0.5353990957902293, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 12 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move left 389 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 1 mm; move left 588 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 7, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 12 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move left 401 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 1 mm; move left 576 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 148, + 101 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.0003571428533177823, + 0.011785714887082577, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.0007142857066355646, + 0.40142855048179626, + -0.010714286006987095, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.13683311140387677, + 0.5353990957902293, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 12 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move left 401 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 1 mm; move left 576 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 8, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 12 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 414 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 564 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 147, + 101 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.0003571428533177823, + 0.011785714887082577, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.0003571428533177823, + 0.4139285981655121, + -0.013571429066359997, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.13683311140387677, + 0.5353990957902293, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 12 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 414 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 564 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 9, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 13 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 427 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 553 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 146, + 101 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.012857143767178059, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.427142858505249, + -0.016785716637969017, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.5731919940921297, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 13 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 427 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 553 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 10, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 16 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 440 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 540 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 146, + 101 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.015714285895228386, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.43964290618896484, + -0.020357144996523857, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.6739730014790677, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 16 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 440 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 540 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 11, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 17 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 449 mm; move downward 24 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 524 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 145, + 102 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.01714285835623741, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.4489285945892334, + -0.023928573355078697, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.7243635544488536, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 17 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 449 mm; move downward 24 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 524 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 12, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 457 mm; move downward 29 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 507 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 144, + 102 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.017500000074505806, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.45678573846817017, + -0.02857143059372902, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.7369611434149832, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 457 mm; move downward 29 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 507 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 13, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 465 mm; move downward 35 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 489 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 143, + 102 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.018214285373687744, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.4646429121494293, + -0.03464285656809807, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.7621563870489982, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 465 mm; move downward 35 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 489 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 14, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 471 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 471 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 142, + 102 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.019285714253783226, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.4710714519023895, + -0.0414285734295845, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.7999492853508985, + -0.20343008754322156, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 471 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 471 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 15, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 476 mm; move downward 49 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 452 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 141, + 102 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.021071428433060646, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.47607144713401794, + -0.04892857000231743, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.862937427286814, + -0.20343008754322156, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 476 mm; move downward 49 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 452 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 16, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 22 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 479 mm; move downward 56 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 431 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 140, + 102 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.022142857313156128, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.4789285659790039, + -0.05642857030034065, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.9007303255887145, + -0.20343008754322156, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 22 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 479 mm; move downward 56 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 431 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 17, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 480 mm; move downward 65 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 409 mm; move downward 40 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 139, + 102 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.02321428619325161, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.47999998927116394, + -0.0650000050663948, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.9385232238906149, + -0.20343008754322156, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 480 mm; move downward 65 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 409 mm; move downward 40 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 18, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 479 mm; move downward 73 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 385 mm; move downward 40 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 138, + 102 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.02321428619325161, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.47857147455215454, + -0.07285714149475098, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.9385232238906149, + -0.20343008754322156, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 479 mm; move downward 73 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 385 mm; move downward 40 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 19, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 477 mm; move downward 81 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 362 mm; move downward 40 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 137, + 103 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.022857142612338066, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.4767857491970062, + -0.08071428537368774, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.9259255692227295, + -0.20343008754322156, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 477 mm; move downward 81 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 362 mm; move downward 40 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 20, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 476 mm; move downward 89 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 339 mm; move downward 39 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 136, + 103 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.022857142612338066, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.4757143557071686, + -0.08892857283353806, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.9259255692227295, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 476 mm; move downward 89 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 339 mm; move downward 39 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 21, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 474 mm; move downward 97 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 316 mm; move downward 39 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 134, + 103 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.02321428619325161, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.4742858111858368, + -0.09714286774396896, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.9385232238906149, + -0.20343008754322156, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 474 mm; move downward 97 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 316 mm; move downward 39 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 22, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 23 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 472 mm; move downward 105 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 293 mm; move downward 39 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 133, + 103 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.02321428619325161, + -0.0007142857066355646, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.47214290499687195, + -0.10464286059141159, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.9385232238906149, + -0.2182142352552333, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 23 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 472 mm; move downward 105 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 293 mm; move downward 39 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 23, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 23 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 470 mm; move downward 113 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 270 mm; move downward 38 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 132, + 103 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.02321428619325161, + -0.0010714286472648382, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.46964287757873535, + -0.11250001192092896, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.9385232238906149, + -0.2329983865815578, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 23 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 470 mm; move downward 113 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 270 mm; move downward 38 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 24, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 24 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 466 mm; move downward 120 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 247 mm; move downward 37 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [121,136], [133,148]\n", + "gripper_2d": [ + 131, + 103 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 121, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.023571429774165154, + -0.0014285714132711291, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.46571430563926697, + -0.12035715579986572, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.9511208785585004, + -0.2477825306792567, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 24 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 466 mm; move downward 120 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 247 mm; move downward 37 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 25, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 24 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 460 mm; move downward 127 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 223 mm; move downward 36 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [121,136], [133,148]\n", + "gripper_2d": [ + 129, + 104 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 121, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.02428571507334709, + -0.0021428572945296764, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.46035709977149963, + -0.12714287638664246, + 0.0028571428265422583, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.9763161221925154, + -0.2773508333319058, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 24 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 460 mm; move downward 127 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 223 mm; move downward 36 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 26, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 24 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 454 mm; move downward 133 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 199 mm; move downward 34 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 128, + 104 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.02428571507334709, + -0.0028571428265422583, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.4542856812477112, + -0.1332142949104309, + 0.00714285671710968, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.9763161221925154, + -0.3069191215273037, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 24 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 454 mm; move downward 133 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 199 mm; move downward 34 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 27, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 24 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 448 mm; move downward 140 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 175 mm; move downward 31 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 127, + 104 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.02428571507334709, + -0.0028571428265422583, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.4478571116924286, + -0.14000001549720764, + 0.012857142835855484, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.9763161221925154, + -0.3069191215273037, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 24 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 448 mm; move downward 140 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 175 mm; move downward 31 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 28, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 25 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 441 mm; move downward 147 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 150 mm; move downward 28 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 126, + 104 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.02500000037252903, + -0.0032142859417945147, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.44107136130332947, + -0.14678573608398438, + 0.02142857015132904, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 1.0, + -0.3217032800822538, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 25 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 441 mm; move downward 147 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 150 mm; move downward 28 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 29, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 25 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 434 mm; move downward 153 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 125 mm; move downward 25 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 124, + 105 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.025357142090797424, + -0.0035714288242161274, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.43357139825820923, + -0.15285713970661163, + 0.03142856806516647, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 1.0, + -0.3364874289990365, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 25 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 434 mm; move downward 153 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 125 mm; move downward 25 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 30, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 25 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 425 mm; move downward 160 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 100 mm; move downward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 123, + 105 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.02500000037252903, + -0.0035714288242161274, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.42464280128479004, + -0.1600000113248825, + 0.04285714030265808, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 1.0, + -0.3364874289990365, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 25 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 425 mm; move downward 160 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 100 mm; move downward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 31, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 25 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 414 mm; move downward 168 mm; roll upward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 75 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 121, + 105 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.02500000037252903, + -0.004642857238650322, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.41428565979003906, + -0.16750000417232513, + 0.05428571254014969, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 1.0, + -0.380839866111217, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 25 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 414 mm; move downward 168 mm; roll upward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 75 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 32, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 25 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 402 mm; move downward 174 mm; roll upward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 50 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 120, + 106 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.025357142090797424, + -0.006071428768336773, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.401785671710968, + -0.17392858862876892, + 0.0657142847776413, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 1.0, + -0.4399764617783477, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 25 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 402 mm; move downward 174 mm; roll upward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 50 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 33, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 25 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 388 mm; move downward 179 mm; roll upward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 25 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 119, + 106 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.024642856791615486, + -0.006785714533179998, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.38821426033973694, + -0.1785714477300644, + 0.0771428570151329, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.988913711158645, + -0.4695447596119131, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 25 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 388 mm; move downward 179 mm; roll upward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 25 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 34, + "segment_id": 30000, + "subtask": "approach the apple", + "reason": "The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot's end-effector is moving from a resting position towards the red apple on the counter, positioning itself for grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 24 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 375 mm; move downward 183 mm; roll upward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 117, + 107 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.02428571507334709, + -0.007857142947614193, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.37464281916618347, + -0.18321429193019867, + 0.08714285492897034, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.9763161221925154, + -0.5138971967240936, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 24 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 375 mm; move downward 183 mm; roll upward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 35, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 24 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 360 mm; move downward 188 mm; roll upward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 979 mm; move downward 1019 mm; roll upward 43 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 116, + 107 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.023928571492433548, + -0.007857142947614193, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.35999998450279236, + -0.1875000149011612, + 0.09285713732242584, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.96371846752463, + -0.5138971967240936, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 24 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 360 mm; move downward 188 mm; roll upward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 979 mm; move downward 1019 mm; roll upward 43 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 36, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 23 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 345 mm; move downward 192 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 955 mm; move downward 1011 mm; roll upward 43 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 115, + 108 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.02321428619325161, + -0.008928571827709675, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.34464284777641296, + -0.19178572297096252, + 0.09857141971588135, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.9385232238906149, + -0.5582496531126091, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 23 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 345 mm; move downward 192 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 955 mm; move downward 1011 mm; roll upward 43 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 37, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 22 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 330 mm; move downward 196 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 932 mm; move downward 1002 mm; roll upward 43 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 113, + 108 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.021785713732242584, + -0.008214286528527737, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.33000001311302185, + -0.19571428000926971, + 0.10285713523626328, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.888132670920829, + -0.5286813745553787, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 22 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 330 mm; move downward 196 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 932 mm; move downward 1002 mm; roll upward 43 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 38, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 21 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 316 mm; move downward 200 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 910 mm; move downward 994 mm; roll upward 43 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 112, + 109 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.02142857201397419, + -0.008214286528527737, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.31642860174179077, + -0.20035715401172638, + 0.10428570955991745, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.8755350819546994, + -0.5286813745553787, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 21 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 316 mm; move downward 200 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 910 mm; move downward 994 mm; roll upward 43 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 39, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 22 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 303 mm; move downward 205 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 889 mm; move downward 986 mm; roll upward 43 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 111, + 109 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.021785713732242584, + -0.008571429178118706, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.30250000953674316, + -0.20499999821186066, + 0.10571428388357162, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.888132670920829, + -0.5434655138339939, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 22 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 303 mm; move downward 205 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 889 mm; move downward 986 mm; roll upward 43 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 40, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 21 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 287 mm; move downward 210 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 867 mm; move downward 977 mm; roll upward 43 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 110, + 110 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.02142857201397419, + -0.008214286528527737, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.28714287281036377, + -0.20964284241199493, + 0.10857142508029938, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.8755350819546994, + -0.5286813745553787, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 21 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 287 mm; move downward 210 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 867 mm; move downward 977 mm; roll upward 43 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 41, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 21 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 272 mm; move downward 216 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 846 mm; move downward 969 mm; roll upward 43 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 108, + 110 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.021071428433060646, + -0.007857142947614193, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.2721428871154785, + -0.21607141196727753, + 0.10999999940395355, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.862937427286814, + -0.5138971967240936, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 21 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 272 mm; move downward 216 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 846 mm; move downward 969 mm; roll upward 43 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 42, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 21 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 258 mm; move downward 223 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 825 mm; move downward 961 mm; roll upward 43 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 107, + 111 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.02071428671479225, + -0.008571429178118706, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.257500022649765, + -0.22285714745521545, + 0.10999999940395355, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.8503398383206844, + -0.5434655138339939, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 21 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 258 mm; move downward 223 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 825 mm; move downward 961 mm; roll upward 43 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 43, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 19 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 243 mm; move downward 230 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 804 mm; move downward 952 mm; roll upward 43 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 106, + 111 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.019285714253783226, + -0.008928571827709675, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.2428571730852127, + -0.2296428680419922, + 0.10999999940395355, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.7999492853508985, + -0.5582496531126091, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 19 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 243 mm; move downward 230 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 804 mm; move downward 952 mm; roll upward 43 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 44, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 18 mm; move downward 8 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 229 mm; move downward 237 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 785 mm; move downward 944 mm; roll upward 43 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 105, + 112 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.018214285373687744, + -0.008214286528527737, + 0.0028571428265422583, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.2289286106824875, + -0.23678572475910187, + 0.10999999940395355, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.7621563870489982, + -0.5286813745553787, + -0.33670054609634315, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 18 mm; move downward 8 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 229 mm; move downward 237 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 785 mm; move downward 944 mm; roll upward 43 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 45, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 18 mm; move downward 8 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 216 mm; move downward 245 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 766 mm; move downward 935 mm; roll upward 43 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 104, + 112 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.018214285373687744, + -0.008214286528527737, + 0.004285714123398066, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.21571432054042816, + -0.24464288353919983, + 0.1071428582072258, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.7621563870489982, + -0.5286813745553787, + -0.252525493926234, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 18 mm; move downward 8 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 216 mm; move downward 245 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 766 mm; move downward 935 mm; roll upward 43 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 46, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 18 mm; move downward 10 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 203 mm; move downward 253 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 748 mm; move downward 927 mm; roll upward 42 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 103, + 113 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.01785714365541935, + -0.009642857126891613, + 0.0057142856530845165, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.20250001549720764, + -0.25285717844963074, + 0.10285714268684387, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.7495587980828686, + -0.5878179316698395, + -0.1683504280371515, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 18 mm; move downward 10 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 203 mm; move downward 253 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 748 mm; move downward 927 mm; roll upward 42 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 47, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 18 mm; move downward 10 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 190 mm; move downward 259 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 730 mm; move downward 917 mm; roll upward 42 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 102, + 113 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.017500000074505806, + -0.009642857126891613, + 0.008571428246796131, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.1900000125169754, + -0.25857144594192505, + 0.09714286029338837, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.7369611434149832, + -0.5878179316698395, + -3.236969332576223e-07, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 18 mm; move downward 10 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 190 mm; move downward 259 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 730 mm; move downward 917 mm; roll upward 42 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 48, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 18 mm; move downward 9 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 178 mm; move downward 264 mm; roll upward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 713 mm; move downward 908 mm; roll upward 42 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [121,138], [133,148]\n", + "gripper_2d": [ + 101, + 114 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 121, + 138, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.017500000074505806, + -0.009285714477300644, + 0.009999999776482582, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.17821429669857025, + -0.26428571343421936, + 0.08857142925262451, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.7369611434149832, + -0.5730337923912243, + 0.08417474219214927, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 18 mm; move downward 9 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 178 mm; move downward 264 mm; roll upward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 713 mm; move downward 908 mm; roll upward 42 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 49, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 16 mm; move downward 11 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 166 mm; move downward 270 mm; roll upward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 695 mm; move downward 899 mm; roll upward 41 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [121,139], [133,148]\n", + "gripper_2d": [ + 100, + 114 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 121, + 139, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.016428573057055473, + -0.010714286006987095, + 0.011428571306169033, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.16607145965099335, + -0.26999998092651367, + 0.07857143878936768, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.6991683108148385, + -0.6321703880583549, + 0.1683498080812318, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 16 mm; move downward 11 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 166 mm; move downward 270 mm; roll upward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 695 mm; move downward 899 mm; roll upward 41 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 50, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 15 mm; move downward 11 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 155 mm; move downward 274 mm; roll upward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 679 mm; move downward 888 mm; roll upward 40 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [121,140], [133,148]\n", + "gripper_2d": [ + 99, + 115 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 121, + 140, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.014642857015132904, + -0.011071428656578064, + 0.011428571306169033, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.15535715222358704, + -0.27392858266830444, + 0.06714285910129547, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.6361801031771672, + -0.6469545273369701, + 0.1683498080812318, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 15 mm; move downward 11 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 155 mm; move downward 274 mm; roll upward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 679 mm; move downward 888 mm; roll upward 40 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 51, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 13 mm; move downward 11 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 147 mm; move downward 277 mm; roll upward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 664 mm; move downward 877 mm; roll upward 40 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [124,143], [132,148]\n", + "gripper_2d": [ + 98, + 115 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 124, + 143, + 132, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.012500000186264515, + -0.011071428656578064, + 0.011428571306169033, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.146785706281662, + -0.2767857313156128, + 0.055714283138513565, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.5605943394242443, + -0.6469545273369701, + 0.1683498080812318, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 13 mm; move downward 11 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 147 mm; move downward 277 mm; roll upward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 664 mm; move downward 877 mm; roll upward 40 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 52, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 12 mm; move downward 11 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 142 mm; move downward 279 mm; roll upward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 652 mm; move downward 866 mm; roll upward 39 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,145], [132,148]\n", + "gripper_2d": [ + 97, + 116 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 145, + 132, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.011785714887082577, + -0.010714286006987095, + 0.011428571306169033, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.14214284718036652, + -0.279285728931427, + 0.04428571090102196, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.5353990957902293, + -0.6321703880583549, + 0.1683498080812318, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 12 mm; move downward 11 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 142 mm; move downward 279 mm; roll upward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 652 mm; move downward 866 mm; roll upward 39 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 53, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 11 mm; move downward 11 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 139 mm; move downward 281 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 640 mm; move downward 855 mm; roll upward 38 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,146], [131,148]\n", + "gripper_2d": [ + 96, + 117 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 146, + 131, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.011071428656578064, + -0.011428571306169033, + 0.009999999776482582, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.1389285773038864, + -0.28107142448425293, + 0.034285709261894226, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.5102038193053364, + -0.6617386666155853, + 0.08417474219214927, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 11 mm; move downward 11 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 139 mm; move downward 281 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 640 mm; move downward 855 mm; roll upward 38 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 54, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 10 mm; move downward 12 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 138 mm; move downward 282 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 629 mm; move downward 844 mm; roll upward 38 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,146], [130,148]\n", + "gripper_2d": [ + 96, + 117 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 146, + 130, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.009642857126891613, + -0.012142857536673546, + 0.0057142856530845165, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.13750000298023224, + -0.2817856967449188, + 0.03142856806516647, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.4598132991864283, + -0.6913069837254857, + -0.1683504280371515, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 10 mm; move downward 12 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 138 mm; move downward 282 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 629 mm; move downward 844 mm; roll upward 38 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 55, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 9 mm; move downward 12 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 139 mm; move downward 281 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 619 mm; move downward 831 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [127,147], [129,148]\n", + "gripper_2d": [ + 95, + 118 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 127, + 147, + 129, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.008571429178118706, + -0.012142857536673546, + 0.0057142856530845165, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.1389285773038864, + -0.28107142448425293, + 0.03285714238882065, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.4220204337354059, + -0.6913069837254857, + -0.1683504280371515, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 9 mm; move downward 12 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 139 mm; move downward 281 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 619 mm; move downward 831 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 56, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 9 mm; move downward 13 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 143 mm; move downward 280 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 611 mm; move downward 819 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 95, + 118 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.008571429178118706, + -0.012857143767178059, + 0.004285714123398066, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.142857164144516, + -0.28035712242126465, + 0.03285714238882065, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.4220204337354059, + -0.7208753008353859, + -0.252525493926234, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 9 mm; move downward 13 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 143 mm; move downward 280 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 611 mm; move downward 819 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 57, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 8 mm; move downward 13 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 148 mm; move downward 279 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 602 mm; move downward 806 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 94, + 119 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.008214286528527737, + -0.012857143767178059, + 0.0014285714132711291, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.14750002324581146, + -0.27857139706611633, + 0.037142857909202576, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.40942281191839824, + -0.7208753008353859, + -0.4208756051259389, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 8 mm; move downward 13 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 148 mm; move downward 279 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 602 mm; move downward 806 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 58, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 8 mm; move downward 13 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 152 mm; move downward 276 mm; roll upward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 594 mm; move downward 794 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 94, + 119 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.007500000298023224, + -0.012857143767178059, + 0.0014285714132711291, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.15214286744594574, + -0.2760713994503021, + 0.05285714566707611, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.3842275354335054, + -0.7208753008353859, + -0.4208756051259389, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 8 mm; move downward 13 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 152 mm; move downward 276 mm; roll upward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 594 mm; move downward 794 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 59, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 6 mm; move downward 13 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 158 mm; move downward 273 mm; roll upward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 586 mm; move downward 781 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 93, + 120 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.006428571883589029, + -0.013214285485446453, + 0.0028571428265422583, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.1575000137090683, + -0.2732142508029938, + 0.0714285671710968, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.34643465355704395, + -0.7356594015613314, + -0.33670054609634315, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 6 mm; move downward 13 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 158 mm; move downward 273 mm; roll upward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 586 mm; move downward 781 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 60, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 6 mm; move downward 15 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 164 mm; move downward 270 mm; roll upward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 580 mm; move downward 767 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 93, + 121 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.006428571883589029, + -0.014642857015132904, + 0.0014285714132711291, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.1639285683631897, + -0.2699999511241913, + 0.08857142925262451, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.34643465355704395, + -0.794795997228462, + -0.4208756051259389, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 6 mm; move downward 15 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 164 mm; move downward 270 mm; roll upward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 580 mm; move downward 767 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 61, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 6 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 170 mm; move downward 265 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 574 mm; move downward 753 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 93, + 121 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.006428571883589029, + -0.014642857015132904, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.17000000178813934, + -0.26499998569488525, + 0.10999999940395355, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.34643465355704395, + -0.794795997228462, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 6 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 170 mm; move downward 265 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 574 mm; move downward 753 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 62, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 6 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 176 mm; move downward 260 mm; roll upward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 567 mm; move downward 738 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 92, + 122 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.006071428768336773, + -0.015357143245637417, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.1760714203119278, + -0.2596428394317627, + 0.13428571820259094, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.33383701531459753, + -0.8243643143383622, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 6 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 176 mm; move downward 260 mm; roll upward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 567 mm; move downward 738 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 63, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 5 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 182 mm; move downward 253 mm; roll upward 9 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 561 mm; move downward 723 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 92, + 123 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.0053571430034935474, + -0.01607142947614193, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.1824999898672104, + -0.25285714864730835, + 0.1614285707473755, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.3086417552551435, + -0.8539326314482625, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 5 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 182 mm; move downward 253 mm; roll upward 9 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 561 mm; move downward 723 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 64, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 5 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 189 mm; move downward 245 mm; roll upward 11 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 556 mm; move downward 707 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 92, + 123 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.005000000353902578, + -0.01607142947614193, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.18857142329216003, + -0.24500000476837158, + 0.18857142329216003, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.29604413343813607, + -0.8539326314482625, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 5 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 189 mm; move downward 245 mm; roll upward 11 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 556 mm; move downward 707 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 65, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 5 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 195 mm; move downward 237 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 551 mm; move downward 691 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 91, + 124 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.005000000353902578, + -0.016428573057055473, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.19499999284744263, + -0.23678572475910187, + 0.2142857015132904, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.29604413343813607, + -0.8687168092795475, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 5 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 195 mm; move downward 237 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 551 mm; move downward 691 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 66, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 5 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 201 mm; move downward 229 mm; roll upward 14 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 546 mm; move downward 674 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 91, + 125 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.0053571430034935474, + -0.015357143245637417, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.20107142627239227, + -0.22857141494750977, + 0.24142855405807495, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.3086417552551435, + -0.8243643143383622, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 5 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 201 mm; move downward 229 mm; roll upward 14 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 546 mm; move downward 674 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 67, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 6 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 207 mm; move downward 221 mm; roll upward 15 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 540 mm; move downward 659 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 91, + 125 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.0057142856530845165, + -0.015357143245637417, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.20678570866584778, + -0.22107140719890594, + 0.2671428322792053, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.3212393770721509, + -0.8243643143383622, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 6 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 207 mm; move downward 221 mm; roll upward 15 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 540 mm; move downward 659 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 68, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 5 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 212 mm; move downward 214 mm; roll upward 17 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 535 mm; move downward 644 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 91, + 126 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.0053571430034935474, + -0.015000000596046448, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.21214285492897034, + -0.2135714292526245, + 0.2914285361766815, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.3086417552551435, + -0.809580175059747, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 5 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 212 mm; move downward 214 mm; roll upward 17 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 535 mm; move downward 644 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 69, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 6 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 217 mm; move downward 206 mm; roll upward 18 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 529 mm; move downward 629 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 90, + 127 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.0057142856530845165, + -0.014642857015132904, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.21714285016059875, + -0.20642857253551483, + 0.31428566575050354, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.3212393770721509, + -0.794795997228462, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 6 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 217 mm; move downward 206 mm; roll upward 18 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 529 mm; move downward 629 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 70, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 6 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 221 mm; move downward 199 mm; roll upward 19 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 524 mm; move downward 614 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 90, + 128 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.006071428768336773, + -0.013928571715950966, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.22107143700122833, + -0.19928573071956635, + 0.33714279532432556, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.33383701531459753, + -0.7652277186712315, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 6 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 221 mm; move downward 199 mm; roll upward 19 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 524 mm; move downward 614 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 71, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 8 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 224 mm; move downward 192 mm; roll upward 20 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 518 mm; move downward 600 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,128], [73,138]\n", + "gripper_2d": [ + 90, + 128 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 128, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.007857142947614193, + -0.013571429066359997, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.22428575158119202, + -0.19214288890361786, + 0.35428565740585327, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.3968251572505128, + -0.7504435793926163, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 8 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 224 mm; move downward 192 mm; roll upward 20 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 518 mm; move downward 600 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 72, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 9 mm; move downward 13 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 226 mm; move downward 185 mm; roll upward 21 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 510 mm; move downward 586 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,128], [73,138]\n", + "gripper_2d": [ + 90, + 129 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 128, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.008571429178118706, + -0.012500000186264515, + 0.0014285714132711291, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.225714311003685, + -0.18500001728534698, + 0.3657142221927643, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.4220204337354059, + -0.7060911230041009, + -0.4208756051259389, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 9 mm; move downward 13 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 226 mm; move downward 185 mm; roll upward 21 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 510 mm; move downward 586 mm; roll upward 37 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 73, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 10 mm; move downward 12 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 226 mm; move downward 179 mm; roll upward 21 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 501 mm; move downward 574 mm; roll upward 36 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,129], [73,138]\n", + "gripper_2d": [ + 89, + 129 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 129, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.009642857126891613, + -0.012142857536673546, + 0.0071428571827709675, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.22607143223285675, + -0.17892859876155853, + 0.37428563833236694, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.4598132991864283, + -0.6913069837254857, + -0.08417536214806898, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 10 mm; move downward 12 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 226 mm; move downward 179 mm; roll upward 21 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 501 mm; move downward 574 mm; roll upward 36 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 74, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 11 mm; move downward 11 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 224 mm; move downward 173 mm; roll upward 22 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 491 mm; move downward 562 mm; roll upward 36 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,129], [73,138]\n", + "gripper_2d": [ + 89, + 130 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 129, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.011071428656578064, + -0.011428571306169033, + 0.0071428571827709675, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.2239285707473755, + -0.1728571504354477, + 0.37857136130332947, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.5102038193053364, + -0.6617386666155853, + -0.08417536214806898, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 11 mm; move downward 11 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 224 mm; move downward 173 mm; roll upward 22 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 491 mm; move downward 562 mm; roll upward 36 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 75, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 13 mm; move downward 11 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 219 mm; move downward 168 mm; roll upward 22 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 480 mm; move downward 550 mm; roll upward 36 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,130], [73,138]\n", + "gripper_2d": [ + 88, + 131 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 130, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.012500000186264515, + -0.011428571306169033, + 0.0057142856530845165, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.2192857265472412, + -0.16750000417232513, + 0.3828570544719696, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.5605943394242443, + -0.6617386666155853, + -0.1683504280371515, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 13 mm; move downward 11 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 219 mm; move downward 168 mm; roll upward 22 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 480 mm; move downward 550 mm; roll upward 36 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 76, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 13 mm; move downward 11 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 213 mm; move downward 162 mm; roll upward 22 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 468 mm; move downward 539 mm; roll upward 35 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,130], [73,138]\n", + "gripper_2d": [ + 88, + 131 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 130, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.013214285485446453, + -0.011071428656578064, + 0.008571428246796131, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.21321430802345276, + -0.16214285790920258, + 0.3814285099506378, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.5857895830582593, + -0.6469545273369701, + -3.236969332576223e-07, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 13 mm; move downward 11 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 213 mm; move downward 162 mm; roll upward 22 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 468 mm; move downward 539 mm; roll upward 35 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 77, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 13 mm; move downward 10 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 206 mm; move downward 157 mm; roll upward 21 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 455 mm; move downward 528 mm; roll upward 35 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,132], [73,138]\n", + "gripper_2d": [ + 87, + 132 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 132, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.012857143767178059, + -0.010357143357396126, + 0.017142856493592262, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.2060714215040207, + -0.15714286267757416, + 0.37428563833236694, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.5731919940921297, + -0.6173862487797397, + 0.5050500167616683, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 13 mm; move downward 10 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 206 mm; move downward 157 mm; roll upward 21 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 455 mm; move downward 528 mm; roll upward 35 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 78, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 13 mm; move downward 10 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 199 mm; move downward 153 mm; roll upward 20 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 442 mm; move downward 517 mm; roll upward 34 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,132], [73,138]\n", + "gripper_2d": [ + 86, + 133 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 132, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.012857143767178059, + -0.010000000707805157, + 0.019999999552965164, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.19928573071956635, + -0.1525000035762787, + 0.3571428060531616, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.5731919940921297, + -0.6026021095011245, + 0.6734001485398333, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 13 mm; move downward 10 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 199 mm; move downward 153 mm; roll upward 20 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 442 mm; move downward 517 mm; roll upward 34 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 79, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 13 mm; move downward 10 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 193 mm; move downward 148 mm; roll upward 19 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 429 mm; move downward 507 mm; roll upward 33 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,133], [72,138]\n", + "gripper_2d": [ + 86, + 133 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 133, + 72, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.012857143767178059, + -0.010000000707805157, + 0.019999999552965164, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.1925000101327896, + -0.14785712957382202, + 0.33714282512664795, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.5731919940921297, + -0.6026021095011245, + 0.6734001485398333, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 13 mm; move downward 10 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 193 mm; move downward 148 mm; roll upward 19 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 429 mm; move downward 507 mm; roll upward 33 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 80, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 13 mm; move downward 10 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 186 mm; move downward 143 mm; roll upward 18 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 416 mm; move downward 498 mm; roll upward 32 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,134], [72,138]\n", + "gripper_2d": [ + 85, + 134 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 134, + 72, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.012500000186264515, + -0.009642857126891613, + 0.022857142612338066, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.18571428954601288, + -0.14321428537368774, + 0.3171428143978119, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.5605943394242443, + -0.5878179316698395, + 0.8417502803179981, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 13 mm; move downward 10 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 186 mm; move downward 143 mm; roll upward 18 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 416 mm; move downward 498 mm; roll upward 32 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 81, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 13 mm; move downward 9 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 179 mm; move downward 139 mm; roll upward 17 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 404 mm; move downward 488 mm; roll upward 30 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,135], [71,138]\n", + "gripper_2d": [ + 84, + 134 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 135, + 71, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.012500000186264515, + -0.009285714477300644, + 0.02428571507334709, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.17892856895923615, + -0.13928571343421936, + 0.29428571462631226, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.5605943394242443, + -0.5730337923912243, + 0.925925401082974, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 13 mm; move downward 9 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 179 mm; move downward 139 mm; roll upward 17 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 404 mm; move downward 488 mm; roll upward 30 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 82, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 13 mm; move downward 9 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 172 mm; move downward 135 mm; roll upward 15 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 391 mm; move downward 479 mm; roll upward 29 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [65,135], [70,138]\n", + "gripper_2d": [ + 84, + 135 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 135, + 70, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.012500000186264515, + -0.008571429178118706, + 0.027142856270074844, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.1721428483724594, + -0.13535715639591217, + 0.27000001072883606, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.5605943394242443, + -0.5434655138339939, + 1.0, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 13 mm; move downward 9 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 172 mm; move downward 135 mm; roll upward 15 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 391 mm; move downward 479 mm; roll upward 29 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 83, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 11 mm; move downward 8 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 165 mm; move downward 132 mm; roll upward 14 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 379 mm; move downward 470 mm; roll upward 27 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [66,135], [70,138]\n", + "gripper_2d": [ + 83, + 135 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 66, + 135, + 70, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.011428571306169033, + -0.008214286528527737, + 0.027142856270074844, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.16500000655651093, + -0.13214288651943207, + 0.24285712838172913, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.5228014411223438, + -0.5286813745553787, + 1.0, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 11 mm; move downward 8 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 165 mm; move downward 132 mm; roll upward 14 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 379 mm; move downward 470 mm; roll upward 27 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 84, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 11 mm; move downward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 159 mm; move downward 129 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 367 mm; move downward 462 mm; roll upward 26 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [66,136], [69,138]\n", + "gripper_2d": [ + 83, + 135 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 66, + 136, + 69, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.011428571306169033, + -0.007857142947614193, + 0.025714285671710968, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.15892855823040009, + -0.12928573787212372, + 0.21571427583694458, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.5228014411223438, + -0.5138971967240936, + 1.0, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 11 mm; move downward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 159 mm; move downward 129 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 367 mm; move downward 462 mm; roll upward 26 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 85, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 11 mm; move downward 8 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 152 mm; move downward 127 mm; roll upward 11 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 356 mm; move downward 454 mm; roll upward 24 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [66,136], [69,138]\n", + "gripper_2d": [ + 82, + 136 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 66, + 136, + 69, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.011071428656578064, + -0.008214286528527737, + 0.027142856270074844, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.1524999886751175, + -0.1267857402563095, + 0.18999998271465302, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.5102038193053364, + -0.5286813745553787, + 1.0, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 11 mm; move downward 8 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 152 mm; move downward 127 mm; roll upward 11 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 356 mm; move downward 454 mm; roll upward 24 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 86, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 11 mm; move downward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 146 mm; move downward 124 mm; roll upward 9 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 345 mm; move downward 446 mm; roll upward 23 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [66,136], [68,138]\n", + "gripper_2d": [ + 81, + 136 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 66, + 136, + 68, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.011071428656578064, + -0.007857142947614193, + 0.025714285671710968, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.14642855525016785, + -0.12392859905958176, + 0.16285713016986847, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.5102038193053364, + -0.5138971967240936, + 1.0, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 11 mm; move downward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 146 mm; move downward 124 mm; roll upward 9 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 345 mm; move downward 446 mm; roll upward 23 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 87, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 11 mm; move downward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 139 mm; move downward 121 mm; roll upward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 334 mm; move downward 438 mm; roll upward 21 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [66,137], [67,138]\n", + "gripper_2d": [ + 81, + 137 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 66, + 137, + 67, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.011071428656578064, + -0.007857142947614193, + 0.02428571507334709, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.13928571343421936, + -0.12142857164144516, + 0.1371428519487381, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.5102038193053364, + -0.5138971967240936, + 0.925925401082974, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 11 mm; move downward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 139 mm; move downward 121 mm; roll upward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 334 mm; move downward 438 mm; roll upward 21 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 88, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 10 mm; move downward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 132 mm; move downward 118 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 322 mm; move downward 430 mm; roll upward 20 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\ndistr_counter: [66,137], [67,138]\n", + "gripper_2d": [ + 80, + 137 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 66, + 137, + 67, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.010357143357396126, + -0.007857142947614193, + 0.022857142612338066, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.13178572058677673, + -0.11821428686380386, + 0.1128571480512619, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.4850085756713214, + -0.5138971967240936, + 0.8417502803179981, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 10 mm; move downward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 132 mm; move downward 118 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 322 mm; move downward 430 mm; roll upward 20 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 89, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 10 mm; move downward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 125 mm; move downward 115 mm; roll upward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 312 mm; move downward 422 mm; roll upward 18 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\n", + "gripper_2d": [ + 80, + 137 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.009642857126891613, + -0.007500000298023224, + 0.022857142612338066, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.1249999925494194, + -0.11464285105466843, + 0.09000000357627869, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.4598132991864283, + -0.4991130574454784, + 0.8417502803179981, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 10 mm; move downward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 125 mm; move downward 115 mm; roll upward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 312 mm; move downward 422 mm; roll upward 18 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 90, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 9 mm; move downward 7 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 118 mm; move downward 111 mm; roll upward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 302 mm; move downward 415 mm; roll upward 17 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\n", + "gripper_2d": [ + 79, + 138 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.009285714477300644, + -0.006785714533179998, + 0.017142856493592262, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.11821428686380386, + -0.11142855882644653, + 0.06714285910129547, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.4472156773694209, + -0.4695447596119131, + 0.5050500167616683, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 9 mm; move downward 7 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 118 mm; move downward 111 mm; roll upward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 302 mm; move downward 415 mm; roll upward 17 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 91, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 9 mm; move downward 6 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 111 mm; move downward 109 mm; roll upward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 293 mm; move downward 408 mm; roll upward 16 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\n", + "gripper_2d": [ + 79, + 138 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.009285714477300644, + -0.006428571883589029, + 0.011428571306169033, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.11142857372760773, + -0.10857141017913818, + 0.05000000074505806, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.4472156773694209, + -0.4547606203332979, + 0.1683498080812318, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 9 mm; move downward 6 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 111 mm; move downward 109 mm; roll upward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 293 mm; move downward 408 mm; roll upward 16 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 92, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 9 mm; move downward 6 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 104 mm; move downward 106 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 284 mm; move downward 401 mm; roll upward 16 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\n", + "gripper_2d": [ + 78, + 139 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.008928571827709675, + -0.006428571883589029, + 0.009999999776482582, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.10357141494750977, + -0.10607141256332397, + 0.03857142850756645, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.4346180555524133, + -0.4547606203332979, + 0.08417474219214927, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 9 mm; move downward 6 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 104 mm; move downward 106 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 284 mm; move downward 401 mm; roll upward 16 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 93, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 8 mm; move downward 6 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 1 mm; move left 95 mm; move downward 104 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 275 mm; move downward 395 mm; roll upward 15 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\n", + "gripper_2d": [ + 78, + 139 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.007500000298023224, + -0.006071428768336773, + 0.011428571306169033, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0007142857066355646, + 0.09535713493824005, + -0.10357141494750977, + 0.02857142686843872, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.3842275354335054, + -0.4399764617783477, + 0.1683498080812318, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 8 mm; move downward 6 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 1 mm; move left 95 mm; move downward 104 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 275 mm; move downward 395 mm; roll upward 15 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 94, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 6 mm; move downward 6 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 1 mm; move left 88 mm; move downward 102 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 267 mm; move downward 389 mm; roll upward 14 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\n", + "gripper_2d": [ + 77, + 139 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.006428571883589029, + -0.006071428768336773, + 0.011428571306169033, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0014285714132711291, + 0.08821427822113037, + -0.10178571194410324, + 0.017142856493592262, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.34643465355704395, + -0.4399764617783477, + 0.1683498080812318, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 6 mm; move downward 6 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 1 mm; move left 88 mm; move downward 102 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 267 mm; move downward 389 mm; roll upward 14 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 95, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 6 mm; move downward 6 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 3 mm; move left 82 mm; move downward 100 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 261 mm; move downward 383 mm; roll upward 14 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\n", + "gripper_2d": [ + 77, + 140 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.006428571883589029, + -0.006071428768336773, + 0.004285714123398066, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.002500000176951289, + 0.08178571611642838, + -0.10000000149011612, + 0.0057142856530845165, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.34643465355704395, + -0.4399764617783477, + -0.252525493926234, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 6 mm; move downward 6 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 3 mm; move left 82 mm; move downward 100 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 261 mm; move downward 383 mm; roll upward 14 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 96, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 6 mm; move downward 6 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 5 mm; move left 75 mm; move downward 98 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 255 mm; move downward 377 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\n", + "gripper_2d": [ + 77, + 140 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.006071428768336773, + -0.006071428768336773, + 0.0014285714132711291, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.004642857238650322, + 0.07535714656114578, + -0.0982142984867096, + 0.0014285714132711291, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.33383701531459753, + -0.4399764617783477, + -0.4208756051259389, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 6 mm; move downward 6 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 5 mm; move left 75 mm; move downward 98 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 255 mm; move downward 377 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 97, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 6 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 8 mm; move left 69 mm; move downward 96 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 249 mm; move downward 371 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\n", + "gripper_2d": [ + 76, + 140 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.006071428768336773, + -0.0057142856530845165, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.007500000298023224, + 0.06928571313619614, + -0.09642859548330307, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.33383701531459753, + -0.4251923032233976, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 6 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 8 mm; move left 69 mm; move downward 96 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 249 mm; move downward 371 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 98, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 6 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 11 mm; move left 63 mm; move downward 95 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 242 mm; move downward 365 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\n", + "gripper_2d": [ + 76, + 140 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.006071428768336773, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.011428572237491608, + 0.06321429461240768, + -0.09535716474056244, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.33383701531459753, + -0.4104081639447824, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 6 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 11 mm; move left 63 mm; move downward 95 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 242 mm; move downward 365 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 99, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 6 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 16 mm; move left 57 mm; move downward 95 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 236 mm; move downward 360 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\n", + "gripper_2d": [ + 76, + 141 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.006071428768336773, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.015714285895228386, + 0.05714286491274834, + -0.09464287012815475, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.33383701531459753, + -0.4104081639447824, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 6 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 16 mm; move left 57 mm; move downward 95 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 236 mm; move downward 360 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 100, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 6 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 20 mm; move left 51 mm; move downward 94 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 230 mm; move downward 354 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\n", + "gripper_2d": [ + 76, + 141 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0057142856530845165, + -0.0057142856530845165, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.020000001415610313, + 0.05107143521308899, + -0.09392858296632767, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.3212393770721509, + -0.4251923032233976, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 6 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 20 mm; move left 51 mm; move downward 94 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 230 mm; move downward 354 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 101, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 6 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 25 mm; move left 45 mm; move downward 93 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 225 mm; move downward 349 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\n", + "gripper_2d": [ + 75, + 141 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0057142856530845165, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.02500000037252903, + 0.045357149094343185, + -0.09285714477300644, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.3212393770721509, + -0.4104081639447824, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 6 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 25 mm; move left 45 mm; move downward 93 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 225 mm; move downward 349 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 102, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 5 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 30 mm; move left 40 mm; move downward 92 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 219 mm; move downward 343 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [67,152]\n", + "gripper_2d": [ + 75, + 142 + ], + "task_obj_bbox": [ + 57, + 142, + 67, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0053571430034935474, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.03035714291036129, + 0.03964286297559738, + -0.09214286506175995, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.3086417552551435, + -0.4104081639447824, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 5 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 30 mm; move left 40 mm; move downward 92 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 219 mm; move downward 343 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 103, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 5 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 36 mm; move left 34 mm; move downward 91 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 214 mm; move downward 338 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [66,152]\n", + "gripper_2d": [ + 75, + 142 + ], + "task_obj_bbox": [ + 57, + 142, + 66, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0053571430034935474, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0357142873108387, + 0.03428571671247482, + -0.09107144176959991, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.3086417552551435, + -0.4104081639447824, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 5 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 36 mm; move left 34 mm; move downward 91 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 214 mm; move downward 338 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 104, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 5 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 41 mm; move left 29 mm; move downward 91 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 208 mm; move downward 333 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,142], [66,152]\n", + "gripper_2d": [ + 75, + 142 + ], + "task_obj_bbox": [ + 57, + 142, + 66, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.005000000353902578, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.040714289993047714, + 0.028928572311997414, + -0.09107142686843872, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.29604413343813607, + -0.4104081639447824, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 5 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 41 mm; move left 29 mm; move downward 91 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 208 mm; move downward 333 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 105, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 5 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 46 mm; move left 24 mm; move downward 91 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 203 mm; move downward 327 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,143], [66,152]\n", + "gripper_2d": [ + 74, + 142 + ], + "task_obj_bbox": [ + 57, + 143, + 66, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.005000000353902578, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.04571428894996643, + 0.023928573355078697, + -0.09107141941785812, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.29604413343813607, + -0.4104081639447824, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 5 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 46 mm; move left 24 mm; move downward 91 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 203 mm; move downward 327 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 106, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 4 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 51 mm; move left 19 mm; move downward 91 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 198 mm; move downward 322 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,143], [65,152]\n", + "gripper_2d": [ + 74, + 143 + ], + "task_obj_bbox": [ + 57, + 143, + 65, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0039285714738070965, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.051428575068712234, + 0.01892857253551483, + -0.09142857044935226, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.2582512351362356, + -0.4104081639447824, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 4 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 51 mm; move left 19 mm; move downward 91 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 198 mm; move downward 322 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 107, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 4 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 58 mm; move left 15 mm; move downward 92 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 194 mm; move downward 316 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,143], [65,152]\n", + "gripper_2d": [ + 74, + 143 + ], + "task_obj_bbox": [ + 57, + 143, + 65, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0035714288242161274, + -0.004642857238650322, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.05750000476837158, + 0.015000000596046448, + -0.0924999937415123, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.24565361331922797, + -0.380839866111217, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 4 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 58 mm; move left 15 mm; move downward 92 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 194 mm; move downward 316 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 108, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 4 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 64 mm; move left 11 mm; move downward 95 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 191 mm; move downward 312 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,143], [65,152]\n", + "gripper_2d": [ + 74, + 143 + ], + "task_obj_bbox": [ + 57, + 143, + 65, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0035714288242161274, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.06357143819332123, + 0.011428571306169033, + -0.09499999135732651, + 0.0028571428265422583, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.24565361331922797, + -0.3660557268326018, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 4 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 64 mm; move left 11 mm; move downward 95 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 191 mm; move downward 312 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 109, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 3 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 69 mm; move left 8 mm; move downward 98 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 187 mm; move downward 308 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,143], [65,152]\n", + "gripper_2d": [ + 74, + 143 + ], + "task_obj_bbox": [ + 57, + 143, + 65, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0028571428265422583, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.06928572058677673, + 0.007857142947614193, + -0.09785714000463486, + 0.008571428246796131, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.22045834504705453, + -0.3660557268326018, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 3 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 69 mm; move left 8 mm; move downward 98 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 187 mm; move downward 308 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 110, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 3 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 76 mm; move left 5 mm; move downward 101 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 184 mm; move downward 303 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,144], [64,152]\n", + "gripper_2d": [ + 73, + 143 + ], + "task_obj_bbox": [ + 57, + 144, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.002500000176951289, + -0.0039285714738070965, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.07571429014205933, + 0.005000000353902578, + -0.10071428120136261, + 0.01428571343421936, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.20786072323004712, + -0.3512715682776517, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 3 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 76 mm; move left 5 mm; move downward 101 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 184 mm; move downward 303 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 111, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 1 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 81 mm; move left 3 mm; move downward 104 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 182 mm; move downward 299 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,144], [64,152]\n", + "gripper_2d": [ + 73, + 144 + ], + "task_obj_bbox": [ + 57, + 144, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0014285714132711291, + -0.0039285714738070965, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.08071429282426834, + 0.002500000176951289, + -0.1039285659790039, + 0.027142856270074844, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.17006782903450635, + -0.3512715682776517, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 1 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 81 mm; move left 3 mm; move downward 104 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 182 mm; move downward 299 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 112, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move left 1 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 85 mm; move left 1 mm; move downward 108 mm; roll upward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 628 mm; move left 180 mm; move downward 295 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,144], [64,152]\n", + "gripper_2d": [ + 73, + 144 + ], + "task_obj_bbox": [ + 57, + 144, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0007142857066355646, + 0.0007142857066355646, + -0.0039285714738070965, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.08464286476373672, + 0.0010714286472648382, + -0.10785714536905289, + 0.04714285582304001, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.19884218506268447, + 0.14487257102823237, + -0.3512715682776517, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 1 mm; move left 1 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 85 mm; move left 1 mm; move downward 108 mm; roll upward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 628 mm; move left 180 mm; move downward 295 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 113, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move left 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 87 mm; move left 0 mm; move downward 111 mm; roll upward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 627 mm; move left 180 mm; move downward 291 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,144], [64,152]\n", + "gripper_2d": [ + 73, + 144 + ], + "task_obj_bbox": [ + 57, + 144, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0007142857066355646, + 0.0003571428533177823, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.08714286983013153, + 0.0003571428533177823, + -0.11142858117818832, + 0.0714285671710968, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.19884218506268447, + 0.13227494202509527, + -0.3660557268326018, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 1 mm; move left 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 87 mm; move left 0 mm; move downward 111 mm; roll upward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 627 mm; move left 180 mm; move downward 291 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 114, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 89 mm; move right 0 mm; move downward 115 mm; roll upward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 627 mm; move left 179 mm; move downward 287 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,144], [64,152]\n", + "gripper_2d": [ + 73, + 144 + ], + "task_obj_bbox": [ + 57, + 144, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0010714286472648382, + 0.0, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0892857238650322, + 0.0, + -0.11464287340641022, + 0.08857142180204391, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.2195118813354513, + 0.11967731302195816, + -0.3660557268326018, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 89 mm; move right 0 mm; move downward 115 mm; roll upward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 627 mm; move left 179 mm; move downward 287 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 115, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 91 mm; move right 0 mm; move downward 118 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 626 mm; move left 179 mm; move downward 283 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,144], [64,152]\n", + "gripper_2d": [ + 73, + 144 + ], + "task_obj_bbox": [ + 57, + 144, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0021428572945296764, + 0.0, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.09142857789993286, + 0.0, + -0.11821430921554565, + 0.1014285683631897, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.28152096004742355, + 0.11967731302195816, + -0.3660557268326018, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 91 mm; move right 0 mm; move downward 118 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 626 mm; move left 179 mm; move downward 283 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 116, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 93 mm; move left 0 mm; move downward 122 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 624 mm; move left 179 mm; move downward 279 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,144], [64,152]\n", + "gripper_2d": [ + 73, + 144 + ], + "task_obj_bbox": [ + 57, + 144, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0028571428265422583, + 0.0, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.09321429580450058, + 0.0003571428533177823, + -0.12214286625385284, + 0.1128571406006813, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.32286033238029965, + 0.11967731302195816, + -0.3660557268326018, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 93 mm; move left 0 mm; move downward 122 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 624 mm; move left 179 mm; move downward 279 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 117, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 94 mm; move left 1 mm; move downward 126 mm; roll upward 7 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 621 mm; move left 179 mm; move downward 274 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\n", + "gripper_2d": [ + 73, + 144 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0039285714738070965, + 0.0, + -0.004642857238650322, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.09428571909666061, + 0.0010714286472648382, + -0.12607143819332123, + 0.12285713851451874, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3848694110922719, + 0.11967731302195816, + -0.380839866111217, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 94 mm; move left 1 mm; move downward 126 mm; roll upward 7 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 621 mm; move left 179 mm; move downward 274 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 118, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 93 mm; move left 2 mm; move downward 130 mm; roll upward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 617 mm; move left 179 mm; move downward 270 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\n", + "gripper_2d": [ + 73, + 144 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.004285714589059353, + 0.0, + -0.004642857238650322, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.09285714477300644, + 0.0017857144121080637, + -0.1300000101327896, + 0.13285714387893677, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4055391174713676, + 0.11967731302195816, + -0.380839866111217, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 93 mm; move left 2 mm; move downward 130 mm; roll upward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 617 mm; move left 179 mm; move downward 270 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 119, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 90 mm; move left 2 mm; move downward 134 mm; roll upward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 613 mm; move left 179 mm; move downward 265 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\n", + "gripper_2d": [ + 73, + 144 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.004285714589059353, + 0.0, + -0.004642857238650322, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.08964285999536514, + 0.0017857144121080637, + -0.133928582072258, + 0.14428570866584778, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4055391174713676, + 0.11967731302195816, + -0.380839866111217, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 90 mm; move left 2 mm; move downward 134 mm; roll upward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 613 mm; move left 179 mm; move downward 265 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 120, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 86 mm; move left 2 mm; move downward 138 mm; roll upward 9 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 608 mm; move left 179 mm; move downward 260 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\n", + "gripper_2d": [ + 73, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.005000000353902578, + 0.0, + -0.004642857238650322, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.08571429550647736, + 0.0017857144121080637, + -0.13785716891288757, + 0.16285714507102966, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.44687850327934897, + 0.11967731302195816, + -0.380839866111217, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 86 mm; move left 2 mm; move downward 138 mm; roll upward 9 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 608 mm; move left 179 mm; move downward 260 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 121, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 81 mm; move left 2 mm; move downward 142 mm; roll upward 10 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 603 mm; move left 179 mm; move downward 256 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\n", + "gripper_2d": [ + 73, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0053571430034935474, + 0.0, + -0.004642857238650322, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.08142857998609543, + 0.0017857144121080637, + -0.14178574085235596, + 0.18285714089870453, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4675481827082346, + 0.11967731302195816, + -0.380839866111217, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 81 mm; move left 2 mm; move downward 142 mm; roll upward 10 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 603 mm; move left 179 mm; move downward 256 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 122, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 78 mm; move left 2 mm; move downward 146 mm; roll upward 11 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move left 179 mm; move downward 251 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\n", + "gripper_2d": [ + 73, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0053571430034935474, + 0.0, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.07750000804662704, + 0.0017857144121080637, + -0.14571431279182434, + 0.19857142865657806, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4675481827082346, + 0.11967731302195816, + -0.3660557268326018, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 78 mm; move left 2 mm; move downward 146 mm; roll upward 11 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move left 179 mm; move downward 251 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 123, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 76 mm; move left 2 mm; move downward 150 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 593 mm; move left 179 mm; move downward 247 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\n", + "gripper_2d": [ + 73, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.005000000353902578, + 0.0, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.07571429014205933, + 0.0021428572945296764, + -0.15000003576278687, + 0.21142856776714325, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.44687850327934897, + 0.11967731302195816, + -0.4104081639447824, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 76 mm; move left 2 mm; move downward 150 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 593 mm; move left 179 mm; move downward 247 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 124, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 75 mm; move left 3 mm; move downward 153 mm; roll upward 13 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 588 mm; move left 179 mm; move downward 241 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\n", + "gripper_2d": [ + 73, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.005000000353902578, + 0.0, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.07464286684989929, + 0.0032142859417945147, + -0.15321432054042816, + 0.22285713255405426, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.44687850327934897, + 0.11967731302195816, + -0.4104081639447824, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 75 mm; move left 3 mm; move downward 153 mm; roll upward 13 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 588 mm; move left 179 mm; move downward 241 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 125, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 74 mm; move left 5 mm; move downward 156 mm; roll upward 13 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 583 mm; move left 179 mm; move downward 236 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\n", + "gripper_2d": [ + 73, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0057142856530845165, + 0.0, + -0.0057142856530845165, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.07357143610715866, + 0.005357143469154835, + -0.15607145428657532, + 0.22999998927116394, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.48821786213712004, + 0.11967731302195816, + -0.4251923032233976, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 74 mm; move left 5 mm; move downward 156 mm; roll upward 13 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 583 mm; move left 179 mm; move downward 236 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 126, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 72 mm; move left 9 mm; move downward 159 mm; roll upward 13 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 577 mm; move left 179 mm; move downward 230 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\n", + "gripper_2d": [ + 73, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.006071428768336773, + 0.0, + -0.006428571883589029, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.07214286178350449, + 0.00857143010944128, + -0.15857145190238953, + 0.2328571379184723, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.508887568516216, + 0.11967731302195816, + -0.4547606203332979, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 72 mm; move left 9 mm; move downward 159 mm; roll upward 13 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 577 mm; move left 179 mm; move downward 230 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 127, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 7 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 71 mm; move left 13 mm; move downward 160 mm; roll upward 13 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 571 mm; move left 179 mm; move downward 224 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\n", + "gripper_2d": [ + 73, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.006071428768336773, + 0.0, + -0.007142857648432255, + 0.0028571428265422583, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.07107143849134445, + 0.012500002048909664, + -0.16035716235637665, + 0.2328571379184723, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.508887568516216, + 0.11967731302195816, + -0.4843289181668632, + -0.33670054609634315, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 7 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 71 mm; move left 13 mm; move downward 160 mm; roll upward 13 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 571 mm; move left 179 mm; move downward 224 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 128, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 7 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 71 mm; move left 16 mm; move downward 161 mm; roll upward 13 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 565 mm; move left 179 mm; move downward 217 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\n", + "gripper_2d": [ + 73, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0057142856530845165, + 0.0, + -0.007142857648432255, + 0.0057142856530845165, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.07071429491043091, + 0.016428573057055473, + -0.1614285707473755, + 0.22999998927116394, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.48821786213712004, + 0.11967731302195816, + -0.4843289181668632, + -0.1683504280371515, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 7 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 71 mm; move left 16 mm; move downward 161 mm; roll upward 13 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 565 mm; move left 179 mm; move downward 217 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 129, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 7 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 73 mm; move left 23 mm; move downward 161 mm; roll upward 13 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 559 mm; move left 179 mm; move downward 210 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\n", + "gripper_2d": [ + 73, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.006428571883589029, + 0.0, + -0.007142857648432255, + 0.0057142856530845165, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.07321429252624512, + 0.02250000275671482, + -0.1614285707473755, + 0.22428569197654724, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.5295572748953119, + 0.11967731302195816, + -0.4843289181668632, + -0.1683504280371515, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 7 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 73 mm; move left 23 mm; move downward 161 mm; roll upward 13 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 559 mm; move left 179 mm; move downward 210 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 130, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 7 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 76 mm; move left 29 mm; move downward 161 mm; roll upward 13 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 553 mm; move left 179 mm; move downward 203 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\n", + "gripper_2d": [ + 73, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.005000000353902578, + 0.0, + -0.007142857648432255, + 0.012857142835855484, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.07571429014205933, + 0.028928576037287712, + -0.1607142835855484, + 0.21857142448425293, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.44687850327934897, + 0.11967731302195816, + -0.4843289181668632, + 0.2525248739703143, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 7 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 76 mm; move left 29 mm; move downward 161 mm; roll upward 13 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 553 mm; move left 179 mm; move downward 203 mm; roll upward 13 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 131, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 79 mm; move left 35 mm; move downward 159 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 548 mm; move left 179 mm; move downward 195 mm; roll upward 12 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\n", + "gripper_2d": [ + 73, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0039285714738070965, + 0.0, + -0.007857142947614193, + 0.019999999552965164, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.07928572595119476, + 0.03500000387430191, + -0.15928570926189423, + 0.20571428537368774, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3848694110922719, + 0.11967731302195816, + -0.5138971967240936, + 0.6734001485398333, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 79 mm; move left 35 mm; move downward 159 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 548 mm; move left 179 mm; move downward 195 mm; roll upward 12 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 132, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 0 mm; move downward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 84 mm; move left 41 mm; move downward 157 mm; roll upward 11 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 544 mm; move left 179 mm; move downward 188 mm; roll upward 11 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\n", + "gripper_2d": [ + 73, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0032142859417945147, + 0.0, + -0.007500000298023224, + 0.02428571507334709, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.08428572863340378, + 0.0414285771548748, + -0.15678571164608002, + 0.18571427464485168, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3435300387593956, + 0.11967731302195816, + -0.4991130574454784, + 0.925925401082974, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 0 mm; move downward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 84 mm; move left 41 mm; move downward 157 mm; roll upward 11 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 544 mm; move left 179 mm; move downward 188 mm; roll upward 11 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 133, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 0 mm; move downward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 90 mm; move left 48 mm; move downward 154 mm; roll upward 9 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 540 mm; move left 179 mm; move downward 180 mm; roll upward 9 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\n", + "gripper_2d": [ + 73, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0028571428265422583, + 0.0, + -0.007500000298023224, + 0.017142856493592262, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.09035714715719223, + 0.047857146710157394, + -0.15357142686843872, + 0.1614285707473755, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.32286033238029965, + 0.11967731302195816, + -0.4991130574454784, + 0.5050500167616683, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 0 mm; move downward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 90 mm; move left 48 mm; move downward 154 mm; roll upward 9 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 540 mm; move left 179 mm; move downward 180 mm; roll upward 9 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 134, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 0 mm; move downward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 97 mm; move left 54 mm; move downward 150 mm; roll upward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 538 mm; move left 179 mm; move downward 173 mm; roll upward 8 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\n", + "gripper_2d": [ + 73, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0032142859417945147, + 0.0, + -0.007857142947614193, + 0.012857142835855484, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.09714286774396896, + 0.05392858013510704, + -0.14999999105930328, + 0.14428570866584778, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3435300387593956, + 0.11967731302195816, + -0.5138971967240936, + 0.2525248739703143, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 0 mm; move downward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 97 mm; move left 54 mm; move downward 150 mm; roll upward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 538 mm; move left 179 mm; move downward 173 mm; roll upward 8 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 135, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move left 0 mm; move downward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 104 mm; move left 60 mm; move downward 144 mm; roll upward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 534 mm; move left 179 mm; move downward 165 mm; roll upward 8 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\n", + "gripper_2d": [ + 73, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0039285714738070965, + 0.0003571428533177823, + -0.008214286528527737, + 0.011428571306169033, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.10357142984867096, + 0.06035714969038963, + -0.14428570866584778, + 0.1314285844564438, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3848694110922719, + 0.13227494202509527, + -0.5286813745553787, + 0.1683498080812318, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 4 mm; move left 0 mm; move downward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 104 mm; move left 60 mm; move downward 144 mm; roll upward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 534 mm; move left 179 mm; move downward 165 mm; roll upward 8 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 136, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move left 1 mm; move downward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 110 mm; move left 68 mm; move downward 138 mm; roll upward 7 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 530 mm; move left 179 mm; move downward 156 mm; roll upward 7 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\n", + "gripper_2d": [ + 73, + 146 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0039285714738070965, + 0.0007142857066355646, + -0.008214286528527737, + 0.009999999776482582, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1103571429848671, + 0.06750000268220901, + -0.13785713911056519, + 0.12000000476837158, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3848694110922719, + 0.14487257102823237, + -0.5286813745553787, + 0.08417474219214927, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 4 mm; move left 1 mm; move downward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 110 mm; move left 68 mm; move downward 138 mm; roll upward 7 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 530 mm; move left 179 mm; move downward 156 mm; roll upward 7 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 137, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move left 1 mm; move downward 9 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 117 mm; move left 74 mm; move downward 131 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 526 mm; move left 178 mm; move downward 148 mm; roll upward 6 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,146], [64,152]\n", + "gripper_2d": [ + 73, + 146 + ], + "task_obj_bbox": [ + 57, + 146, + 64, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.002500000176951289, + 0.0007142857066355646, + -0.008571429178118706, + 0.009999999776482582, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.11714285612106323, + 0.07428571581840515, + -0.1314285844564438, + 0.10999999940395355, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.30219065295141423, + 0.14487257102823237, + -0.5434655138339939, + 0.08417474219214927, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 3 mm; move left 1 mm; move downward 9 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 117 mm; move left 74 mm; move downward 131 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 526 mm; move left 178 mm; move downward 148 mm; roll upward 6 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 138, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 9 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 125 mm; move left 81 mm; move downward 124 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 524 mm; move left 177 mm; move downward 140 mm; roll upward 6 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,146], [63,152]\n", + "gripper_2d": [ + 73, + 146 + ], + "task_obj_bbox": [ + 57, + 146, + 63, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0010714286472648382, + 0.0, + -0.008571429178118706, + 0.011428571306169033, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.12535713613033295, + 0.08107142895460129, + -0.12392858415842056, + 0.09999999403953552, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.2195118813354513, + 0.11967731302195816, + -0.5434655138339939, + 0.1683498080812318, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 9 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 125 mm; move left 81 mm; move downward 124 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 524 mm; move left 177 mm; move downward 140 mm; roll upward 6 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 139, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 0 mm; move right 0 mm; move downward 9 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 135 mm; move left 89 mm; move downward 116 mm; roll upward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 523 mm; move left 177 mm; move downward 131 mm; roll upward 5 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,146], [63,152]\n", + "gripper_2d": [ + 73, + 146 + ], + "task_obj_bbox": [ + 57, + 146, + 63, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0003571428533177823, + 0.0, + -0.008571429178118706, + 0.018571428954601288, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.13535712659358978, + 0.08892857283353806, + -0.11571428924798965, + 0.08857142925262451, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.17817249384308176, + 0.11967731302195816, + -0.5434655138339939, + 0.5892251375266444, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 0 mm; move right 0 mm; move downward 9 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 135 mm; move left 89 mm; move downward 116 mm; roll upward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 523 mm; move left 177 mm; move downward 131 mm; roll upward 5 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 140, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 9 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 146 mm; move left 97 mm; move downward 107 mm; roll upward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 523 mm; move left 177 mm; move downward 123 mm; roll upward 4 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,146], [63,152]\n", + "gripper_2d": [ + 73, + 146 + ], + "task_obj_bbox": [ + 57, + 146, + 63, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0007142857066355646, + 0.0, + -0.008571429178118706, + 0.019999999552965164, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1460714191198349, + 0.09678571671247482, + -0.1071428656578064, + 0.07000000029802322, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.19884218506268447, + 0.11967731302195816, + -0.5434655138339939, + 0.6734001485398333, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 9 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 146 mm; move left 97 mm; move downward 107 mm; roll upward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 523 mm; move left 177 mm; move downward 123 mm; roll upward 4 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 141, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 9 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 156 mm; move left 104 mm; move downward 99 mm; roll upward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 522 mm; move left 177 mm; move downward 114 mm; roll upward 3 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,146], [63,152]\n", + "gripper_2d": [ + 73, + 147 + ], + "task_obj_bbox": [ + 57, + 146, + 63, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0014285714132711291, + 0.0, + -0.008571429178118706, + 0.015714285895228386, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.15642856061458588, + 0.10428571701049805, + -0.09857144206762314, + 0.04999999701976776, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.24018156750188946, + 0.11967731302195816, + -0.5434655138339939, + 0.42087500574847936, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 9 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 156 mm; move left 104 mm; move downward 99 mm; roll upward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 522 mm; move left 177 mm; move downward 114 mm; roll upward 3 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 142, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move left 0 mm; move downward 9 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 166 mm; move left 111 mm; move downward 90 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 520 mm; move left 177 mm; move downward 105 mm; roll upward 2 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,147], [63,152]\n", + "gripper_2d": [ + 73, + 147 + ], + "task_obj_bbox": [ + 57, + 147, + 63, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.0035714288242161274, + 0.0003571428533177823, + -0.008571429178118706, + 0.012857142835855484, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16607142984867096, + 0.11142857372760773, + -0.09000000357627869, + 0.034285712987184525, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.36419973166338626, + 0.13227494202509527, + -0.5434655138339939, + 0.2525248739703143, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 4 mm; move left 0 mm; move downward 9 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 166 mm; move left 111 mm; move downward 90 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 520 mm; move left 177 mm; move downward 105 mm; roll upward 2 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 143, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move left 1 mm; move downward 9 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 174 mm; move left 118 mm; move downward 81 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 517 mm; move left 177 mm; move downward 97 mm; roll upward 1 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,147], [63,152]\ndistr_counter: [66,130], [66,130]\n", + "gripper_2d": [ + 73, + 147 + ], + "task_obj_bbox": [ + 57, + 147, + 63, + 152 + ], + "distractor_bboxes": [ + [ + 66, + 130, + 66, + 130 + ] + ], + "delta_full_state": [ + 0.0039285714738070965, + 0.0010714286472648382, + -0.008571429178118706, + 0.011428571306169033, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17357145249843597, + 0.11821428686380386, + -0.08142857998609543, + 0.02142857201397419, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3848694110922719, + 0.15747020311113902, + -0.5434655138339939, + 0.1683498080812318, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 4 mm; move left 1 mm; move downward 9 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 174 mm; move left 118 mm; move downward 81 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 517 mm; move left 177 mm; move downward 97 mm; roll upward 1 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 144, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move left 2 mm; move downward 8 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 180 mm; move left 124 mm; move downward 73 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 513 mm; move left 176 mm; move downward 88 mm; roll upward 1 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,147], [63,152]\ndistr_counter: [66,130], [66,130]\n", + "gripper_2d": [ + 73, + 147 + ], + "task_obj_bbox": [ + 57, + 147, + 63, + 152 + ], + "distractor_bboxes": [ + [ + 66, + 130, + 66, + 130 + ] + ], + "delta_full_state": [ + 0.0039285714738070965, + 0.0021428572945296764, + -0.008214286528527737, + 0.0071428571827709675, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.18000000715255737, + 0.12428571283817291, + -0.07285714894533157, + 0.009999999776482582, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3848694110922719, + 0.1952630932003201, + -0.5286813745553787, + -0.08417536214806898, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 4 mm; move left 2 mm; move downward 8 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 180 mm; move left 124 mm; move downward 73 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 513 mm; move left 176 mm; move downward 88 mm; roll upward 1 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 145, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move left 3 mm; move downward 8 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 185 mm; move left 130 mm; move downward 65 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 509 mm; move left 174 mm; move downward 80 mm; roll upward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,147], [63,152]\ndistr_counter: [65,129], [67,132]\n", + "gripper_2d": [ + 73, + 147 + ], + "task_obj_bbox": [ + 57, + 147, + 63, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 129, + 67, + 132 + ] + ], + "delta_full_state": [ + 0.004285714589059353, + 0.0032142859417945147, + -0.008214286528527737, + 0.0028571428265422583, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.18535715341567993, + 0.12964285910129547, + -0.06464286893606186, + 0.0028571428265422583, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4055391174713676, + 0.23305598328950095, + -0.5286813745553787, + -0.33670054609634315, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 4 mm; move left 3 mm; move downward 8 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 185 mm; move left 130 mm; move downward 65 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 509 mm; move left 174 mm; move downward 80 mm; roll upward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 146, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move left 4 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 190 mm; move left 135 mm; move downward 56 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 505 mm; move left 171 mm; move downward 72 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,147], [63,152]\ndistr_counter: [65,129], [67,132]\n", + "gripper_2d": [ + 73, + 148 + ], + "task_obj_bbox": [ + 57, + 147, + 63, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 129, + 67, + 132 + ] + ], + "delta_full_state": [ + 0.005000000353902578, + 0.0039285714738070965, + -0.008214286528527737, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.19035714864730835, + 0.13500000536441803, + -0.05642857775092125, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.44687850327934897, + 0.2582512351362356, + -0.5286813745553787, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 5 mm; move left 4 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 190 mm; move left 135 mm; move downward 56 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 505 mm; move left 171 mm; move downward 72 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 147, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move left 4 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 194 mm; move left 140 mm; move downward 49 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 500 mm; move left 167 mm; move downward 64 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,148], [62,152]\ndistr_counter: [65,128], [68,132]\n", + "gripper_2d": [ + 73, + 148 + ], + "task_obj_bbox": [ + 57, + 148, + 62, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 128, + 68, + 132 + ] + ], + "delta_full_state": [ + 0.0057142856530845165, + 0.0039285714738070965, + -0.008214286528527737, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1939285844564438, + 0.1403571516275406, + -0.04857143014669418, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.48821786213712004, + 0.2582512351362356, + -0.5286813745553787, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 6 mm; move left 4 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 194 mm; move left 140 mm; move downward 49 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 500 mm; move left 167 mm; move downward 64 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 148, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move left 6 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 196 mm; move left 145 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 494 mm; move left 163 mm; move downward 55 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,148], [62,152]\ndistr_counter: [65,128], [68,132]\n", + "gripper_2d": [ + 73, + 148 + ], + "task_obj_bbox": [ + 57, + 148, + 62, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 128, + 68, + 132 + ] + ], + "delta_full_state": [ + 0.008214286528527737, + 0.006071428768336773, + -0.007142857648432255, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.19607144594192505, + 0.1453571617603302, + -0.0414285734295845, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.6329057528903705, + 0.33383701531459753, + -0.4843289181668632, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 8 mm; move left 6 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 196 mm; move left 145 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 494 mm; move left 163 mm; move downward 55 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 149, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 6 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 196 mm; move left 148 mm; move downward 36 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 486 mm; move left 157 mm; move downward 48 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,148], [62,152]\ndistr_counter: [65,128], [68,133]\n", + "gripper_2d": [ + 73, + 148 + ], + "task_obj_bbox": [ + 57, + 148, + 62, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 128, + 68, + 133 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + 0.006428571883589029, + -0.006428571883589029, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.19607144594192505, + 0.14821431040763855, + -0.03642857447266579, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.6742451117481416, + 0.34643465355704395, + -0.4547606203332979, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 9 mm; move left 6 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 196 mm; move left 148 mm; move downward 36 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 486 mm; move left 157 mm; move downward 48 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 150, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 6 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 195 mm; move left 151 mm; move downward 32 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 477 mm; move left 150 mm; move downward 42 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,148], [62,152]\ndistr_counter: [65,128], [68,133]\n", + "gripper_2d": [ + 73, + 149 + ], + "task_obj_bbox": [ + 57, + 148, + 62, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 128, + 68, + 133 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + 0.006071428768336773, + -0.0057142856530845165, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.19535715878009796, + 0.15071430802345276, + -0.03214285895228386, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.6535754323192562, + 0.33383701531459753, + -0.4251923032233976, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 9 mm; move left 6 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 195 mm; move left 151 mm; move downward 32 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 477 mm; move left 150 mm; move downward 42 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 151, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 6 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 195 mm; move left 153 mm; move downward 29 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 468 mm; move left 144 mm; move downward 36 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,148], [62,152]\ndistr_counter: [65,128], [68,133]\n", + "gripper_2d": [ + 72, + 149 + ], + "task_obj_bbox": [ + 57, + 148, + 62, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 128, + 68, + 133 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + 0.006428571883589029, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.19464287161827087, + 0.15285716950893402, + -0.028571436181664467, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.6742451117481416, + 0.34643465355704395, + -0.4104081639447824, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 9 mm; move left 6 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 195 mm; move left 153 mm; move downward 29 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 468 mm; move left 144 mm; move downward 36 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 152, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 6 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 193 mm; move left 155 mm; move downward 26 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 459 mm; move left 138 mm; move downward 31 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,148], [62,152]\ndistr_counter: [65,128], [68,133]\n", + "gripper_2d": [ + 72, + 149 + ], + "task_obj_bbox": [ + 57, + 148, + 62, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 128, + 68, + 133 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + 0.006428571883589029, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1932142972946167, + 0.15464286506175995, + -0.025714287534356117, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.694914791177027, + 0.34643465355704395, + -0.3660557268326018, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 9 mm; move left 6 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 193 mm; move left 155 mm; move downward 26 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 459 mm; move left 138 mm; move downward 31 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 153, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move left 6 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 191 mm; move left 156 mm; move downward 25 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 450 mm; move left 131 mm; move downward 26 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,148], [62,152]\ndistr_counter: [65,128], [68,133]\n", + "gripper_2d": [ + 72, + 149 + ], + "task_obj_bbox": [ + 57, + 148, + 62, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 128, + 68, + 133 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + 0.006071428768336773, + -0.0039285714738070965, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.19142858684062958, + 0.15607143938541412, + -0.02500000037252903, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7155844706059127, + 0.33383701531459753, + -0.3512715682776517, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 10 mm; move left 6 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 191 mm; move left 156 mm; move downward 25 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 450 mm; move left 131 mm; move downward 26 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 154, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move left 6 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 189 mm; move left 158 mm; move downward 24 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 440 mm; move left 125 mm; move downward 23 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,148], [61,152]\ndistr_counter: [65,129], [67,133]\n", + "gripper_2d": [ + 72, + 149 + ], + "task_obj_bbox": [ + 57, + 148, + 61, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 129, + 67, + 133 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + 0.006428571883589029, + -0.0021428572945296764, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.18892858922481537, + 0.1582142859697342, + -0.02428571693599224, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7155844706059127, + 0.34643465355704395, + -0.2773508333319058, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 10 mm; move left 6 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 189 mm; move left 158 mm; move downward 24 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 440 mm; move left 125 mm; move downward 23 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 155, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move left 8 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 186 mm; move left 160 mm; move downward 25 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 431 mm; move left 119 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,148], [61,152]\ndistr_counter: [65,129], [67,133]\n", + "gripper_2d": [ + 72, + 149 + ], + "task_obj_bbox": [ + 57, + 148, + 61, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 129, + 67, + 133 + ] + ], + "delta_full_state": [ + 0.010714286006987095, + 0.007500000298023224, + -0.0017857144121080637, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.18642859160900116, + 0.16035716235637665, + -0.025357145816087723, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.77759356279299, + 0.3842275354335054, + -0.2625666844151231, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 11 mm; move left 8 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 186 mm; move left 160 mm; move downward 25 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 431 mm; move left 119 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 156, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move left 8 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 183 mm; move left 162 mm; move downward 27 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 420 mm; move left 111 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,148], [61,152]\ndistr_counter: [65,129], [67,132]\n", + "gripper_2d": [ + 71, + 149 + ], + "task_obj_bbox": [ + 57, + 148, + 61, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 129, + 67, + 132 + ] + ], + "delta_full_state": [ + 0.010714286006987095, + 0.007500000298023224, + -0.0017857144121080637, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.18321429193019867, + 0.16178572177886963, + -0.027142858132719994, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.77759356279299, + 0.3842275354335054, + -0.2625666844151231, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 11 mm; move left 8 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 183 mm; move left 162 mm; move downward 27 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 420 mm; move left 111 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 157, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move left 8 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 179 mm; move left 162 mm; move downward 29 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 409 mm; move left 104 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,148], [61,152]\ndistr_counter: [65,130], [66,132]\n", + "gripper_2d": [ + 71, + 148 + ], + "task_obj_bbox": [ + 57, + 148, + 61, + 152 + ], + "distractor_bboxes": [ + [ + 65, + 130, + 66, + 132 + ] + ], + "delta_full_state": [ + 0.010714286006987095, + 0.007500000298023224, + -0.0010714286472648382, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17892858386039734, + 0.16214285790920258, + -0.028928576037287712, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.77759356279299, + 0.3842275354335054, + -0.2329983865815578, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 11 mm; move left 8 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 179 mm; move left 162 mm; move downward 29 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 409 mm; move left 104 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 158, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move left 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 174 mm; move left 161 mm; move downward 32 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 399 mm; move left 96 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,148], [61,152]\n", + "gripper_2d": [ + 71, + 148 + ], + "task_obj_bbox": [ + 57, + 148, + 61, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.007857142947614193, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17392857372760773, + 0.16142858564853668, + -0.03214285895228386, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7982632422218754, + 0.3968251572505128, + -0.20343008754322156, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 11 mm; move left 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 174 mm; move left 161 mm; move downward 32 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 399 mm; move left 96 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 159, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move left 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 168 mm; move left 159 mm; move downward 38 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 387 mm; move left 89 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,148], [61,152]\n", + "gripper_2d": [ + 70, + 148 + ], + "task_obj_bbox": [ + 57, + 148, + 61, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.007857142947614193, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16821430623531342, + 0.15892858803272247, + -0.03750000149011612, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7982632422218754, + 0.3968251572505128, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 11 mm; move left 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 168 mm; move left 159 mm; move downward 38 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 387 mm; move left 89 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 160, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move left 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 163 mm; move left 155 mm; move downward 44 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 376 mm; move left 81 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,147], [61,152]\n", + "gripper_2d": [ + 70, + 148 + ], + "task_obj_bbox": [ + 57, + 147, + 61, + 152 + ], + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.007500000298023224, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16250000894069672, + 0.15535716712474823, + -0.04392857477068901, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7982632422218754, + 0.3842275354335054, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 11 mm; move left 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 163 mm; move left 155 mm; move downward 44 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 376 mm; move left 81 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 161, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move left 7 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 155 mm; move left 150 mm; move downward 51 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 365 mm; move left 73 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,147], [61,152]\ndistr_sink: [127,147], [132,148]\n", + "gripper_2d": [ + 70, + 148 + ], + "task_obj_bbox": [ + 57, + 147, + 61, + 152 + ], + "distractor_bboxes": [ + [ + 127, + 147, + 132, + 148 + ] + ], + "delta_full_state": [ + 0.011071428656578064, + 0.007142857648432255, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.15464286506175995, + 0.15000002086162567, + -0.05107143148779869, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7982632422218754, + 0.371629913616498, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 11 mm; move left 7 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 155 mm; move left 150 mm; move downward 51 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 365 mm; move left 73 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 162, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move left 7 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 144 mm; move left 143 mm; move downward 57 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 354 mm; move left 66 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,147], [61,152]\ndistr_sink: [126,146], [133,148]\n", + "gripper_2d": [ + 70, + 147 + ], + "task_obj_bbox": [ + 57, + 147, + 61, + 152 + ], + "distractor_bboxes": [ + [ + 126, + 146, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.011071428656578064, + 0.007142857648432255, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.14357143640518188, + 0.142857164144516, + -0.05714286118745804, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7982632422218754, + 0.371629913616498, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 11 mm; move left 7 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 144 mm; move left 143 mm; move downward 57 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 354 mm; move left 66 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 163, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move left 7 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 133 mm; move left 136 mm; move downward 64 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 343 mm; move left 59 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,147], [62,152]\ndistr_sink: [126,145], [133,148]\n", + "gripper_2d": [ + 69, + 147 + ], + "task_obj_bbox": [ + 57, + 147, + 62, + 152 + ], + "distractor_bboxes": [ + [ + 126, + 145, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.010357143357396126, + 0.007142857648432255, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.13250002264976501, + 0.1357143074274063, + -0.06392857432365417, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7569238833641043, + 0.371629913616498, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 10 mm; move left 7 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 133 mm; move left 136 mm; move downward 64 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 343 mm; move left 59 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 164, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 122 mm; move left 129 mm; move downward 72 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 333 mm; move left 52 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,146], [62,152]\ndistr_sink: [125,144], [133,148]\n", + "gripper_2d": [ + 69, + 147 + ], + "task_obj_bbox": [ + 57, + 146, + 62, + 152 + ], + "distractor_bboxes": [ + [ + 125, + 144, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + 0.007500000298023224, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.12214287370443344, + 0.12857143580913544, + -0.07214286178350449, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.694914791177027, + 0.3842275354335054, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 9 mm; move left 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 122 mm; move left 129 mm; move downward 72 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 333 mm; move left 52 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 165, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 9 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 113 mm; move left 121 mm; move downward 82 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 324 mm; move left 44 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,147], [62,152]\ndistr_sink: [125,143], [133,148]\n", + "gripper_2d": [ + 69, + 147 + ], + "task_obj_bbox": [ + 57, + 147, + 62, + 152 + ], + "distractor_bboxes": [ + [ + 125, + 143, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + 0.008571429178118706, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1128571555018425, + 0.12107143551111221, + -0.08178572356700897, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.694914791177027, + 0.4220204337354059, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 9 mm; move left 9 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 113 mm; move left 121 mm; move downward 82 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 324 mm; move left 44 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 166, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 9 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 104 mm; move left 113 mm; move downward 93 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 314 mm; move left 36 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,147], [62,152]\ndistr_sink: [124,142], [133,148]\n", + "gripper_2d": [ + 68, + 146 + ], + "task_obj_bbox": [ + 57, + 147, + 62, + 152 + ], + "distractor_bboxes": [ + [ + 124, + 142, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + 0.009285714477300644, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.10357142984867096, + 0.11250002682209015, + -0.09321429580450058, + 0.0, + 0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.6535754323192562, + 0.4472156773694209, + -0.20343008754322156, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 9 mm; move left 9 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 104 mm; move left 113 mm; move downward 93 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 314 mm; move left 36 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 167, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move left 9 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 95 mm; move left 103 mm; move downward 105 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 306 mm; move left 26 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,148], [62,152]\ndistr_sink: [123,141], [133,148]\n", + "gripper_2d": [ + 68, + 146 + ], + "task_obj_bbox": [ + 57, + 148, + 62, + 152 + ], + "distractor_bboxes": [ + [ + 123, + 141, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + 0.008928571827709675, + -0.0010714286472648382, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0949999988079071, + 0.10321428626775742, + -0.10500001162290573, + 0.0, + 0.00714285671710968, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.6122360195610643, + 0.4346180555524133, + -0.2329983865815578, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 8 mm; move left 9 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 95 mm; move left 103 mm; move downward 105 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 306 mm; move left 26 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 168, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move left 9 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 87 mm; move left 94 mm; move downward 114 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 298 mm; move left 18 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,147], [62,152]\ndistr_sink: [122,140], [133,148]\n", + "gripper_2d": [ + 68, + 146 + ], + "task_obj_bbox": [ + 57, + 147, + 62, + 152 + ], + "distractor_bboxes": [ + [ + 122, + 140, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.008214286528527737, + 0.008928571827709675, + -0.0021428572945296764, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.08714284747838974, + 0.09428571909666061, + -0.11428570747375488, + 0.0, + 0.00714285671710968, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.6329057528903705, + 0.4346180555524133, + -0.2773508333319058, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 8 mm; move left 9 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 87 mm; move left 94 mm; move downward 114 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 298 mm; move left 18 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 169, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move left 9 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 79 mm; move left 85 mm; move downward 122 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 290 mm; move left 9 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [62,152]\ndistr_sink: [121,139], [133,148]\n", + "gripper_2d": [ + 67, + 146 + ], + "task_obj_bbox": [ + 57, + 145, + 62, + 152 + ], + "distractor_bboxes": [ + [ + 121, + 139, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.008214286528527737, + 0.008928571827709675, + -0.0021428572945296764, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.07892856746912003, + 0.08535715192556381, + -0.1217857152223587, + 0.0, + 0.00714285671710968, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.6329057528903705, + 0.4346180555524133, + -0.2773508333319058, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 8 mm; move left 9 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 79 mm; move left 85 mm; move downward 122 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 290 mm; move left 9 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 170, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move left 8 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 71 mm; move left 76 mm; move downward 127 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 281 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [63,152]\ndistr_sink: [121,138], [133,148]\n", + "gripper_2d": [ + 67, + 146 + ], + "task_obj_bbox": [ + 57, + 145, + 63, + 152 + ], + "distractor_bboxes": [ + [ + 121, + 138, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + 0.008214286528527737, + -0.0021428572945296764, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.07071428745985031, + 0.07642857730388641, + -0.12714286148548126, + 0.0, + 0.00714285671710968, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.6122360195610643, + 0.40942281191839824, + -0.2773508333319058, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 8 mm; move left 8 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 71 mm; move left 76 mm; move downward 127 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 281 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 171, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move left 8 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 63 mm; move left 68 mm; move downward 132 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 274 mm; move right 9 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [62,152]\ndistr_sink: [121,137], [133,148]\n", + "gripper_2d": [ + 67, + 146 + ], + "task_obj_bbox": [ + 57, + 145, + 62, + 152 + ], + "distractor_bboxes": [ + [ + 121, + 137, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.007500000298023224, + 0.008214286528527737, + -0.002500000176951289, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.06285714358091354, + 0.0682142898440361, + -0.13178572058677673, + 0.0, + 0.00714285671710968, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.5915663401321789, + 0.40942281191839824, + -0.2921349822486885, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 8 mm; move left 8 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 63 mm; move left 68 mm; move downward 132 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 274 mm; move right 9 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 172, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move left 8 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 55 mm; move left 60 mm; move downward 136 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 266 mm; move right 17 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [62,152]\ndistr_sink: [121,136], [133,148]\n", + "gripper_2d": [ + 66, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 62, + 152 + ], + "distractor_bboxes": [ + [ + 121, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.007500000298023224, + 0.007857142947614193, + -0.0035714288242161274, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.05535714700818062, + 0.06000000238418579, + -0.13571427762508392, + 0.0, + 0.00714285671710968, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.5915663401321789, + 0.3968251572505128, + -0.3364874289990365, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 8 mm; move left 8 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 55 mm; move left 60 mm; move downward 136 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 266 mm; move right 17 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 173, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move left 8 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 48 mm; move left 52 mm; move downward 140 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 259 mm; move right 25 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [62,152]\ndistr_sink: [121,136], [133,148]\n", + "gripper_2d": [ + 66, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 62, + 152 + ], + "distractor_bboxes": [ + [ + 121, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.007142857648432255, + 0.008214286528527737, + -0.0032142859417945147, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.047857146710157394, + 0.05214285850524902, + -0.1396428793668747, + 0.0, + 0.011428570374846458, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.5708966607032933, + 0.40942281191839824, + -0.3217032800822538, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 7 mm; move left 8 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 48 mm; move left 52 mm; move downward 140 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 259 mm; move right 25 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 174, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move left 9 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 41 mm; move left 44 mm; move downward 145 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 251 mm; move right 33 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [62,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 66, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 62, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.007142857648432255, + 0.008571429178118706, + -0.0032142859417945147, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.04107142984867096, + 0.04392857477068901, + -0.1446428745985031, + 0.0, + 0.022857140749692917, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.5708966607032933, + 0.4220204337354059, + -0.3217032800822538, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 7 mm; move left 9 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 41 mm; move left 44 mm; move downward 145 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 251 mm; move right 33 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 175, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move left 9 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 35 mm; move left 35 mm; move downward 149 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 244 mm; move right 41 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [62,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 65, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 62, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.007500000298023224, + 0.008928571827709675, + -0.0035714288242161274, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.03464285656809807, + 0.035357143729925156, + -0.1492857187986374, + 0.0, + 0.03285714238882065, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.5915663401321789, + 0.4346180555524133, + -0.3364874289990365, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 8 mm; move left 9 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 35 mm; move left 35 mm; move downward 149 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 244 mm; move right 41 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 176, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move left 8 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 29 mm; move left 26 mm; move downward 153 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 237 mm; move right 50 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 65, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.006428571883589029, + 0.007857142947614193, + -0.0035714288242161274, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.029285717755556107, + 0.026428574696183205, + -0.15250001847743988, + 0.0, + 0.041428569704294205, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.5295572748953119, + 0.3968251572505128, + -0.3364874289990365, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 6 mm; move left 8 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 29 mm; move left 26 mm; move downward 153 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 237 mm; move right 50 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 177, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move left 7 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 26 mm; move left 19 mm; move downward 155 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 230 mm; move right 58 mm; move upward 12 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\ndistr_counter: [61,152], [61,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 65, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [ + [ + 61, + 152, + 61, + 152 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0057142856530845165, + 0.006785714533179998, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.02607142925262451, + 0.018571428954601288, + -0.1550000160932541, + 0.0, + 0.04571428522467613, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.48821786213712004, + 0.35903227537405136, + -0.3660557268326018, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 6 mm; move left 7 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 26 mm; move left 19 mm; move downward 155 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 230 mm; move right 58 mm; move upward 12 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 178, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move left 5 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 25 mm; move left 12 mm; move downward 156 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 225 mm; move right 65 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\ndistr_counter: [61,151], [62,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 64, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [ + [ + 61, + 151, + 62, + 152 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0053571430034935474, + 0.0053571430034935474, + -0.0057142856530845165, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.024642858654260635, + 0.011785714887082577, + -0.15571428835391998, + 0.0, + 0.04571428522467613, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4675481827082346, + 0.3086417552551435, + -0.4251923032233976, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 5 mm; move left 5 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 25 mm; move left 12 mm; move downward 156 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 225 mm; move right 65 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 179, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move left 4 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 24 mm; move left 6 mm; move downward 155 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 219 mm; move right 70 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\ndistr_counter: [61,150], [62,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 64, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [ + [ + 61, + 150, + 62, + 152 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0053571430034935474, + 0.004285714589059353, + -0.006428571883589029, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.023571429774165154, + 0.006428571883589029, + -0.1550000011920929, + 0.0, + 0.04571428522467613, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4675481827082346, + 0.270848873378682, + -0.4547606203332979, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 5 mm; move left 4 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 24 mm; move left 6 mm; move downward 155 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 219 mm; move right 70 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 180, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move left 2 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 24 mm; move left 2 mm; move downward 152 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 214 mm; move right 75 mm; move upward 29 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\ndistr_counter: [62,151], [62,151]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 64, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [ + [ + 62, + 151, + 62, + 151 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0032142859417945147, + 0.0021428572945296764, + -0.007142857648432255, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.02428571507334709, + 0.0021428572945296764, + -0.15214285254478455, + 0.0, + 0.04571428522467613, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3435300387593956, + 0.1952630932003201, + -0.4843289181668632, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 3 mm; move left 2 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 24 mm; move left 2 mm; move downward 152 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 214 mm; move right 75 mm; move upward 29 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 181, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 28 mm; move right 0 mm; move downward 148 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 211 mm; move right 77 mm; move upward 36 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\ndistr_counter: [60,151], [62,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 64, + 146 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [ + [ + 60, + 151, + 62, + 152 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.006071428768336773, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.027857143431901932, + 0.0, + -0.14785712957382202, + 0.0, + 0.04571428522467613, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.4399764617783477, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 28 mm; move right 0 mm; move downward 148 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 211 mm; move right 77 mm; move upward 36 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 182, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 35 mm; move right 0 mm; move downward 145 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 211 mm; move right 77 mm; move upward 42 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\ndistr_counter: [60,151], [62,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 146 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [ + [ + 60, + 151, + 62, + 152 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.006785714533179998, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.03500000014901161, + 0.0, + -0.14499999582767487, + 0.0, + 0.04571428522467613, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.4695447596119131, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 35 mm; move right 0 mm; move downward 145 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 211 mm; move right 77 mm; move upward 42 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 183, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 42 mm; move right 0 mm; move downward 141 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 211 mm; move right 77 mm; move upward 49 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [64,152]\ndistr_counter: [60,152], [60,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 146 + ], + "task_obj_bbox": [ + 57, + 145, + 64, + 152 + ], + "distractor_bboxes": [ + [ + 60, + 152, + 60, + 152 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.008214286528527737, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.04178571328520775, + 0.0, + -0.14107142388820648, + 0.0, + 0.04571428522467613, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.5286813745553787, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 42 mm; move right 0 mm; move downward 141 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 211 mm; move right 77 mm; move upward 49 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 184, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 50 mm; move right 0 mm; move downward 136 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 211 mm; move right 77 mm; move upward 57 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,146], [64,152]\ndistr_counter: [60,152], [61,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 146 + ], + "task_obj_bbox": [ + 57, + 146, + 64, + 152 + ], + "distractor_bboxes": [ + [ + 60, + 152, + 61, + 152 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.009642857126891613, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.049642857164144516, + 0.0, + -0.13607142865657806, + 0.0, + 0.04571428522467613, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.5878179316698395, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 50 mm; move right 0 mm; move downward 136 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 211 mm; move right 77 mm; move upward 57 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 185, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 58 mm; move right 0 mm; move downward 129 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 211 mm; move right 77 mm; move upward 66 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,146], [64,152]\ndistr_counter: [60,151], [62,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 147 + ], + "task_obj_bbox": [ + 57, + 146, + 64, + 152 + ], + "distractor_bboxes": [ + [ + 60, + 151, + 62, + 152 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.011428571306169033, + 0.0, + 0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.05821428820490837, + 0.0, + -0.12892857193946838, + 0.0, + 0.04571428522467613, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.6617386666155853, + -0.5050506641555348, + 0.7499996937500453, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 58 mm; move right 0 mm; move downward 129 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 211 mm; move right 77 mm; move upward 66 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 186, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 69 mm; move right 0 mm; move downward 118 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 211 mm; move right 77 mm; move upward 78 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,146], [64,152]\ndistr_counter: [60,151], [62,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 147 + ], + "task_obj_bbox": [ + 57, + 146, + 64, + 152 + ], + "distractor_bboxes": [ + [ + 60, + 151, + 62, + 152 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.012142857536673546, + 0.0, + 0.004285714123398066, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.06892857700586319, + 0.0, + -0.11750002205371857, + 0.0, + 0.04285714402794838, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.6913069837254857, + -0.5050506641555348, + 0.799999681740418, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 69 mm; move right 0 mm; move downward 118 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 211 mm; move right 77 mm; move upward 78 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 187, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 80 mm; move right 0 mm; move downward 105 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 211 mm; move right 77 mm; move upward 90 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,147], [64,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 147 + ], + "task_obj_bbox": [ + 57, + 147, + 64, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.010357143357396126, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0803571492433548, + 0.0, + -0.10535714775323868, + 0.0, + 0.03857142850756645, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.6173862487797397, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 80 mm; move right 0 mm; move downward 105 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 211 mm; move right 77 mm; move upward 90 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 188, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 93 mm; move right 0 mm; move downward 95 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 211 mm; move right 77 mm; move upward 100 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,147], [65,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 148 + ], + "task_obj_bbox": [ + 57, + 147, + 65, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.009642857126891613, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0925000011920929, + 0.0, + -0.0950000062584877, + 0.0, + 0.03857142850756645, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.5878179316698395, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 93 mm; move right 0 mm; move downward 95 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 211 mm; move right 77 mm; move upward 100 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 189, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 104 mm; move right 0 mm; move downward 85 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 211 mm; move right 77 mm; move upward 110 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,148], [65,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 148 + ], + "task_obj_bbox": [ + 57, + 148, + 65, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.007500000298023224, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1039285808801651, + 0.0, + -0.08535715192556381, + 0.0, + 0.03857142850756645, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.4991130574454784, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 104 mm; move right 0 mm; move downward 85 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 211 mm; move right 77 mm; move upward 110 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 190, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 115 mm; move right 0 mm; move downward 78 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 211 mm; move right 77 mm; move upward 118 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,148], [65,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 148 + ], + "task_obj_bbox": [ + 57, + 148, + 65, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.006785714533179998, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.11535715311765671, + 0.0, + -0.07785714417695999, + 0.0, + 0.03857142850756645, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.4695447596119131, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 115 mm; move right 0 mm; move downward 78 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 211 mm; move right 77 mm; move upward 118 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 191, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 129 mm; move right 0 mm; move downward 71 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 211 mm; move right 77 mm; move upward 124 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,148], [65,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 149 + ], + "task_obj_bbox": [ + 57, + 148, + 65, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.006428571883589029, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.12857143580913544, + 0.0, + -0.07107143104076385, + 0.0, + 0.03857142850756645, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.4547606203332979, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 129 mm; move right 0 mm; move downward 71 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 211 mm; move right 77 mm; move upward 124 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 192, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 8 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 143 mm; move right 0 mm; move downward 65 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 211 mm; move right 77 mm; move upward 131 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,148], [65,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 149 + ], + "task_obj_bbox": [ + 57, + 148, + 65, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.007500000298023224, + 0.0, + 0.004285714123398066, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.14321430027484894, + 0.0, + -0.06464286148548126, + 0.0, + 0.03857142850756645, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.4991130574454784, + -0.5050506641555348, + 0.799999681740418, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 8 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 143 mm; move right 0 mm; move downward 65 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 211 mm; move right 77 mm; move upward 131 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 193, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 0 mm; move right 0 mm; move downward 8 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 160 mm; move right 0 mm; move downward 57 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 211 mm; move right 77 mm; move upward 138 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,149], [65,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 149 + ], + "task_obj_bbox": [ + 57, + 149, + 65, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0003571428533177823, + 0.0, + -0.008214286528527737, + 0.0, + 0.011428571306169033, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16035716235637665, + 0.0, + -0.05714286118745804, + 0.0, + 0.034285712987184525, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.17817249384308176, + 0.11967731302195816, + -0.5286813745553787, + -0.5050506641555348, + 1.0, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 0 mm; move right 0 mm; move downward 8 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 160 mm; move right 0 mm; move downward 57 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 211 mm; move right 77 mm; move upward 138 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 194, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 8 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 178 mm; move right 0 mm; move downward 49 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 210 mm; move right 77 mm; move upward 146 mm; roll downward 0 degrees; pitch downward 26 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,149], [65,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 149 + ], + "task_obj_bbox": [ + 57, + 149, + 65, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0007142857066355646, + 0.0, + -0.007857142947614193, + 0.0, + 0.009999999776482582, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1778571456670761, + 0.0, + -0.04892857372760773, + 0.0, + 0.022857142612338066, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.19884218506268447, + 0.11967731302195816, + -0.5138971967240936, + -0.5050506641555348, + 0.9999996500000516, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 8 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 178 mm; move right 0 mm; move downward 49 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 210 mm; move right 77 mm; move upward 146 mm; roll downward 0 degrees; pitch downward 26 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 195, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 195 mm; move right 0 mm; move downward 41 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 210 mm; move right 77 mm; move upward 154 mm; roll downward 0 degrees; pitch downward 26 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [58,149], [65,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 150 + ], + "task_obj_bbox": [ + 58, + 149, + 65, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0021428572945296764, + 0.0, + -0.006785714533179998, + 0.0, + 0.008571428246796131, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.19464287161827087, + 0.0, + -0.04107142612338066, + 0.0, + 0.012857142835855484, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.28152096004742355, + 0.11967731302195816, + -0.4695447596119131, + -0.5050506641555348, + 0.9499996538606077, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 195 mm; move right 0 mm; move downward 41 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 210 mm; move right 77 mm; move upward 154 mm; roll downward 0 degrees; pitch downward 26 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 196, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 208 mm; move right 0 mm; move downward 34 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 208 mm; move right 77 mm; move upward 161 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [58,150], [65,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 150 + ], + "task_obj_bbox": [ + 58, + 150, + 65, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0032142859417945147, + 0.0, + -0.006071428768336773, + 0.0, + 0.004285714123398066, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.2078571617603302, + 0.0, + -0.034285712987184525, + 0.0, + 0.004285714123398066, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3435300387593956, + 0.11967731302195816, + -0.4399764617783477, + -0.5050506641555348, + 0.799999681740418, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 208 mm; move right 0 mm; move downward 34 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 208 mm; move right 77 mm; move upward 161 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 197, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 216 mm; move right 0 mm; move downward 28 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 204 mm; move right 77 mm; move upward 167 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [58,150], [65,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 150 + ], + "task_obj_bbox": [ + 58, + 150, + 65, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.004285714589059353, + 0.0, + -0.005000000353902578, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.21642859280109406, + 0.0, + -0.028214288875460625, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4055391174713676, + 0.11967731302195816, + -0.3956240246661672, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 216 mm; move right 0 mm; move downward 28 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 204 mm; move right 77 mm; move upward 167 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 198, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 214 mm; move right 0 mm; move downward 23 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 200 mm; move right 77 mm; move upward 172 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [58,150], [65,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 150 + ], + "task_obj_bbox": [ + 58, + 150, + 65, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.004285714589059353, + 0.0, + -0.005000000353902578, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.2142857313156128, + 0.0, + -0.02321428619325161, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4055391174713676, + 0.11967731302195816, + -0.3956240246661672, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 214 mm; move right 0 mm; move downward 23 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 200 mm; move right 77 mm; move upward 172 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 199, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 210 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 196 mm; move right 77 mm; move upward 177 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [58,150], [66,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 150 + ], + "task_obj_bbox": [ + 58, + 150, + 66, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.006071428768336773, + 0.0, + -0.0035714288242161274, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.21000002324581146, + 0.0, + -0.018214287236332893, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.508887568516216, + 0.11967731302195816, + -0.3364874289990365, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 210 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 196 mm; move right 77 mm; move upward 177 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 200, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 204 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 190 mm; move right 77 mm; move upward 181 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [58,150], [66,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 150 + ], + "task_obj_bbox": [ + 58, + 150, + 66, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.006785714533179998, + 0.0, + -0.0028571428265422583, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.20392858982086182, + 0.0, + -0.014642858877778053, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5502269543241973, + 0.11967731302195816, + -0.3069191215273037, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 204 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 190 mm; move right 77 mm; move upward 181 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 201, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 197 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 183 mm; move right 77 mm; move upward 184 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [58,150], [66,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 150 + ], + "task_obj_bbox": [ + 58, + 150, + 66, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.007142857648432255, + 0.0, + -0.0032142859417945147, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1971428543329239, + 0.0, + -0.011785714887082577, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5708966607032933, + 0.11967731302195816, + -0.3217032800822538, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 197 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 183 mm; move right 77 mm; move upward 184 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 202, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 190 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 176 mm; move right 77 mm; move upward 187 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [58,150], [66,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 150 + ], + "task_obj_bbox": [ + 58, + 150, + 66, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.006785714533179998, + 0.0, + -0.0028571428265422583, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1899999976158142, + 0.0, + -0.008571429178118706, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5502269543241973, + 0.11967731302195816, + -0.3069191215273037, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 190 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 176 mm; move right 77 mm; move upward 187 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 203, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 183 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 169 mm; move right 77 mm; move upward 190 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [58,150], [66,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 150 + ], + "task_obj_bbox": [ + 58, + 150, + 66, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + 0.0, + -0.0032142859417945147, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.18321427702903748, + 0.0, + -0.005714286118745804, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6122360195610643, + 0.11967731302195816, + -0.3217032800822538, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 183 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 169 mm; move right 77 mm; move upward 190 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 204, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 175 mm; move right 0 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 161 mm; move right 77 mm; move upward 193 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [58,150], [66,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 150 + ], + "task_obj_bbox": [ + 58, + 150, + 66, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + 0.0, + -0.002500000176951289, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1753571480512619, + 0.0, + -0.002500000176951289, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6535754323192562, + 0.11967731302195816, + -0.2921349822486885, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 175 mm; move right 0 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 161 mm; move right 77 mm; move upward 193 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 205, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 167 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 152 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [58,150], [66,152]\ndistr_sink: [61,136], [133,150]\n", + "gripper_2d": [ + 63, + 150 + ], + "task_obj_bbox": [ + 58, + 150, + 66, + 152 + ], + "distractor_bboxes": [ + [ + 61, + 136, + 133, + 150 + ] + ], + "delta_full_state": [ + 0.010714286006987095, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16678570210933685, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.77759356279299, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 167 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 152 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 206, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 156 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 142 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [58,149], [66,152]\ndistr_counter: [61,149], [61,149]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 150 + ], + "task_obj_bbox": [ + 58, + 149, + 66, + 152 + ], + "distractor_bboxes": [ + [ + 61, + 149, + 61, + 149 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.15607140958309174, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.818932921650761, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 156 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 142 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 207, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 145 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 130 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,149], [66,152]\ndistr_counter: [61,149], [61,149]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 150 + ], + "task_obj_bbox": [ + 57, + 149, + 66, + 152 + ], + "distractor_bboxes": [ + [ + 61, + 149, + 61, + 149 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.012142857536673546, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.14464284479618073, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8602723344089527, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 145 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 130 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 208, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 132 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 118 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,149], [66,152]\ndistr_counter: [61,149], [62,152]\ndistr_sink: [62,136], [133,150]\n", + "gripper_2d": [ + 63, + 149 + ], + "task_obj_bbox": [ + 57, + 149, + 66, + 152 + ], + "distractor_bboxes": [ + [ + 61, + 149, + 62, + 152 + ], + [ + 62, + 136, + 133, + 150 + ] + ], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.13249999284744263, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.818932921650761, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 132 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 118 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 209, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 121 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 107 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,149], [66,152]\ndistr_counter: [62,150], [62,150]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 149 + ], + "task_obj_bbox": [ + 57, + 149, + 66, + 152 + ], + "distractor_bboxes": [ + [ + 62, + 150, + 62, + 150 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.12107142060995102, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.818932921650761, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 121 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 107 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 210, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 110 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 95 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,148], [66,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 149 + ], + "task_obj_bbox": [ + 57, + 148, + 66, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.10964285582304001, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9222813726956094, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 110 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 95 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 211, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 96 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 82 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,148], [66,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 148 + ], + "task_obj_bbox": [ + 57, + 148, + 66, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.014642857015132904, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.09642857313156128, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 96 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 82 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 212, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 17 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 82 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 68 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,148], [66,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 148 + ], + "task_obj_bbox": [ + 57, + 148, + 66, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.01714285835623741, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.08178572356700897, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 17 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 82 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 68 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 213, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 65 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 50 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,147], [67,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 148 + ], + "task_obj_bbox": [ + 57, + 147, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.01785714365541935, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.06464286148548126, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 65 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 50 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 214, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 47 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 33 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,147], [67,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 147 + ], + "task_obj_bbox": [ + 57, + 147, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.017500000074505806, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.04678571969270706, + 0.0, + 0.0, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 47 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 33 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 215, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 29 mm; move right 0 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 15 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,146], [67,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 147 + ], + "task_obj_bbox": [ + 57, + 146, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.015357143245637417, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.029285717755556107, + 0.0, + 0.0007142857066355646, + 0.0, + -0.01857142709195614, + -0.0014285714132711291, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 29 mm; move right 0 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 15 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 216, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 14 mm; move right 0 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,146], [67,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 146 + ], + "task_obj_bbox": [ + 57, + 146, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.011785714887082577, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.013928571715950966, + 0.0, + 0.007857142947614193, + 0.0, + -0.045714281499385834, + -0.017142856493592262, + 1.0 + ], + "delta_full_state_norm": [ + 0.8396026549800673, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 14 mm; move right 0 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 217, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 2 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move backward 12 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [67,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 146 + ], + "task_obj_bbox": [ + 57, + 145, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0021428572945296764, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0021428572945296764, + 0.0, + 0.018571428954601288, + 0.0, + -0.07285714149475098, + -0.03999999910593033, + 1.0 + ], + "delta_full_state_norm": [ + 0.28152096004742355, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 2 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 12 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 218, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move upward 33 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [67,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 146 + ], + "task_obj_bbox": [ + 57, + 145, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + 0.03285714611411095, + 0.0, + -0.10999999940395355, + -0.07000000029802322, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move upward 33 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 219, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 1 mm; move upward 50 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [67,152]\ndistr_counter: [62,145], [62,145]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 146 + ], + "task_obj_bbox": [ + 57, + 145, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 62, + 145, + 62, + 145 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.0010714286472648382, + 0.05000000074505806, + 0.0, + -0.15142856538295746, + -0.10999999940395355, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 1 mm; move upward 50 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 220, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 1 mm; move right 8 mm; move upward 69 mm; roll downward 0 degrees; pitch downward 12 degrees; yaw clockwise 9 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [67,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 146 + ], + "task_obj_bbox": [ + 57, + 145, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.0007142857066355646, + -0.008214286528527737, + 0.06857143342494965, + 0.0, + -0.20142856240272522, + -0.1614285707473755, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 1 mm; move right 8 mm; move upward 69 mm; roll downward 0 degrees; pitch downward 12 degrees; yaw clockwise 9 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 221, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 5 mm; move right 19 mm; move upward 89 mm; roll downward 0 degrees; pitch downward 14 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [67,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 146 + ], + "task_obj_bbox": [ + 57, + 145, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.004642857238650322, + -0.018571428954601288, + 0.08857142925262451, + 0.0, + -0.24857142567634583, + -0.21571427583694458, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 5 mm; move right 19 mm; move upward 89 mm; roll downward 0 degrees; pitch downward 14 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 222, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 9 mm; move right 30 mm; move upward 109 mm; roll downward 0 degrees; pitch downward 17 degrees; yaw clockwise 15 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [67,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 146 + ], + "task_obj_bbox": [ + 57, + 145, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.008928571827709675, + -0.03035714291036129, + 0.10892857611179352, + 0.0, + -0.2928571403026581, + -0.26999998092651367, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 9 mm; move right 30 mm; move upward 109 mm; roll downward 0 degrees; pitch downward 17 degrees; yaw clockwise 15 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 223, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 12 mm; move right 42 mm; move upward 129 mm; roll downward 0 degrees; pitch downward 20 degrees; yaw clockwise 19 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [67,152]\ndistr_counter: [63,147], [63,147]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 146 + ], + "task_obj_bbox": [ + 57, + 145, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 63, + 147, + 63, + 147 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.011785714887082577, + -0.04178571328520775, + 0.12928572297096252, + 0.0, + -0.34285715222358704, + -0.32571426033973694, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 12 mm; move right 42 mm; move upward 129 mm; roll downward 0 degrees; pitch downward 20 degrees; yaw clockwise 19 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 224, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 12 mm; move right 53 mm; move upward 150 mm; roll downward 0 degrees; pitch downward 22 degrees; yaw clockwise 22 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [67,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.011785714887082577, + -0.05285714194178581, + 0.15035715699195862, + 0.0, + -0.3871428668498993, + -0.3814285397529602, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 12 mm; move right 53 mm; move upward 150 mm; roll downward 0 degrees; pitch downward 22 degrees; yaw clockwise 22 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 225, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 12 mm; move right 64 mm; move upward 173 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw clockwise 25 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [66,152]\ndistr_counter: [63,146], [63,146]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 66, + 152 + ], + "distractor_bboxes": [ + [ + 63, + 146, + 63, + 146 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.011785714887082577, + -0.06428571790456772, + 0.17250001430511475, + 0.0, + -0.4285714328289032, + -0.43714281916618347, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 12 mm; move right 64 mm; move upward 173 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw clockwise 25 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 226, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [66,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 66, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.01428571529686451, + -0.07678571343421936, + 0.19535715878009796, + 0.0, + -0.4699999988079071, + -0.49142852425575256, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 227, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 18 mm; move right 91 mm; move upward 218 mm; roll downward 0 degrees; pitch downward 30 degrees; yaw clockwise 31 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [66,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 66, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.01785714365541935, + -0.09071429073810577, + 0.21785715222358704, + 0.0, + -0.5171428322792053, + -0.5442856550216675, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 18 mm; move right 91 mm; move upward 218 mm; roll downward 0 degrees; pitch downward 30 degrees; yaw clockwise 31 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 228, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 21 mm; move right 105 mm; move upward 240 mm; roll downward 0 degrees; pitch downward 32 degrees; yaw clockwise 34 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [66,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 66, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.02142857201397419, + -0.10535714775323868, + 0.23964285850524902, + 0.0, + -0.5642856955528259, + -0.5899999141693115, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 21 mm; move right 105 mm; move upward 240 mm; roll downward 0 degrees; pitch downward 32 degrees; yaw clockwise 34 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 229, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 26 mm; move right 123 mm; move upward 260 mm; roll downward 0 degrees; pitch downward 35 degrees; yaw clockwise 36 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [66,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 66, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.026428570970892906, + -0.12285714596509933, + 0.260357141494751, + 0.0, + -0.6057142615318298, + -0.6314284801483154, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 26 mm; move right 123 mm; move upward 260 mm; roll downward 0 degrees; pitch downward 35 degrees; yaw clockwise 36 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 230, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 31 mm; move right 141 mm; move upward 279 mm; roll downward 0 degrees; pitch downward 37 degrees; yaw clockwise 38 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [66,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 66, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.030714286491274834, + -0.14142857491970062, + 0.279285728931427, + 0.0, + -0.6485714316368103, + -0.6685713529586792, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 31 mm; move right 141 mm; move upward 279 mm; roll downward 0 degrees; pitch downward 37 degrees; yaw clockwise 38 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 231, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 33 mm; move right 162 mm; move upward 296 mm; roll downward 0 degrees; pitch downward 40 degrees; yaw clockwise 40 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [66,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 66, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.03285714611411095, + -0.16178570687770844, + 0.29607143998146057, + 0.0, + -0.6971428394317627, + -0.7042856216430664, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 33 mm; move right 162 mm; move upward 296 mm; roll downward 0 degrees; pitch downward 40 degrees; yaw clockwise 40 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 232, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 35 mm; move right 184 mm; move upward 311 mm; roll downward 0 degrees; pitch downward 42 degrees; yaw clockwise 42 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [66,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 66, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.03500000387430191, + -0.18357142806053162, + 0.3110714554786682, + 0.0, + -0.741428554058075, + -0.7399998903274536, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 35 mm; move right 184 mm; move upward 311 mm; roll downward 0 degrees; pitch downward 42 degrees; yaw clockwise 42 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 233, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 38 mm; move right 208 mm; move upward 326 mm; roll downward 0 degrees; pitch downward 45 degrees; yaw clockwise 44 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [66,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 66, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.03785714507102966, + -0.2078571319580078, + 0.3257143199443817, + 0.0, + -0.7857142686843872, + -0.774285614490509, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.59999971755532, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 38 mm; move right 208 mm; move upward 326 mm; roll downward 0 degrees; pitch downward 45 degrees; yaw clockwise 44 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 234, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 40 mm; move right 233 mm; move upward 340 mm; roll downward 0 degrees; pitch downward 47 degrees; yaw clockwise 46 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [66,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 66, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0007142857066355646, + 0.0, + -0.017142856493592262, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + -0.03964285925030708, + -0.2328571379184723, + 0.3403571546077728, + 0.0, + -0.8242857456207275, + -0.8057141900062561, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.1590776444071863, + -0.5050506641555348, + 0.04999982113946988, + 0.947368061198244, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 40 mm; move right 233 mm; move upward 340 mm; roll downward 0 degrees; pitch downward 47 degrees; yaw clockwise 46 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 235, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 40 mm; move right 258 mm; move upward 353 mm; roll downward 0 degrees; pitch downward 48 degrees; yaw clockwise 48 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 26 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,145], [66,152]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 145 + ], + "task_obj_bbox": [ + 57, + 145, + 66, + 152 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.007142857648432255, + 0.0, + -0.027142856270074844, + -0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + -0.03964285925030708, + -0.25785714387893677, + 0.353214293718338, + 0.0, + -0.8414285778999329, + -0.8314285278320312, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + 0.10703703850444368, + -0.5050506641555348, + -0.3000001192403534, + 0.42105234452369666, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 40 mm; move right 258 mm; move upward 353 mm; roll downward 0 degrees; pitch downward 48 degrees; yaw clockwise 48 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 77 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 26 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 236, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 40 mm; move right 285 mm; move upward 359 mm; roll downward 0 degrees; pitch downward 48 degrees; yaw clockwise 48 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 77 mm; move upward 188 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 27 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,144], [67,152]\ndistr_counter: [62,146], [62,146]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 145 + ], + "task_obj_bbox": [ + 57, + 144, + 67, + 152 + ], + "distractor_bboxes": [ + [ + 62, + 146, + 62, + 146 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.010714286006987095, + 0.0, + -0.027142856270074844, + -0.022857142612338066, + 1.0 + ], + "delta_next_20": [ + -0.03964285925030708, + -0.2846428453922272, + 0.3589285910129547, + 0.0, + -0.8400000333786011, + -0.8414285182952881, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + 0.2548785083959353, + -0.5050506641555348, + -0.3000001192403534, + 0.15789450548685502, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 40 mm; move right 285 mm; move upward 359 mm; roll downward 0 degrees; pitch downward 48 degrees; yaw clockwise 48 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 77 mm; move upward 188 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 27 degrees; open gripper;" + }, + { + "frame_index": 237, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 40 mm; move right 314 mm; move upward 360 mm; roll downward 0 degrees; pitch downward 48 degrees; yaw clockwise 48 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 77 mm; move upward 177 mm; roll downward 0 degrees; pitch downward 23 degrees; yaw clockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,144], [66,151]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 144 + ], + "task_obj_bbox": [ + 57, + 144, + 66, + 151 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.01428571529686451, + 0.0, + -0.037142857909202576, + -0.029999999329447746, + 1.0 + ], + "delta_next_20": [ + -0.03964285925030708, + -0.3139285743236542, + 0.3603571653366089, + 0.0, + -0.8314286470413208, + -0.8428571224212646, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + 0.40272001684009706, + -0.5050506641555348, + -0.6500001248127473, + -0.10526333354998663, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 40 mm; move right 314 mm; move upward 360 mm; roll downward 0 degrees; pitch downward 48 degrees; yaw clockwise 48 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 77 mm; move upward 177 mm; roll downward 0 degrees; pitch downward 23 degrees; yaw clockwise 26 degrees; open gripper;" + }, + { + "frame_index": 238, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 1 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 40 mm; move right 346 mm; move upward 357 mm; roll downward 0 degrees; pitch downward 46 degrees; yaw clockwise 48 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 77 mm; move upward 163 mm; roll downward 0 degrees; pitch downward 21 degrees; yaw clockwise 24 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [57,143], [67,150]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 144 + ], + "task_obj_bbox": [ + 57, + 143, + 67, + 150 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.0010714286472648382, + 0.01714285835623741, + 0.0, + -0.041428569704294205, + -0.03999999910593033, + 1.0 + ], + "delta_next_20": [ + -0.04000000283122063, + -0.3457143008708954, + 0.3571428954601288, + 0.0, + -0.7985714077949524, + -0.832857072353363, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.08188442293277709, + 0.5209932081743585, + -0.5050506641555348, + -0.8000000154422237, + -0.4736843219263166, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 1 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 40 mm; move right 346 mm; move upward 357 mm; roll downward 0 degrees; pitch downward 46 degrees; yaw clockwise 48 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 77 mm; move upward 163 mm; roll downward 0 degrees; pitch downward 21 degrees; yaw clockwise 24 degrees; open gripper;" + }, + { + "frame_index": 239, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move right 7 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 43 mm; move right 379 mm; move upward 351 mm; roll downward 0 degrees; pitch downward 44 degrees; yaw clockwise 46 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 76 mm; move upward 145 mm; roll downward 0 degrees; pitch downward 18 degrees; yaw clockwise 22 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [58,143], [67,150]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 143 + ], + "task_obj_bbox": [ + 58, + 143, + 67, + 150 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.0007142857066355646, + -0.007142857648432255, + 0.018571428954601288, + 0.0, + -0.05000000074505806, + -0.051428571343421936, + 1.0 + ], + "delta_next_20": [ + -0.04285714402794838, + -0.37928569316864014, + 0.35107144713401794, + 0.0, + -0.7599999904632568, + -0.809999942779541, + 1.0 + ], + "delta_full_state_norm": [ + 0.11616342018427406, + -0.13227528757258156, + 0.5801297652888193, + -0.5050506641555348, + -1.0, + -0.8947369192842699, + 0.9999999900000001 + ], + "movement_text": "move backward 1 mm; move right 7 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 43 mm; move right 379 mm; move upward 351 mm; roll downward 0 degrees; pitch downward 44 degrees; yaw clockwise 46 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 76 mm; move upward 145 mm; roll downward 0 degrees; pitch downward 18 degrees; yaw clockwise 22 degrees; open gripper;" + }, + { + "frame_index": 240, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 10 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 45 mm; move right 407 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw clockwise 44 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 69 mm; move upward 127 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 19 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [58,142], [67,149]\ndistr_counter: [63,144], [63,144]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 63, + 142 + ], + "task_obj_bbox": [ + 58, + 142, + 67, + 149 + ], + "distractor_bboxes": [ + [ + 63, + 144, + 63, + 144 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.0039285714738070965, + -0.010357143357396126, + 0.020000001415610313, + 0.0, + -0.04714285582304001, + -0.05428571254014969, + 1.0 + ], + "delta_next_20": [ + -0.04535714536905289, + -0.40714287757873535, + 0.3432142734527588, + 0.0, + -0.7171428799629211, + -0.7699999809265137, + 1.0 + ], + "delta_full_state_norm": [ + -0.06986380584531326, + -0.24565394962740494, + 0.6392663995086199, + -0.5050506641555348, + -1.0, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 4 mm; move right 10 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 45 mm; move right 407 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw clockwise 44 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 69 mm; move upward 127 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 19 degrees; open gripper;" + }, + { + "frame_index": 241, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 12 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 44 mm; move right 431 mm; move upward 333 mm; roll downward 0 degrees; pitch downward 39 degrees; yaw clockwise 41 degrees; open gripper;\nSubtask Movement: move backward 10 mm; move right 58 mm; move upward 107 mm; roll downward 0 degrees; pitch downward 13 degrees; yaw clockwise 16 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [58,141], [67,148]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 64, + 141 + ], + "task_obj_bbox": [ + 58, + 141, + 67, + 148 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.004285714589059353, + -0.011785714887082577, + 0.020357143133878708, + 0.0, + -0.044285714626312256, + -0.05428571254014969, + 1.0 + ], + "delta_next_20": [ + -0.04392857477068901, + -0.4310714304447174, + 0.3328571617603302, + 0.0, + -0.677142858505249, + -0.7242857813835144, + 1.0 + ], + "delta_full_state_norm": [ + -0.0905335122244092, + -0.29604446974631293, + 0.6540505002345651, + -0.5050506641555348, + -0.9000000729136824, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 4 mm; move right 12 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 44 mm; move right 431 mm; move upward 333 mm; roll downward 0 degrees; pitch downward 39 degrees; yaw clockwise 41 degrees; open gripper;", + "subtask_movement_text": "move backward 10 mm; move right 58 mm; move upward 107 mm; roll downward 0 degrees; pitch downward 13 degrees; yaw clockwise 16 degrees; open gripper;" + }, + { + "frame_index": 242, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 11 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 41 mm; move right 453 mm; move upward 321 mm; roll downward 0 degrees; pitch downward 37 degrees; yaw clockwise 39 degrees; open gripper;\nSubtask Movement: move backward 5 mm; move right 46 mm; move upward 86 mm; roll downward 0 degrees; pitch downward 10 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [58,140], [67,148]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 64, + 141 + ], + "task_obj_bbox": [ + 58, + 140, + 67, + 148 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.0028571428265422583, + -0.011428571306169033, + 0.020357143133878708, + 0.0, + -0.05000000074505806, + -0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + -0.04107142612338066, + -0.4528571665287018, + 0.3207142949104309, + 0.0, + -0.6371427774429321, + -0.675714373588562, + 1.0 + ], + "delta_full_state_norm": [ + -0.007854727133341122, + -0.2834468150784275, + 0.6540505002345651, + -0.5050506641555348, + -1.0, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 3 mm; move right 11 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 41 mm; move right 453 mm; move upward 321 mm; roll downward 0 degrees; pitch downward 37 degrees; yaw clockwise 39 degrees; open gripper;", + "subtask_movement_text": "move backward 5 mm; move right 46 mm; move upward 86 mm; roll downward 0 degrees; pitch downward 10 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 243, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 11 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 38 mm; move right 473 mm; move upward 307 mm; roll downward 0 degrees; pitch downward 34 degrees; yaw clockwise 36 degrees; open gripper;\nSubtask Movement: move backward 3 mm; move right 35 mm; move upward 66 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,140], [67,147]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 64, + 140 + ], + "task_obj_bbox": [ + 59, + 140, + 67, + 147 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.011071428656578064, + 0.021071428433060646, + 0.0, + -0.044285714626312256, + -0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + -0.03821428492665291, + -0.47285714745521545, + 0.30714282393455505, + 0.0, + -0.5871427655220032, + -0.6200000643730164, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.27084919326142, + 0.6836187787917956, + -0.5050506641555348, + -0.9000000729136824, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 11 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 38 mm; move right 473 mm; move upward 307 mm; roll downward 0 degrees; pitch downward 34 degrees; yaw clockwise 36 degrees; open gripper;", + "subtask_movement_text": "move backward 3 mm; move right 35 mm; move upward 66 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 9 degrees; open gripper;" + }, + { + "frame_index": 244, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 11 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 38 mm; move right 492 mm; move upward 292 mm; roll downward 0 degrees; pitch downward 31 degrees; yaw clockwise 32 degrees; open gripper;\nSubtask Movement: move backward 3 mm; move right 24 mm; move upward 45 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,139], [68,146]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 65, + 139 + ], + "task_obj_bbox": [ + 59, + 139, + 68, + 146 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.011428571306169033, + 0.022142857313156128, + 0.0, + -0.041428569704294205, + -0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + -0.03821428492665291, + -0.492499977350235, + 0.29249998927116394, + 0.0, + -0.5428570508956909, + -0.5642857551574707, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.2834468150784275, + 0.7279712351803109, + -0.5050506641555348, + -0.8000000154422237, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 11 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 38 mm; move right 492 mm; move upward 292 mm; roll downward 0 degrees; pitch downward 31 degrees; yaw clockwise 32 degrees; open gripper;", + "subtask_movement_text": "move backward 3 mm; move right 24 mm; move upward 45 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 245, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 13 mm; move upward 23 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 38 mm; move right 512 mm; move upward 277 mm; roll downward 0 degrees; pitch downward 29 degrees; yaw clockwise 29 degrees; open gripper;\nSubtask Movement: move backward 3 mm; move right 13 mm; move upward 23 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,138], [68,145]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 65, + 139 + ], + "task_obj_bbox": [ + 59, + 138, + 68, + 145 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.002500000176951289, + -0.012500000186264515, + 0.022857142612338066, + 0.0, + -0.041428569704294205, + -0.05428571254014969, + 1.0 + ], + "delta_next_20": [ + -0.03821428492665291, + -0.5117856860160828, + 0.2767857015132904, + 0.0, + -0.5014286041259766, + -0.508571445941925, + 1.0 + ], + "delta_full_state_norm": [ + 0.012814952295544302, + -0.321239713380328, + 0.7575395137375414, + -0.5050506641555348, + -0.8000000154422237, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 3 mm; move right 13 mm; move upward 23 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 38 mm; move right 512 mm; move upward 277 mm; roll downward 0 degrees; pitch downward 29 degrees; yaw clockwise 29 degrees; open gripper;", + "subtask_movement_text": "move backward 3 mm; move right 13 mm; move upward 23 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 246, + "segment_id": 40000, + "subtask": "grasp the apple", + "reason": "The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the apple\nSubtask Reasoning: The end-effector moves from a stationary position to make contact with the red apple, closing its gripper around the object to secure it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 14 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 36 mm; move right 530 mm; move upward 259 mm; roll downward 0 degrees; pitch downward 26 degrees; yaw clockwise 26 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [60,138], [68,145]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 65, + 138 + ], + "task_obj_bbox": [ + 60, + 138, + 68, + 145 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.0035714288242161274, + -0.013928571715950966, + 0.022499999031424522, + 0.0, + -0.04714285582304001, + -0.05285714194178581, + 1.0 + ], + "delta_next_20": [ + -0.0357142835855484, + -0.5296428203582764, + 0.25857144594192505, + 0.0, + -0.46000003814697266, + -0.45428571105003357, + 1.0 + ], + "delta_full_state_norm": [ + -0.04919412641642773, + -0.37163023349923585, + 0.7427553359062564, + -0.5050506641555348, + -1.0, + -0.947368459642135, + 0.9999999900000001 + ], + "movement_text": "move backward 4 mm; move right 14 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 36 mm; move right 530 mm; move upward 259 mm; roll downward 0 degrees; pitch downward 26 degrees; yaw clockwise 26 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 247, + "segment_id": 50000, + "subtask": "lift the apple", + "reason": "The robot's gripper is holding the red apple and has moved it vertically upwards, separating it from the counter surface to transition towards the sink.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the apple\nSubtask Reasoning: The robot's gripper is holding the red apple and has moved it vertically upwards, separating it from the counter surface to transition towards the sink.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 15 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 32 mm; move right 546 mm; move upward 240 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 23 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [60,137], [69,144]\ndistr_counter: [64,139], [64,139]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 66, + 137 + ], + "task_obj_bbox": [ + 60, + 137, + 69, + 144 + ], + "distractor_bboxes": [ + [ + 64, + 139, + 64, + 139 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.0035714288242161274, + -0.014642857015132904, + 0.021785713732242584, + 0.0, + -0.04714285582304001, + -0.04571428522467613, + 1.0 + ], + "delta_next_20": [ + -0.03214285895228386, + -0.5460714101791382, + 0.2403571605682373, + 0.0, + -0.41285720467567444, + -0.40142855048179626, + 1.0 + ], + "delta_full_state_norm": [ + -0.04919412641642773, + -0.3968254771332509, + 0.713187057349026, + -0.5050506641555348, + -1.0, + -0.6842106206052933, + 0.9999999900000001 + ], + "movement_text": "move backward 4 mm; move right 15 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 32 mm; move right 546 mm; move upward 240 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 23 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 248, + "segment_id": 50100, + "subtask": "lift the apple", + "reason": "The robot arm is positioned over the sink holding the red apple, consistent with the previous 'lift' action. The apple remains suspended above the counter surface rather than being placed down or moved away, indicating the lifting phase is ongoing or just completed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the apple\nSubtask Reasoning: The robot arm is positioned over the sink holding the red apple, consistent with the previous 'lift' action. The apple remains suspended above the counter surface rather than being placed down or moved away, indicating the lifting phase is ongoing or just completed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 18 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 29 mm; move right 561 mm; move upward 222 mm; roll downward 0 degrees; pitch downward 21 degrees; yaw clockwise 20 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 78 mm; move upward 71 mm; roll downward 0 degrees; pitch downward 10 degrees; yaw clockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [61,136], [69,143]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 66, + 136 + ], + "task_obj_bbox": [ + 61, + 136, + 69, + 143 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.005000000353902578, + -0.017500000074505806, + 0.02071428671479225, + 0.0, + -0.041428569704294205, + -0.041428569704294205, + 1.0 + ], + "delta_next_20": [ + -0.02857143059372902, + -0.5607142448425293, + 0.2217857390642166, + 0.0, + -0.36571434140205383, + -0.35571426153182983, + 1.0 + ], + "delta_full_state_norm": [ + -0.13187289803239055, + -0.49760651737106676, + 0.6688346780658501, + -0.5050506641555348, + -0.8000000154422237, + -0.5263158622841817, + 0.9999999900000001 + ], + "movement_text": "move backward 5 mm; move right 18 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 29 mm; move right 561 mm; move upward 222 mm; roll downward 0 degrees; pitch downward 21 degrees; yaw clockwise 20 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 78 mm; move upward 71 mm; roll downward 0 degrees; pitch downward 10 degrees; yaw clockwise 9 degrees; open gripper;" + }, + { + "frame_index": 249, + "segment_id": 50100, + "subtask": "lift the apple", + "reason": "The robot arm is positioned over the sink holding the red apple, consistent with the previous 'lift' action. The apple remains suspended above the counter surface rather than being placed down or moved away, indicating the lifting phase is ongoing or just completed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the apple\nSubtask Reasoning: The robot arm is positioned over the sink holding the red apple, consistent with the previous 'lift' action. The apple remains suspended above the counter surface rather than being placed down or moved away, indicating the lifting phase is ongoing or just completed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 19 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 24 mm; move right 570 mm; move upward 203 mm; roll downward 0 degrees; pitch downward 19 degrees; yaw clockwise 18 degrees; open gripper;\nSubtask Movement: move backward 9 mm; move right 61 mm; move upward 51 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [61,136], [70,143]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 67, + 136 + ], + "task_obj_bbox": [ + 61, + 136, + 70, + 143 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.004285714589059353, + -0.018571428954601288, + 0.018928570672869682, + 0.0, + -0.04285714402794838, + -0.037142857909202576, + 1.0 + ], + "delta_next_20": [ + -0.023571429774165154, + -0.5696427822113037, + 0.20321431756019592, + 0.0, + -0.3242857754230499, + -0.3142856955528259, + 1.0 + ], + "delta_full_state_norm": [ + -0.0905335122244092, + -0.5353994156729672, + 0.5949138660147646, + -0.5050506641555348, + -0.8500001093705236, + -0.3684212412105865, + 0.9999999900000001 + ], + "movement_text": "move backward 4 mm; move right 19 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 24 mm; move right 570 mm; move upward 203 mm; roll downward 0 degrees; pitch downward 19 degrees; yaw clockwise 18 degrees; open gripper;", + "subtask_movement_text": "move backward 9 mm; move right 61 mm; move upward 51 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 250, + "segment_id": 50100, + "subtask": "lift the apple", + "reason": "The robot arm is positioned over the sink holding the red apple, consistent with the previous 'lift' action. The apple remains suspended above the counter surface rather than being placed down or moved away, indicating the lifting phase is ongoing or just completed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the apple\nSubtask Reasoning: The robot arm is positioned over the sink holding the red apple, consistent with the previous 'lift' action. The apple remains suspended above the counter surface rather than being placed down or moved away, indicating the lifting phase is ongoing or just completed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 2 mm; move right 20 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 19 mm; move right 576 mm; move upward 186 mm; roll downward 0 degrees; pitch downward 16 degrees; yaw clockwise 16 degrees; open gripper;\nSubtask Movement: move backward 4 mm; move right 42 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [62,135], [71,142]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 68, + 135 + ], + "task_obj_bbox": [ + 62, + 135, + 71, + 142 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.0021428572945296764, + -0.020357143133878708, + 0.016785714775323868, + 0.0, + -0.04857143014669418, + -0.0357142873108387, + 1.0 + ], + "delta_next_20": [ + -0.019285714253783226, + -0.5757142305374146, + 0.18571430444717407, + 0.0, + -0.28142863512039185, + -0.27714285254478455, + 1.0 + ], + "delta_full_state_norm": [ + 0.03348464519953498, + -0.5983875576088826, + 0.5062090303430733, + -0.5050506641555348, + -1.0, + -0.3157897008527215, + 0.9999999900000001 + ], + "movement_text": "move backward 2 mm; move right 20 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 19 mm; move right 576 mm; move upward 186 mm; roll downward 0 degrees; pitch downward 16 degrees; yaw clockwise 16 degrees; open gripper;", + "subtask_movement_text": "move backward 4 mm; move right 42 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 251, + "segment_id": 50100, + "subtask": "lift the apple", + "reason": "The robot arm is positioned over the sink holding the red apple, consistent with the previous 'lift' action. The apple remains suspended above the counter surface rather than being placed down or moved away, indicating the lifting phase is ongoing or just completed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the apple\nSubtask Reasoning: The robot arm is positioned over the sink holding the red apple, consistent with the previous 'lift' action. The apple remains suspended above the counter surface rather than being placed down or moved away, indicating the lifting phase is ongoing or just completed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 2 mm; move right 22 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 17 mm; move right 577 mm; move upward 169 mm; roll downward 0 degrees; pitch downward 13 degrees; yaw clockwise 14 degrees; open gripper;\nSubtask Movement: move backward 2 mm; move right 22 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [62,135], [72,142]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 68, + 135 + ], + "task_obj_bbox": [ + 62, + 135, + 72, + 142 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.0021428572945296764, + -0.021785713732242584, + 0.015000000596046448, + 0.0, + -0.044285714626312256, + -0.0357142873108387, + 1.0 + ], + "delta_next_20": [ + -0.01714285835623741, + -0.576785683631897, + 0.1689285933971405, + 0.0, + -0.2328571379184723, + -0.24142855405807495, + 1.0 + ], + "delta_full_state_norm": [ + 0.03348464519953498, + -0.6487780448769127, + 0.4322882953973275, + -0.5050506641555348, + -0.9000000729136824, + -0.3157897008527215, + 0.9999999900000001 + ], + "movement_text": "move backward 2 mm; move right 22 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 17 mm; move right 577 mm; move upward 169 mm; roll downward 0 degrees; pitch downward 13 degrees; yaw clockwise 14 degrees; open gripper;", + "subtask_movement_text": "move backward 2 mm; move right 22 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 252, + "segment_id": 50100, + "subtask": "lift the apple", + "reason": "The robot arm is positioned over the sink holding the red apple, consistent with the previous 'lift' action. The apple remains suspended above the counter surface rather than being placed down or moved away, indicating the lifting phase is ongoing or just completed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the apple\nSubtask Reasoning: The robot arm is positioned over the sink holding the red apple, consistent with the previous 'lift' action. The apple remains suspended above the counter surface rather than being placed down or moved away, indicating the lifting phase is ongoing or just completed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 24 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 15 mm; move right 575 mm; move upward 154 mm; roll downward 0 degrees; pitch downward 11 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [63,134], [73,141]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 69, + 134 + ], + "task_obj_bbox": [ + 63, + 134, + 73, + 141 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.0028571428265422583, + -0.02428571507334709, + 0.014642857015132904, + 0.0, + -0.044285714626312256, + -0.034285712987184525, + 1.0 + ], + "delta_next_20": [ + -0.015000000596046448, + -0.5746428370475769, + 0.15392857789993286, + 0.0, + -0.18857142329216003, + -0.20571427047252655, + 1.0 + ], + "delta_full_state_norm": [ + -0.007854727133341122, + -0.7369614961485991, + 0.41750411756604233, + -0.5050506641555348, + -0.9000000729136824, + -0.26315802324734006, + 0.9999999900000001 + ], + "movement_text": "move backward 3 mm; move right 24 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 15 mm; move right 575 mm; move upward 154 mm; roll downward 0 degrees; pitch downward 11 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 253, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink and is holding the apple, which has been lifted from the counter. The end-effector is moving towards the sink basin, indicating the transition between lifting the object and placing it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink and is holding the apple, which has been lifted from the counter. The end-effector is moving towards the sink basin, indicating the transition between lifting the object and placing it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 2 mm; move right 25 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 12 mm; move right 570 mm; move upward 139 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move backward 12 mm; move right 307 mm; move upward 111 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [64,134], [74,141]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 70, + 133 + ], + "task_obj_bbox": [ + 64, + 134, + 74, + 141 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.0017857144121080637, + -0.02500000037252903, + 0.014642857015132904, + 0.0, + -0.03999999910593033, + -0.03142857179045677, + 1.0 + ], + "delta_next_20": [ + -0.012142857536673546, + -0.5700000524520874, + 0.13928572833538055, + 0.0, + -0.14428570866584778, + -0.17142856121063232, + 1.0 + ], + "delta_full_state_norm": [ + 0.05415433810352566, + -0.7621567397826141, + 0.41750411756604233, + -0.5050506641555348, + -0.7500000518990648, + -0.15789494253160996, + 0.9999999900000001 + ], + "movement_text": "move backward 2 mm; move right 25 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 12 mm; move right 570 mm; move upward 139 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move backward 12 mm; move right 307 mm; move upward 111 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 254, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink and is holding the apple, which has been lifted from the counter. The end-effector is moving towards the sink basin, indicating the transition between lifting the object and placing it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink and is holding the apple, which has been lifted from the counter. The end-effector is moving towards the sink basin, indicating the transition between lifting the object and placing it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 25 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 10 mm; move right 564 mm; move upward 125 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move backward 10 mm; move right 282 mm; move upward 96 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [65,133], [75,140]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 71, + 133 + ], + "task_obj_bbox": [ + 65, + 133, + 75, + 140 + ], + "distractor_bboxes": [ + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.02500000037252903, + 0.013571429066359997, + 0.0, + -0.034285712987184525, + -0.027142856270074844, + 1.0 + ], + "delta_next_20": [ + -0.010357143357396126, + -0.5635714530944824, + 0.12464287132024765, + 0.0, + -0.10428570955991745, + -0.14000000059604645, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.7621567397826141, + 0.3731516997301967, + -0.5050506641555348, + -0.5500000673412886, + -1.8421049829964176e-07, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 25 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 10 mm; move right 564 mm; move upward 125 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move backward 10 mm; move right 282 mm; move upward 96 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 8 degrees; open gripper;" + }, + { + "frame_index": 255, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink and is holding the apple, which has been lifted from the counter. The end-effector is moving towards the sink basin, indicating the transition between lifting the object and placing it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink and is holding the apple, which has been lifted from the counter. The end-effector is moving towards the sink basin, indicating the transition between lifting the object and placing it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 27 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 10 mm; move right 553 mm; move upward 111 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move backward 10 mm; move right 257 mm; move upward 83 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [66,133], [76,140]\ndistr_counter: [65,134], [66,137]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 72, + 133 + ], + "task_obj_bbox": [ + 66, + 133, + 76, + 140 + ], + "distractor_bboxes": [ + [ + 65, + 134, + 66, + 137 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.02678571455180645, + 0.012857143767178059, + 0.0, + -0.025714285671710968, + -0.025714285671710968, + 1.0 + ], + "delta_next_20": [ + -0.010357143357396126, + -0.5525000095367432, + 0.11107143014669418, + 0.0, + -0.07000000029802322, + -0.1128571406006813, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.8251448817185295, + 0.34358342117296625, + -0.5050506641555348, + -0.2500001556971946, + 0.0526313561473668, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 27 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 10 mm; move right 553 mm; move upward 111 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move backward 10 mm; move right 257 mm; move upward 83 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 256, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink and is holding the apple, which has been lifted from the counter. The end-effector is moving towards the sink basin, indicating the transition between lifting the object and placing it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink and is holding the apple, which has been lifted from the counter. The end-effector is moving towards the sink basin, indicating the transition between lifting the object and placing it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 29 mm; move upward 12 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 10 mm; move right 538 mm; move upward 98 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move backward 10 mm; move right 230 mm; move upward 70 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [67,132], [77,139]\ndistr_counter: [65,133], [68,138]\ndistr_sink: [120,136], [133,148]\n", + "gripper_2d": [ + 73, + 132 + ], + "task_obj_bbox": [ + 67, + 132, + 77, + 139 + ], + "distractor_bboxes": [ + [ + 65, + 133, + 68, + 138 + ], + [ + 120, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.029285714030265808, + 0.012142857536673546, + 0.0, + -0.018571428954601288, + -0.02428571507334709, + 1.0 + ], + "delta_next_20": [ + -0.010357143357396126, + -0.5382143259048462, + 0.098214291036129, + 0.0, + -0.044285714626312256, + -0.08714285492897034, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.91332826728846, + 0.3140151040630661, + -0.5050506641555348, + -2.0759625940502957e-07, + 0.1052628965052318, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 29 mm; move upward 12 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 10 mm; move right 538 mm; move upward 98 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move backward 10 mm; move right 230 mm; move upward 70 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 257, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink and is holding the apple, which has been lifted from the counter. The end-effector is moving towards the sink basin, indicating the transition between lifting the object and placing it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink and is holding the apple, which has been lifted from the counter. The end-effector is moving towards the sink basin, indicating the transition between lifting the object and placing it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 32 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 10 mm; move right 521 mm; move upward 86 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move backward 10 mm; move right 201 mm; move upward 58 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [68,132], [78,139]\ndistr_counter: [65,132], [69,138]\ndistr_sink: [121,136], [133,148]\n", + "gripper_2d": [ + 74, + 132 + ], + "task_obj_bbox": [ + 68, + 132, + 78, + 139 + ], + "distractor_bboxes": [ + [ + 65, + 132, + 69, + 138 + ], + [ + 121, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.0003571428533177823, + -0.031785715371370316, + 0.011071428656578064, + 0.0, + -0.004285714123398066, + -0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + -0.010357143357396126, + -0.521428644657135, + 0.0860714390873909, + 0.0, + -0.02571428380906582, + -0.06285714358091354, + 1.0 + ], + "delta_full_state_norm": [ + 0.13683311140387677, + -1.0, + 0.2696626476745505, + -0.5050506641555348, + 0.4999997375000389, + 0.26315765482634323, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 32 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 10 mm; move right 521 mm; move upward 86 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 10 mm; move right 201 mm; move upward 58 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 258, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink and is holding the apple, which has been lifted from the counter. The end-effector is moving towards the sink basin, indicating the transition between lifting the object and placing it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink and is holding the apple, which has been lifted from the counter. The end-effector is moving towards the sink basin, indicating the transition between lifting the object and placing it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 35 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 9 mm; move right 502 mm; move upward 74 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move backward 10 mm; move right 169 mm; move upward 46 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [69,132], [79,139]\ndistr_counter: [65,132], [70,138]\ndistr_sink: [121,136], [133,148]\n", + "gripper_2d": [ + 75, + 131 + ], + "task_obj_bbox": [ + 69, + 132, + 79, + 139 + ], + "distractor_bboxes": [ + [ + 65, + 132, + 70, + 138 + ], + [ + 121, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.0028571428265422583, + -0.03464285656809807, + 0.011071428656578064, + 0.0, + -0.0028571428265422583, + -0.017142856493592262, + 1.0 + ], + "delta_next_20": [ + -0.008928571827709675, + -0.5017856955528259, + 0.07428572326898575, + 0.0, + -0.02142857015132904, + -0.04285714030265808, + 1.0 + ], + "delta_full_state_norm": [ + -0.007854727133341122, + -1.0, + 0.2696626476745505, + -0.5050506641555348, + 0.5499997254904117, + 0.3684208041658317, + 0.9999999900000001 + ], + "movement_text": "move backward 3 mm; move right 35 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 9 mm; move right 502 mm; move upward 74 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 10 mm; move right 169 mm; move upward 46 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 259, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink and is holding the apple, which has been lifted from the counter. The end-effector is moving towards the sink basin, indicating the transition between lifting the object and placing it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink and is holding the apple, which has been lifted from the counter. The end-effector is moving towards the sink basin, indicating the transition between lifting the object and placing it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 35 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 1 mm; move right 477 mm; move upward 60 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 7 mm; move right 134 mm; move upward 35 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [71,132], [80,138]\ndistr_counter: [65,131], [71,138]\ndistr_sink: [121,136], [133,148]\n", + "gripper_2d": [ + 77, + 131 + ], + "task_obj_bbox": [ + 71, + 132, + 80, + 138 + ], + "distractor_bboxes": [ + [ + 65, + 131, + 71, + 138 + ], + [ + 121, + 136, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.0032142859417945147, + -0.03500000014901161, + 0.010714286006987095, + 0.0, + -0.0071428571827709675, + -0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + -0.0010714288800954819, + -0.4771428108215332, + 0.05964287742972374, + 0.0, + -0.018571428954601288, + -0.025714285671710968, + 1.0 + ], + "delta_full_state_norm": [ + -0.028524433512437053, + -1.0, + 0.2548785083959353, + -0.5050506641555348, + 0.39999974522115056, + 0.5789470685329292, + 0.9999999900000001 + ], + "movement_text": "move backward 3 mm; move right 35 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 1 mm; move right 477 mm; move upward 60 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 7 mm; move right 134 mm; move upward 35 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 260, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink and is holding the apple, which has been lifted from the counter. The end-effector is moving towards the sink basin, indicating the transition between lifting the object and placing it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink and is holding the apple, which has been lifted from the counter. The end-effector is moving towards the sink basin, indicating the transition between lifting the object and placing it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 34 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 8 mm; move right 451 mm; move upward 43 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 4 mm; move right 99 mm; move upward 25 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [72,131], [81,138]\ndistr_counter: [65,131], [72,138]\ndistr_sink: [121,137], [133,148]\n", + "gripper_2d": [ + 78, + 131 + ], + "task_obj_bbox": [ + 72, + 131, + 81, + 138 + ], + "distractor_bboxes": [ + [ + 65, + 131, + 72, + 138 + ], + [ + 121, + 137, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.002500000176951289, + -0.03428571671247482, + 0.009642857126891613, + 0.0, + -0.0071428571827709675, + -0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + 0.007500000298023224, + -0.4514285624027252, + 0.04321428760886192, + 0.0, + -0.011428571306169033, + -0.01428571343421936, + 1.0 + ], + "delta_full_state_norm": [ + 0.012814952295544302, + -1.0, + 0.21052605200741992, + -0.5050506641555348, + 0.39999974522115056, + 0.6842102178724174, + 0.9999999900000001 + ], + "movement_text": "move backward 3 mm; move right 34 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 8 mm; move right 451 mm; move upward 43 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 4 mm; move right 99 mm; move upward 25 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 261, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink and is holding the apple, which has been lifted from the counter. The end-effector is moving towards the sink basin, indicating the transition between lifting the object and placing it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink and is holding the apple, which has been lifted from the counter. The end-effector is moving towards the sink basin, indicating the transition between lifting the object and placing it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move right 34 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 15 mm; move right 427 mm; move upward 27 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 1 mm; move right 65 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [73,131], [82,138]\ndistr_counter: [65,130], [73,138]\ndistr_sink: [122,138], [133,148]\n", + "gripper_2d": [ + 79, + 131 + ], + "task_obj_bbox": [ + 73, + 131, + 82, + 138 + ], + "distractor_bboxes": [ + [ + 65, + 130, + 73, + 138 + ], + [ + 122, + 138, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.0014285714132711291, + -0.033571429550647736, + 0.008214286528527737, + 0.0, + -0.004285714123398066, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.015357143245637417, + -0.4267857074737549, + 0.027142856270074844, + 0.0, + -0.004285714123398066, + -0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + 0.07482403774506907, + -1.0, + 0.15138949489295905, + -0.5050506641555348, + 0.4999997375000389, + 0.7894733500559663, + 0.9999999900000001 + ], + "movement_text": "move backward 1 mm; move right 34 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 15 mm; move right 427 mm; move upward 27 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 1 mm; move right 65 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 262, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink and is holding the apple, which has been lifted from the counter. The end-effector is moving towards the sink basin, indicating the transition between lifting the object and placing it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink and is holding the apple, which has been lifted from the counter. The end-effector is moving towards the sink basin, indicating the transition between lifting the object and placing it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 31 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 24 mm; move right 403 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 31 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [75,131], [83,138]\ndistr_counter: [65,130], [73,138]\ndistr_sink: [123,139], [133,148]\n", + "gripper_2d": [ + 81, + 131 + ], + "task_obj_bbox": [ + 75, + 131, + 83, + 138 + ], + "distractor_bboxes": [ + [ + 65, + 130, + 73, + 138 + ], + [ + 123, + 139, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.03142857179045677, + 0.006785714533179998, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.023928571492433548, + -0.40285712480545044, + 0.010000000707805157, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.9889140638922609, + 0.0922528799494935, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 31 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 24 mm; move right 403 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 31 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 263, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink and is holding the apple, which has been lifted from the counter. The end-effector is moving towards the sink basin, indicating the transition between lifting the object and placing it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink and is holding the apple, which has been lifted from the counter. The end-effector is moving towards the sink basin, indicating the transition between lifting the object and placing it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 31 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 34 mm; move right 381 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [76,131], [84,137]\ndistr_counter: [65,130], [73,138]\ndistr_sink: [123,140], [133,148]\n", + "gripper_2d": [ + 82, + 130 + ], + "task_obj_bbox": [ + 76, + 131, + 84, + 137 + ], + "distractor_bboxes": [ + [ + 65, + 130, + 73, + 138 + ], + [ + 123, + 140, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.030714286491274834, + 0.006428571883589029, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.03392856940627098, + -0.38107141852378845, + -0.008928571827709675, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.9637188202582458, + 0.07746874067087828, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 31 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 34 mm; move right 381 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 264, + "segment_id": 100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned over the sink area and remains static in this segment, consistent with the motion phase of moving toward the target location rather than interacting with the apple.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink area and remains static in this segment, consistent with the motion phase of moving toward the target location rather than interacting with the apple.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 31 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 43 mm; move right 360 mm; move downward 28 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 61 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [78,130], [85,137]\ndistr_counter: [65,129], [73,138]\ndistr_sink: [124,141], [133,148]\n", + "gripper_2d": [ + 84, + 130 + ], + "task_obj_bbox": [ + 78, + 130, + 85, + 137 + ], + "distractor_bboxes": [ + [ + 65, + 129, + 73, + 138 + ], + [ + 124, + 141, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.030714286491274834, + 0.006428571883589029, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.04321428760886192, + -0.3596428632736206, + -0.027857143431901932, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.9637188202582458, + 0.07746874067087828, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 31 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 43 mm; move right 360 mm; move downward 28 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 61 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 265, + "segment_id": 100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned over the sink area and remains static in this segment, consistent with the motion phase of moving toward the target location rather than interacting with the apple.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink area and remains static in this segment, consistent with the motion phase of moving toward the target location rather than interacting with the apple.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 30 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 53 mm; move right 339 mm; move downward 47 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 30 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [79,130], [87,136]\ndistr_counter: [65,129], [73,138]\ndistr_sink: [125,142], [133,148]\n", + "gripper_2d": [ + 85, + 130 + ], + "task_obj_bbox": [ + 79, + 130, + 87, + 136 + ], + "distractor_bboxes": [ + [ + 65, + 129, + 73, + 138 + ], + [ + 125, + 142, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.03035714291036129, + 0.004642857238650322, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05285714194178581, + -0.3392857015132904, + -0.04678571596741676, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.9511211655903604, + 0.003547986448797502, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 30 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 53 mm; move right 339 mm; move downward 47 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 30 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 266, + "segment_id": 100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned over the sink area and remains static in this segment, consistent with the motion phase of moving toward the target location rather than interacting with the apple.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink area and remains static in this segment, consistent with the motion phase of moving toward the target location rather than interacting with the apple.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 30 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 63 mm; move right 320 mm; move downward 65 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [81,130], [88,136]\ndistr_counter: [65,128], [73,138]\ndistr_sink: [125,142], [133,148]\n", + "gripper_2d": [ + 86, + 130 + ], + "task_obj_bbox": [ + 81, + 130, + 88, + 136 + ], + "distractor_bboxes": [ + [ + 65, + 128, + 73, + 138 + ], + [ + 125, + 142, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.03035714291036129, + 0.004285714589059353, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.06321428716182709, + -0.32035714387893677, + -0.06499999761581421, + 0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.9511211655903604, + -0.011236152829817714, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 30 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 63 mm; move right 320 mm; move downward 65 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 267, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 29 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 74 mm; move right 301 mm; move downward 83 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 371 mm; move right 562 mm; move downward 762 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [82,130], [88,135]\ndistr_counter: [65,127], [86,138]\ndistr_sink: [126,143], [133,148]\n", + "gripper_2d": [ + 88, + 129 + ], + "task_obj_bbox": [ + 82, + 130, + 88, + 135 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 86, + 138 + ], + [ + 126, + 143, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.029285714030265808, + 0.0032142859417945147, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.07357142865657806, + -0.30142855644226074, + -0.08321428298950195, + 0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.91332826728846, + -0.05558859958016571, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 29 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 74 mm; move right 301 mm; move downward 83 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 371 mm; move right 562 mm; move downward 762 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 268, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 26 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 83 mm; move right 284 mm; move downward 101 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 371 mm; move right 533 mm; move downward 766 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [83,129], [90,135]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,143], [133,148]\n", + "gripper_2d": [ + 89, + 129 + ], + "task_obj_bbox": [ + 83, + 129, + 90, + 135 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 143, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.026428570970892906, + 0.0021428572945296764, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.08250000327825546, + -0.2835714519023895, + -0.1014285683631897, + 0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.8125472270506441, + -0.09994104633051382, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 26 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 83 mm; move right 284 mm; move downward 101 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 371 mm; move right 533 mm; move downward 766 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 269, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 25 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 92 mm; move right 269 mm; move downward 121 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 371 mm; move right 507 mm; move downward 768 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [85,129], [91,134]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,144], [133,148]\n", + "gripper_2d": [ + 91, + 129 + ], + "task_obj_bbox": [ + 85, + 129, + 91, + 134 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 144, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.024642856791615486, + 0.0014285714132711291, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.09178571403026581, + -0.2692857086658478, + -0.12071428447961807, + 0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.7495590851147287, + -0.1295093489831628, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 25 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 92 mm; move right 269 mm; move downward 121 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 371 mm; move right 507 mm; move downward 768 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 270, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 101 mm; move right 257 mm; move downward 140 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 371 mm; move right 482 mm; move downward 769 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [86,129], [91,134]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,144], [133,148]\n", + "gripper_2d": [ + 92, + 129 + ], + "task_obj_bbox": [ + 86, + 129, + 91, + 134 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 144, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.02142857201397419, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1014285683631897, + -0.25678572058677673, + -0.1403571367263794, + 0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.6361804559107831, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 101 mm; move right 257 mm; move downward 140 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 371 mm; move right 482 mm; move downward 769 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 271, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 111 mm; move right 247 mm; move downward 160 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 371 mm; move right 461 mm; move downward 769 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [87,129], [92,134]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,145], [133,148]\n", + "gripper_2d": [ + 93, + 129 + ], + "task_obj_bbox": [ + 87, + 129, + 92, + 134 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 145, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.01964285783469677, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.11071427911520004, + -0.24714286625385284, + -0.15964286029338837, + 0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.5731923139748677, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 111 mm; move right 247 mm; move downward 160 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 371 mm; move right 461 mm; move downward 769 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 272, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 119 mm; move right 239 mm; move downward 180 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 371 mm; move right 441 mm; move downward 769 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [88,129], [94,132]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [127,145], [133,148]\n", + "gripper_2d": [ + 94, + 128 + ], + "task_obj_bbox": [ + 88, + 129, + 94, + 132 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 127, + 145, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.01964285783469677, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.11857142299413681, + -0.23892858624458313, + -0.17964285612106323, + 0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.5731923139748677, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 119 mm; move right 239 mm; move downward 180 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 371 mm; move right 441 mm; move downward 769 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 273, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 126 mm; move right 230 mm; move downward 200 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 371 mm; move right 421 mm; move downward 769 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [89,129], [94,132]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [127,146], [133,148]\n", + "gripper_2d": [ + 95, + 128 + ], + "task_obj_bbox": [ + 89, + 129, + 94, + 132 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 127, + 146, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.018571428954601288, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.12607143819332123, + -0.23035715520381927, + -0.1996428668498993, + 0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.5353994156729672, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 126 mm; move right 230 mm; move downward 200 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 371 mm; move right 421 mm; move downward 769 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 274, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 133 mm; move right 223 mm; move downward 220 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 371 mm; move right 403 mm; move downward 769 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [90,129], [94,132]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [127,146], [133,148]\n", + "gripper_2d": [ + 96, + 128 + ], + "task_obj_bbox": [ + 90, + 129, + 94, + 132 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 127, + 146, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.013928571715950966, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.13250000774860382, + -0.2225000113248825, + -0.21964286267757416, + 0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.37163023349923585, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 133 mm; move right 223 mm; move downward 220 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 371 mm; move right 403 mm; move downward 769 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 275, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 136 mm; move right 219 mm; move downward 240 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 371 mm; move right 389 mm; move downward 769 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [91,129], [95,131]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [127,146], [133,148]\n", + "gripper_2d": [ + 97, + 128 + ], + "task_obj_bbox": [ + 91, + 129, + 95, + 131 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 127, + 146, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.012500000186264515, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.13607142865657806, + -0.21892857551574707, + -0.23964285850524902, + 0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.321239713380328, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 136 mm; move right 219 mm; move downward 240 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 371 mm; move right 389 mm; move downward 769 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 276, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 139 mm; move right 217 mm; move downward 258 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 371 mm; move right 376 mm; move downward 769 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [92,129], [95,130]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [128,147], [133,148]\n", + "gripper_2d": [ + 97, + 128 + ], + "task_obj_bbox": [ + 92, + 129, + 95, + 130 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 128, + 147, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.012500000186264515, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.13857142627239227, + -0.2167857140302658, + -0.2582142949104309, + 0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.321239713380328, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 139 mm; move right 217 mm; move downward 258 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 371 mm; move right 376 mm; move downward 769 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 277, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 12 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 142 mm; move right 214 mm; move downward 278 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 371 mm; move right 364 mm; move downward 769 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [92,129], [95,131]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [129,147], [133,148]\n", + "gripper_2d": [ + 98, + 128 + ], + "task_obj_bbox": [ + 92, + 129, + 95, + 131 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 129, + 147, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0010714286472648382, + -0.012142857536673546, + -0.0007142857066355646, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.14249999821186066, + -0.2135714292526245, + -0.2778571546077728, + 0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.2195118813354513, + -0.30864209156332045, + -0.2182142352552333, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 1 mm; move right 12 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 142 mm; move right 214 mm; move downward 278 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 371 mm; move right 364 mm; move downward 769 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 278, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 10 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 145 mm; move right 210 mm; move downward 296 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 370 mm; move right 352 mm; move downward 769 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [93,129], [95,130]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [129,147], [133,148]\n", + "gripper_2d": [ + 99, + 128 + ], + "task_obj_bbox": [ + 93, + 129, + 95, + 130 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 129, + 147, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.005000000353902578, + -0.010000000707805157, + -0.0035714288242161274, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1446428745985031, + -0.21000002324581146, + -0.29607143998146057, + 0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.44687850327934897, + -0.23305632781039753, + -0.3364874289990365, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 5 mm; move right 10 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 145 mm; move right 210 mm; move downward 296 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 370 mm; move right 352 mm; move downward 769 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 279, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 9 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 141 mm; move right 209 mm; move downward 311 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 365 mm; move right 342 mm; move downward 765 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [94,128], [95,129]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [129,147], [133,148]\n", + "gripper_2d": [ + 99, + 128 + ], + "task_obj_bbox": [ + 94, + 128, + 95, + 129 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 129, + 147, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0053571430034935474, + -0.009285714477300644, + -0.0057142856530845165, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.14071428775787354, + -0.2085714340209961, + -0.31142857670783997, + 0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4675481827082346, + -0.2078610513255046, + -0.4251923032233976, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 5 mm; move right 9 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 141 mm; move right 209 mm; move downward 311 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 365 mm; move right 342 mm; move downward 765 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 280, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 10 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 135 mm; move right 208 mm; move downward 324 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 360 mm; move right 333 mm; move downward 759 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [94,128], [95,129]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [129,147], [133,148]\n", + "gripper_2d": [ + 100, + 128 + ], + "task_obj_bbox": [ + 94, + 128, + 95, + 129 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 129, + 147, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0053571430034935474, + -0.009642857126891613, + -0.006428571883589029, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.13535714149475098, + -0.2078571319580078, + -0.32428571581840515, + 0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4675481827082346, + -0.2204586731425121, + -0.4547606203332979, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 5 mm; move right 10 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 135 mm; move right 208 mm; move downward 324 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 360 mm; move right 333 mm; move downward 759 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 281, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 10 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 130 mm; move right 206 mm; move downward 336 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 355 mm; move right 323 mm; move downward 753 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [95,128], [95,129]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [129,147], [133,148]\n", + "gripper_2d": [ + 100, + 128 + ], + "task_obj_bbox": [ + 95, + 128, + 95, + 129 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 129, + 147, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.007142857648432255, + -0.009642857126891613, + -0.008928571827709675, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.12999999523162842, + -0.20571430027484894, + -0.3360714614391327, + 0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5708966607032933, + -0.2204586731425121, + -0.5582496531126091, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move right 10 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 130 mm; move right 206 mm; move downward 336 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 355 mm; move right 323 mm; move downward 753 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 282, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 10 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 123 mm; move right 203 mm; move downward 346 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 347 mm; move right 313 mm; move downward 744 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [95,129], [95,129]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [128,147], [133,148]\n", + "gripper_2d": [ + 101, + 128 + ], + "task_obj_bbox": [ + 95, + 129, + 95, + 129 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 128, + 147, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + -0.009642857126891613, + -0.012142857536673546, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.12285714596509933, + -0.20285716652870178, + -0.3457143008708954, + 0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7362542039352189, + -0.2204586731425121, + -0.6913069837254857, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 10 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 123 mm; move right 203 mm; move downward 346 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 347 mm; move right 313 mm; move downward 744 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 283, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 9 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 113 mm; move right 200 mm; move downward 353 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 337 mm; move right 304 mm; move downward 732 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [127,147], [133,148]\n", + "gripper_2d": [ + 101, + 128 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 127, + 147, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + -0.009285714477300644, + -0.012500000186264515, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1128571406006813, + -0.20000000298023224, + -0.3525000214576721, + 0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.694914791177027, + -0.2078610513255046, + -0.7060911230041009, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 9 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 113 mm; move right 200 mm; move downward 353 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 337 mm; move right 304 mm; move downward 732 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 284, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 10 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 104 mm; move right 198 mm; move downward 359 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 328 mm; move right 294 mm; move downward 719 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [96,129], [96,129]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [127,146], [133,148]\n", + "gripper_2d": [ + 101, + 128 + ], + "task_obj_bbox": [ + 96, + 129, + 96, + 129 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 127, + 146, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + -0.010357143357396126, + -0.012500000186264515, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.10357141494750977, + -0.19785715639591217, + -0.3589285910129547, + 0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7155844706059127, + -0.24565394962740494, + -0.7060911230041009, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 10 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 104 mm; move right 198 mm; move downward 359 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 328 mm; move right 294 mm; move downward 719 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 285, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 11 mm; move downward 14 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 94 mm; move right 195 mm; move downward 365 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 319 mm; move right 284 mm; move downward 707 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [96,129], [96,129]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [127,146], [133,148]\n", + "gripper_2d": [ + 102, + 129 + ], + "task_obj_bbox": [ + 96, + 129, + 96, + 129 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 127, + 146, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.010357143357396126, + -0.011428571306169033, + -0.013571429066359997, + 0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.09392856806516647, + -0.19500002264976501, + -0.364642858505249, + 0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7569238833641043, + -0.2834468150784275, + -0.7504435793926163, + -0.4208756051259389, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 11 mm; move downward 14 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 94 mm; move right 195 mm; move downward 365 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 319 mm; move right 284 mm; move downward 707 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 286, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 11 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 84 mm; move right 191 mm; move downward 369 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 308 mm; move right 273 mm; move downward 693 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,145], [133,148]\n", + "gripper_2d": [ + 102, + 129 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 145, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.010357143357396126, + -0.011428571306169033, + -0.013928571715950966, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.08428571373224258, + -0.19107146561145782, + -0.3685714602470398, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7569238833641043, + -0.2834468150784275, + -0.7652277186712315, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 11 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 84 mm; move right 191 mm; move downward 369 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 308 mm; move right 273 mm; move downward 693 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 287, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 11 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 76 mm; move right 187 mm; move downward 372 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 298 mm; move right 261 mm; move downward 679 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,145], [133,148]\n", + "gripper_2d": [ + 103, + 129 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 145, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.011428571306169033, + -0.015000000596046448, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.07642856985330582, + -0.18714289367198944, + -0.37214285135269165, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6742451117481416, + -0.2834468150784275, + -0.809580175059747, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 11 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 76 mm; move right 187 mm; move downward 372 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 298 mm; move right 261 mm; move downward 679 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 288, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 12 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 71 mm; move right 183 mm; move downward 375 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 289 mm; move right 250 mm; move downward 664 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,145], [133,148]\n", + "gripper_2d": [ + 103, + 129 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 145, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + -0.012142857536673546, + -0.01714285835623741, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.07071428745985031, + -0.18321432173252106, + -0.37464281916618347, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.694914791177027, + -0.30864209156332045, + -0.898285087836778, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 12 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 71 mm; move right 183 mm; move downward 375 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 289 mm; move right 250 mm; move downward 664 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 289, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 12 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 65 mm; move right 178 mm; move downward 374 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 280 mm; move right 238 mm; move downward 647 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,144], [133,148]\n", + "gripper_2d": [ + 104, + 129 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 144, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + -0.012142857536673546, + -0.018214285373687744, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.06464286893606186, + -0.17821429669857025, + -0.37428566813468933, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7155844706059127, + -0.30864209156332045, + -0.9426374671199538, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 12 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 65 mm; move right 178 mm; move downward 374 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 280 mm; move right 238 mm; move downward 647 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 290, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 12 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 62 mm; move right 172 mm; move downward 372 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 270 mm; move right 225 mm; move downward 629 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,144], [133,148]\n", + "gripper_2d": [ + 104, + 129 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 144, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + -0.011785714887082577, + -0.019285714253783226, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.06214286759495735, + -0.17178574204444885, + -0.3717857003211975, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.694914791177027, + -0.29604446974631293, + -0.9869899235084693, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 12 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 62 mm; move right 172 mm; move downward 372 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 270 mm; move right 225 mm; move downward 629 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 291, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 11 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 61 mm; move right 164 mm; move downward 367 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 261 mm; move right 214 mm; move downward 610 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,143], [133,148]\n", + "gripper_2d": [ + 104, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 143, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + -0.011428571306169033, + -0.020000001415610313, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.061428576707839966, + -0.16428573429584503, + -0.3671428859233856, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6122360195610643, + -0.2834468150784275, + -1.0, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move right 11 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 61 mm; move right 164 mm; move downward 367 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 261 mm; move right 214 mm; move downward 610 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 292, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 11 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 63 mm; move right 158 mm; move downward 361 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 253 mm; move right 202 mm; move downward 590 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,143], [133,148]\n", + "gripper_2d": [ + 105, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 143, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.007500000298023224, + -0.011071428656578064, + -0.020000001415610313, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.06321429461240768, + -0.15785716474056244, + -0.36071428656578064, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5915663401321789, + -0.27084919326142, + -1.0, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move right 11 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 63 mm; move right 158 mm; move downward 361 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 253 mm; move right 202 mm; move downward 590 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 293, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 11 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 67 mm; move right 152 mm; move downward 354 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 245 mm; move right 191 mm; move downward 570 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,143], [133,148]\n", + "gripper_2d": [ + 105, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 143, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.006428571883589029, + -0.010714286006987095, + -0.020000001415610313, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.06714285910129547, + -0.1517857164144516, + -0.3539285659790039, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5295572748953119, + -0.25825157144441246, + -1.0, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move right 11 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 67 mm; move right 152 mm; move downward 354 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 245 mm; move right 191 mm; move downward 570 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 294, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 10 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 74 mm; move right 146 mm; move downward 347 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 239 mm; move right 180 mm; move downward 550 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,143], [133,148]\n", + "gripper_2d": [ + 106, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 143, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0035714288242161274, + -0.010357143357396126, + -0.020000001415610313, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.07428572326898575, + -0.1460714191198349, + -0.3471428155899048, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.36419973166338626, + -0.24565394962740494, + -1.0, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 10 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 74 mm; move right 146 mm; move downward 347 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 239 mm; move right 180 mm; move downward 550 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 295, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 10 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 85 mm; move right 140 mm; move downward 340 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 235 mm; move right 170 mm; move downward 530 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,143], [133,148]\n", + "gripper_2d": [ + 106, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 143, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.002500000176951289, + -0.010357143357396126, + -0.018571428954601288, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.08464286476373672, + -0.1403571218252182, + -0.33964285254478455, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.30219065295141423, + -0.24565394962740494, + -0.9574216449512388, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 3 mm; move right 10 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 85 mm; move right 140 mm; move downward 340 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 235 mm; move right 170 mm; move downward 530 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 296, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 9 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 95 mm; move right 135 mm; move downward 334 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 233 mm; move right 160 mm; move downward 511 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,143], [133,148]\n", + "gripper_2d": [ + 107, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 143, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0039285714738070965, + -0.009285714477300644, + -0.01964285783469677, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0949999988079071, + -0.1346428394317627, + -0.3335714042186737, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3848694110922719, + -0.2078610513255046, + -1.0, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 9 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 95 mm; move right 135 mm; move downward 334 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 233 mm; move right 160 mm; move downward 511 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 297, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 9 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 104 mm; move right 130 mm; move downward 327 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 229 mm; move right 150 mm; move downward 491 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,143], [133,148]\n", + "gripper_2d": [ + 107, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 143, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0032142859417945147, + -0.008571429178118706, + -0.018928570672869682, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.10357143729925156, + -0.12999998033046722, + -0.3271428346633911, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3435300387593956, + -0.18266580769148955, + -0.9722057456771842, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 3 mm; move right 9 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 104 mm; move right 130 mm; move downward 327 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 229 mm; move right 150 mm; move downward 491 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 298, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 9 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 113 mm; move right 126 mm; move downward 322 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 226 mm; move right 142 mm; move downward 472 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,143], [133,148]\n", + "gripper_2d": [ + 107, + 133 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 143, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0010714286472648382, + -0.008571429178118706, + -0.018928570672869682, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.11321429163217545, + -0.12607142329216003, + -0.3221428394317627, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.2195118813354513, + -0.18266580769148955, + -0.9722057456771842, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 1 mm; move right 9 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 113 mm; move right 126 mm; move downward 322 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 226 mm; move right 142 mm; move downward 472 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 299, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 9 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 124 mm; move right 121 mm; move downward 316 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 225 mm; move right 133 mm; move downward 454 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,143], [133,148]\n", + "gripper_2d": [ + 108, + 133 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 143, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.008571429178118706, + -0.018571428954601288, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.12428572028875351, + -0.12142857164144516, + -0.316428542137146, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.18266580769148955, + -0.9574216449512388, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 9 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 124 mm; move right 121 mm; move downward 316 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 225 mm; move right 133 mm; move downward 454 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 300, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 8 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 136 mm; move right 116 mm; move downward 311 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 225 mm; move right 125 mm; move downward 435 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,143], [133,148]\n", + "gripper_2d": [ + 108, + 134 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 143, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.007500000298023224, + -0.018214285373687744, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1364285796880722, + -0.1160714253783226, + -0.3107142746448517, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.14487290938958908, + -0.9426374671199538, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 8 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 136 mm; move right 116 mm; move downward 311 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 225 mm; move right 125 mm; move downward 435 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 301, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 7 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 148 mm; move right 112 mm; move downward 305 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 225 mm; move right 117 mm; move downward 417 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [127,144], [133,148]\n", + "gripper_2d": [ + 108, + 135 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 127, + 144, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.006785714533179998, + -0.018571428954601288, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.14750002324581146, + -0.11178572475910187, + -0.3053571581840515, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.11967764933013514, + -0.9574216449512388, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 7 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 148 mm; move right 112 mm; move downward 305 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 225 mm; move right 117 mm; move downward 417 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 302, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 7 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 158 mm; move right 108 mm; move downward 300 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 225 mm; move right 110 mm; move downward 398 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [127,145], [133,148]\n", + "gripper_2d": [ + 109, + 135 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 127, + 145, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.006785714533179998, + -0.018928570672869682, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.15785716474056244, + -0.10821429640054703, + -0.3003571629524231, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.11967764933013514, + -0.9722057456771842, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 7 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 158 mm; move right 108 mm; move downward 300 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 225 mm; move right 110 mm; move downward 398 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 303, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 7 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 168 mm; move right 103 mm; move downward 295 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 225 mm; move right 104 mm; move downward 379 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [129,145], [133,148]\n", + "gripper_2d": [ + 109, + 136 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 129, + 145, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.007142857648432255, + -0.018928570672869682, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.16785715520381927, + -0.10285715013742447, + -0.29535719752311707, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.13227528757258156, + -0.9722057456771842, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 7 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 168 mm; move right 103 mm; move downward 295 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 225 mm; move right 104 mm; move downward 379 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 304, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 8 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 179 mm; move right 96 mm; move downward 290 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 225 mm; move right 96 mm; move downward 360 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [129,146], [133,148]\n", + "gripper_2d": [ + 109, + 136 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 129, + 146, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.007500000298023224, + -0.018214285373687744, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1785714477300644, + -0.09642858058214188, + -0.2900000512599945, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.14487290938958908, + -0.9426374671199538, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 8 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 179 mm; move right 96 mm; move downward 290 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 225 mm; move right 96 mm; move downward 360 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 305, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 8 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 189 mm; move right 89 mm; move downward 286 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 225 mm; move right 89 mm; move downward 342 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [130,147], [133,148]\n", + "gripper_2d": [ + 110, + 137 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 130, + 147, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0007142857066355646, + -0.007500000298023224, + -0.017500000074505806, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18857143819332123, + -0.08892858028411865, + -0.28571435809135437, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.19884218506268447, + -0.14487290938958908, + -0.9130691885627233, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 1 mm; move right 8 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 189 mm; move right 89 mm; move downward 286 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 225 mm; move right 89 mm; move downward 342 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 306, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 8 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 196 mm; move right 81 mm; move downward 283 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 224 mm; move right 81 mm; move downward 325 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [132,148], [132,148]\n", + "gripper_2d": [ + 110, + 137 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 132, + 148, + 132, + 148 + ] + ], + "delta_full_state": [ + 0.002500000176951289, + -0.007500000298023224, + -0.017500000074505806, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.196428582072258, + -0.08142857998609543, + -0.28285717964172363, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.30219065295141423, + -0.14487290938958908, + -0.9130691885627233, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 3 mm; move right 8 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 196 mm; move right 81 mm; move downward 283 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 224 mm; move right 81 mm; move downward 325 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 307, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 8 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 203 mm; move right 74 mm; move downward 280 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 221 mm; move right 74 mm; move downward 307 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 110, + 138 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.0032142859417945147, + -0.007500000298023224, + -0.017500000074505806, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20321431756019592, + -0.0739285871386528, + -0.27964287996292114, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3435300387593956, + -0.14487290938958908, + -0.9130691885627233, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 3 mm; move right 8 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 203 mm; move right 74 mm; move downward 280 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 221 mm; move right 74 mm; move downward 307 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 308, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 7 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 210 mm; move right 66 mm; move downward 276 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 218 mm; move right 66 mm; move downward 290 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 111, + 138 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.0032142859417945147, + -0.007142857648432255, + -0.016785714775323868, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20964288711547852, + -0.06642857939004898, + -0.2760714292526245, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3435300387593956, + -0.13227528757258156, + -0.8835009100054929, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 3 mm; move right 7 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 210 mm; move right 66 mm; move downward 276 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 218 mm; move right 66 mm; move downward 290 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 309, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 6 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 215 mm; move right 59 mm; move downward 273 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 215 mm; move right 59 mm; move downward 273 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [106,139], [106,139]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 111, + 139 + ], + "task_obj_bbox": [ + 106, + 139, + 106, + 139 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.007142857648432255, + -0.0057142856530845165, + -0.015714285895228386, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21500003337860107, + -0.059285718947649, + -0.2728571593761444, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5708966607032933, + -0.08188475102823467, + -0.8391484536169774, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move right 6 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 215 mm; move right 59 mm; move downward 273 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 215 mm; move right 59 mm; move downward 273 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 310, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 4 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 216 mm; move right 54 mm; move downward 271 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 208 mm; move right 54 mm; move downward 257 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [106,140], [106,140]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 111, + 139 + ], + "task_obj_bbox": [ + 106, + 140, + 106, + 140 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + -0.004285714589059353, + -0.014642857015132904, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21642859280109406, + -0.0535714291036129, + -0.27071428298950195, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6535754323192562, + -0.03149424733476569, + -0.794795997228462, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 4 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 216 mm; move right 54 mm; move downward 271 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 208 mm; move right 54 mm; move downward 257 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 311, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 5 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 216 mm; move right 49 mm; move downward 269 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 199 mm; move right 49 mm; move downward 242 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 112, + 139 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + -0.005000000353902578, + -0.013571429066359997, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21607144176959991, + -0.04928571358323097, + -0.268928587436676, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7155844706059127, + -0.05668950739421963, + -0.7504435793926163, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 5 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 216 mm; move right 49 mm; move downward 269 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 199 mm; move right 49 mm; move downward 242 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 312, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 5 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 215 mm; move right 44 mm; move downward 268 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 190 mm; move right 44 mm; move downward 229 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 112, + 139 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.011428571306169033, + -0.005000000353902578, + -0.013214285485446453, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21535713970661163, + -0.044285714626312256, + -0.267857164144516, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.818932921650761, + -0.05668950739421963, + -0.7356594015613314, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 5 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 215 mm; move right 44 mm; move downward 268 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 190 mm; move right 44 mm; move downward 229 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 313, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 5 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 214 mm; move right 39 mm; move downward 267 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 178 mm; move right 39 mm; move downward 216 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 112, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.013571429066359997, + -0.005000000353902578, + -0.013214285485446453, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21392856538295746, + -0.03928571566939354, + -0.26678571105003357, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9429511060249156, + -0.05668950739421963, + -0.7356594015613314, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 5 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 214 mm; move right 39 mm; move downward 267 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 178 mm; move right 39 mm; move downward 216 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 314, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 5 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 210 mm; move right 34 mm; move downward 266 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 165 mm; move right 34 mm; move downward 203 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 112, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.013928571715950966, + -0.004642857238650322, + -0.012500000186264515, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21035714447498322, + -0.03428571671247482, + -0.26571428775787354, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.963620785453801, + -0.04409186915177321, + -0.7060911230041009, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 5 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 210 mm; move right 34 mm; move downward 266 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 165 mm; move right 34 mm; move downward 203 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 315, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 5 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 205 mm; move right 30 mm; move downward 264 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 151 mm; move right 30 mm; move downward 190 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 113, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.012857143767178059, + -0.004642857238650322, + -0.012500000186264515, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20500002801418304, + -0.0296428594738245, + -0.2639285922050476, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9016117471671445, + -0.04409186915177321, + -0.7060911230041009, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 5 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 205 mm; move right 30 mm; move downward 264 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 151 mm; move right 30 mm; move downward 190 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 316, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 5 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 201 mm; move right 25 mm; move downward 261 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 138 mm; move right 25 mm; move downward 178 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 113, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.012500000186264515, + -0.004642857238650322, + -0.013214285485446453, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20071430504322052, + -0.02500000409781933, + -0.26107144355773926, + 0.0, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8809420138378383, + -0.04409186915177321, + -0.7356594015613314, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 5 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 201 mm; move right 25 mm; move downward 261 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 138 mm; move right 25 mm; move downward 178 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 317, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 5 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 197 mm; move right 20 mm; move downward 257 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 125 mm; move right 20 mm; move downward 164 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 113, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.012857143767178059, + -0.004642857238650322, + -0.013928571715950966, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.19714288413524628, + -0.020357144996523857, + -0.25678572058677673, + 0.0028571428265422583, + 0.01428571343421936, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9016117471671445, + -0.04409186915177321, + -0.7652277186712315, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 5 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 197 mm; move right 20 mm; move downward 257 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 125 mm; move right 20 mm; move downward 164 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 318, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 4 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 192 mm; move right 16 mm; move downward 251 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 113 mm; move right 16 mm; move downward 150 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 113, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.012142857536673546, + -0.0039285714738070965, + -0.013214285485446453, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.19214288890361786, + -0.015714285895228386, + -0.2514285743236542, + 0.0028571428265422583, + 0.02142857015132904, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8602723344089527, + -0.018896609092319272, + -0.7356594015613314, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move right 4 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 192 mm; move right 16 mm; move downward 251 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 113 mm; move right 16 mm; move downward 150 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 319, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 3 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 188 mm; move right 12 mm; move downward 246 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 100 mm; move right 12 mm; move downward 137 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 113, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.012142857536673546, + -0.0032142859417945147, + -0.012857143767178059, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18785716593265533, + -0.011785714887082577, + -0.24642859399318695, + 0.004285714123398066, + 0.02857142686843872, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8602723344089527, + 0.006298642754415162, + -0.7208753008353859, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move right 3 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 188 mm; move right 12 mm; move downward 246 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 100 mm; move right 12 mm; move downward 137 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 320, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 3 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 184 mm; move right 9 mm; move downward 241 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 88 mm; move right 9 mm; move downward 124 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 113, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.011071428656578064, + -0.0032142859417945147, + -0.012857143767178059, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1835714429616928, + -0.008571429178118706, + -0.24142856895923615, + 0.0057142856530845165, + 0.038571424782276154, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7982632422218754, + 0.006298642754415162, + -0.7208753008353859, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 3 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 184 mm; move right 9 mm; move downward 241 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 88 mm; move right 9 mm; move downward 124 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 321, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 3 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 181 mm; move right 5 mm; move downward 236 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 77 mm; move right 5 mm; move downward 111 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 114, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.010357143357396126, + -0.0032142859417945147, + -0.013571429066359997, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18071430921554565, + -0.0053571430034935474, + -0.2360714226961136, + 0.009999999776482582, + 0.04714285209774971, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7569238833641043, + 0.006298642754415162, + -0.7504435793926163, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 3 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 181 mm; move right 5 mm; move downward 236 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 77 mm; move right 5 mm; move downward 111 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 322, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 1 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 178 mm; move right 2 mm; move downward 231 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 67 mm; move right 2 mm; move downward 98 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 114, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + -0.0014285714132711291, + -0.013928571715950966, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17750000953674316, + -0.0021428572945296764, + -0.23107145726680756, + 0.009999999776482582, + 0.05142856761813164, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7362542039352189, + 0.06928679700940998, + -0.7652277186712315, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 1 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 178 mm; move right 2 mm; move downward 231 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 67 mm; move right 2 mm; move downward 98 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 323, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 1 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 173 mm; move right 1 mm; move downward 225 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move right 1 mm; move downward 84 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 114, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.010714286006987095, + -0.0007142857066355646, + -0.013571429066359997, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17321430146694183, + -0.0007142857066355646, + -0.22535715997219086, + 0.009999999776482582, + 0.05857142433524132, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.77759356279299, + 0.09448205501568396, + -0.7504435793926163, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 1 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 173 mm; move right 1 mm; move downward 225 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move right 1 mm; move downward 84 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 324, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 168 mm; move right 0 mm; move downward 219 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 0 mm; move downward 70 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 114, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + 0.0, + -0.013928571715950966, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.16785715520381927, + 0.0, + -0.2192857265472412, + 0.012857142835855484, + 0.0657142847776413, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7362542039352189, + 0.11967731302195816, + -0.7652277186712315, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 168 mm; move right 0 mm; move downward 219 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 0 mm; move downward 70 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 325, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 164 mm; move right 0 mm; move downward 214 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 36 mm; move right 0 mm; move downward 56 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 113, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + 0.0, + -0.014642857015132904, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.16357143223285675, + 0.0, + -0.2135714590549469, + 0.014285714365541935, + 0.07000000029802322, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6535754323192562, + 0.11967731302195816, + -0.794795997228462, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 164 mm; move right 0 mm; move downward 214 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 36 mm; move right 0 mm; move downward 56 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 326, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 160 mm; move right 1 mm; move downward 208 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 28 mm; move right 0 mm; move downward 42 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 113, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + 0.0, + -0.01428571529686451, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1600000113248825, + -0.0007142857066355646, + -0.20750002562999725, + 0.015714285895228386, + 0.07428571581840515, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.694914791177027, + 0.11967731302195816, + -0.7800118965025166, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 160 mm; move right 1 mm; move downward 208 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 28 mm; move right 0 mm; move downward 42 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 327, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 154 mm; move right 1 mm; move downward 202 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 18 mm; move right 0 mm; move downward 28 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 113, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + 0.0, + -0.013928571715950966, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1542857140302658, + -0.0014285714132711291, + -0.20178572833538055, + 0.015714285895228386, + 0.07428571581840515, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7155844706059127, + 0.11967731302195816, + -0.7652277186712315, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 154 mm; move right 1 mm; move downward 202 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 18 mm; move right 0 mm; move downward 28 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 328, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 149 mm; move right 3 mm; move downward 197 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 9 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 113, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + 0.0, + -0.013571429066359997, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1485714167356491, + -0.002500000176951289, + -0.19678573310375214, + 0.015714285895228386, + 0.07428571581840515, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6535754323192562, + 0.11967731302195816, + -0.7504435793926163, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 149 mm; move right 3 mm; move downward 197 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 9 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 329, + "segment_id": 10100, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned over the sink, and its gripper is interacting with a green object (the apple) inside the basin. The hand appears to be releasing or adjusting the object within the sink area, consistent with the final placement step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 144 mm; move right 4 mm; move downward 193 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [133,145], [133,147]\n", + "gripper_2d": [ + 113, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 133, + 145, + 133, + 147 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + 0.0, + -0.013571429066359997, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.14428570866584778, + -0.0039285714738070965, + -0.1925000250339508, + 0.015714285895228386, + 0.07428571581840515, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6535754323192562, + 0.11967731302195816, + -0.7504435793926163, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 144 mm; move right 4 mm; move downward 193 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 330, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 140 mm; move right 5 mm; move downward 189 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 173 mm; move right 31 mm; move downward 294 mm; roll upward 1 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [132,145], [133,148]\n", + "gripper_2d": [ + 113, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 132, + 145, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.008214286528527737, + 0.0, + -0.012857143767178059, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1403571367263794, + -0.005000000353902578, + -0.18892860412597656, + 0.015714285895228386, + 0.0771428570151329, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6329057528903705, + 0.11967731302195816, + -0.7208753008353859, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 140 mm; move right 5 mm; move downward 189 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 173 mm; move right 31 mm; move downward 294 mm; roll upward 1 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 331, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 136 mm; move right 5 mm; move downward 187 mm; roll upward 1 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 164 mm; move right 31 mm; move downward 281 mm; roll upward 1 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [132,143], [133,148]\n", + "gripper_2d": [ + 112, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 132, + 143, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + 0.0, + -0.012500000186264515, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1364285796880722, + -0.0053571430034935474, + -0.1867857277393341, + 0.015714285895228386, + 0.08285713940858841, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6742451117481416, + 0.11967731302195816, + -0.7060911230041009, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 136 mm; move right 5 mm; move downward 187 mm; roll upward 1 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 164 mm; move right 31 mm; move downward 281 mm; roll upward 1 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 332, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 131 mm; move right 6 mm; move downward 184 mm; roll upward 1 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 155 mm; move right 31 mm; move downward 268 mm; roll upward 1 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [132,143], [133,148]\n", + "gripper_2d": [ + 112, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 132, + 143, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + 0.0, + -0.012142857536673546, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.13107143342494965, + -0.0057142856530845165, + -0.1842857301235199, + 0.017142856493592262, + 0.09285713732242584, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7362542039352189, + 0.11967731302195816, + -0.6913069837254857, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 131 mm; move right 6 mm; move downward 184 mm; roll upward 1 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 155 mm; move right 31 mm; move downward 268 mm; roll upward 1 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 333, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 124 mm; move right 6 mm; move downward 182 mm; roll upward 1 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 145 mm; move right 31 mm; move downward 256 mm; roll upward 1 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [131,142], [133,148]\n", + "gripper_2d": [ + 112, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 131, + 142, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + 0.0, + -0.012142857536673546, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.12428572028875351, + -0.006071428768336773, + -0.1817857325077057, + 0.017142856493592262, + 0.09714285284280777, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7362542039352189, + 0.11967731302195816, + -0.6913069837254857, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 124 mm; move right 6 mm; move downward 182 mm; roll upward 1 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 145 mm; move right 31 mm; move downward 256 mm; roll upward 1 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 334, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 117 mm; move right 7 mm; move downward 180 mm; roll upward 1 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 135 mm; move right 31 mm; move downward 244 mm; roll upward 1 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [131,142], [133,148]\n", + "gripper_2d": [ + 112, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 131, + 142, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + 0.0, + -0.010714286006987095, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.11714287102222443, + -0.007142857648432255, + -0.17964288592338562, + 0.017142856493592262, + 0.09857142716646194, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6535754323192562, + 0.11967731302195816, + -0.6321703880583549, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 117 mm; move right 7 mm; move downward 180 mm; roll upward 1 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 135 mm; move right 31 mm; move downward 244 mm; roll upward 1 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 335, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 110 mm; move right 8 mm; move downward 179 mm; roll upward 1 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 127 mm; move right 31 mm; move downward 233 mm; roll upward 1 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [130,142], [133,148]\n", + "gripper_2d": [ + 111, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 130, + 142, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + 0.0, + -0.009642857126891613, + 0.0, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.11035716533660889, + -0.008214286528527737, + -0.1785714477300644, + 0.017142856493592262, + 0.09857142716646194, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6535754323192562, + 0.11967731302195816, + -0.5878179316698395, + -0.5050506641555348, + 0.799999681740418, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 110 mm; move right 8 mm; move downward 179 mm; roll upward 1 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 127 mm; move right 31 mm; move downward 233 mm; roll upward 1 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 336, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 9 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 103 mm; move right 9 mm; move downward 179 mm; roll upward 1 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 118 mm; move right 31 mm; move downward 224 mm; roll upward 1 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [130,142], [133,148]\n", + "gripper_2d": [ + 111, + 143 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 130, + 142, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + 0.0, + -0.008928571827709675, + 0.0028571428265422583, + 0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.10321430116891861, + -0.008928571827709675, + -0.17928571999073029, + 0.017142856493592262, + 0.09428571164608002, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6742451117481416, + 0.11967731302195816, + -0.5582496531126091, + -0.33670054609634315, + 0.9999996500000516, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 9 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 103 mm; move right 9 mm; move downward 179 mm; roll upward 1 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 118 mm; move right 31 mm; move downward 224 mm; roll upward 1 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 337, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 96 mm; move right 9 mm; move downward 180 mm; roll upward 1 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 109 mm; move right 31 mm; move downward 215 mm; roll upward 1 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [129,141], [133,148]\n", + "gripper_2d": [ + 111, + 143 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 129, + 141, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + 0.0, + -0.008571429178118706, + 0.0, + 0.0071428571827709675, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.09607143700122833, + -0.009285714477300644, + -0.18035714328289032, + 0.014285714365541935, + 0.08428571373224258, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6122360195610643, + 0.11967731302195816, + -0.5434655138339939, + -0.5050506641555348, + 0.8999996740193061, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 96 mm; move right 9 mm; move downward 180 mm; roll upward 1 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 109 mm; move right 31 mm; move downward 215 mm; roll upward 1 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 338, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 8 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 89 mm; move right 10 mm; move downward 181 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 101 mm; move right 31 mm; move downward 206 mm; roll upward 1 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [129,141], [133,148]\n", + "gripper_2d": [ + 111, + 143 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 129, + 141, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + 0.0, + -0.008214286528527737, + 0.0014285714132711291, + 0.0071428571827709675, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0892857238650322, + -0.009642857126891613, + -0.18071429431438446, + 0.014285714365541935, + 0.0771428644657135, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6122360195610643, + 0.11967731302195816, + -0.5286813745553787, + -0.4208756051259389, + 0.8999996740193061, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 8 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 89 mm; move right 10 mm; move downward 181 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 101 mm; move right 31 mm; move downward 206 mm; roll upward 1 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 339, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 8 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 83 mm; move right 10 mm; move downward 183 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 94 mm; move right 31 mm; move downward 198 mm; roll upward 1 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [128,140], [133,148]\n", + "gripper_2d": [ + 111, + 143 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 128, + 140, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + 0.0, + -0.007857142947614193, + 0.0014285714132711291, + 0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.08250001072883606, + -0.010357143357396126, + -0.18250001966953278, + 0.012857142835855484, + 0.07000000774860382, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6122360195610643, + 0.11967731302195816, + -0.5138971967240936, + -0.4208756051259389, + 0.9999996500000516, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 8 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 83 mm; move right 10 mm; move downward 183 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 94 mm; move right 31 mm; move downward 198 mm; roll upward 1 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 340, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 8 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 75 mm; move right 11 mm; move downward 186 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 86 mm; move right 31 mm; move downward 190 mm; roll upward 1 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [128,139], [133,148]\n", + "gripper_2d": [ + 110, + 143 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 128, + 139, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.008214286528527737, + 0.0, + -0.007500000298023224, + 0.004285714123398066, + 0.008571428246796131, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.07535715401172638, + -0.011071428656578064, + -0.18571428954601288, + 0.011428571306169033, + 0.05999999865889549, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6329057528903705, + 0.11967731302195816, + -0.4991130574454784, + -0.252525493926234, + 0.9499996538606077, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 8 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 75 mm; move right 11 mm; move downward 186 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 86 mm; move right 31 mm; move downward 190 mm; roll upward 1 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 341, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 68 mm; move right 12 mm; move downward 190 mm; roll upward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 78 mm; move right 31 mm; move downward 183 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [128,139], [133,148]\n", + "gripper_2d": [ + 110, + 143 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 128, + 139, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.007142857648432255, + 0.0, + -0.008571429178118706, + 0.0, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.06785714626312256, + -0.011785714887082577, + -0.18964286148548126, + 0.0071428571827709675, + 0.05142856761813164, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5708966607032933, + 0.11967731302195816, + -0.5434655138339939, + -0.5050506641555348, + 0.799999681740418, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 68 mm; move right 12 mm; move downward 190 mm; roll upward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 78 mm; move right 31 mm; move downward 183 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 342, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 8 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 61 mm; move right 13 mm; move downward 192 mm; roll upward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 70 mm; move right 31 mm; move downward 174 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [127,139], [133,148]\n", + "gripper_2d": [ + 110, + 143 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 127, + 139, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0057142856530845165, + 0.0, + -0.008214286528527737, + 0.0, + 0.0071428571827709675, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.06107143312692642, + -0.012500000186264515, + -0.19178573787212372, + 0.0071428571827709675, + 0.04714285954833031, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.48821786213712004, + 0.11967731302195816, + -0.5286813745553787, + -0.5050506641555348, + 0.8999996740193061, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 8 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 61 mm; move right 13 mm; move downward 192 mm; roll upward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 70 mm; move right 31 mm; move downward 174 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 343, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 8 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 55 mm; move right 13 mm; move downward 193 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 65 mm; move right 31 mm; move downward 166 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [127,139], [133,148]\n", + "gripper_2d": [ + 110, + 143 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 127, + 139, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0053571430034935474, + 0.0, + -0.007500000298023224, + 0.0028571428265422583, + 0.0071428571827709675, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05535713955760002, + -0.013214285485446453, + -0.1925000250339508, + 0.0071428571827709675, + 0.04000000283122063, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4675481827082346, + 0.11967731302195816, + -0.4991130574454784, + -0.33670054609634315, + 0.8999996740193061, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 8 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 55 mm; move right 13 mm; move downward 193 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 65 mm; move right 31 mm; move downward 166 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 344, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 8 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 50 mm; move right 15 mm; move downward 191 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 59 mm; move right 31 mm; move downward 158 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [127,139], [133,148]\n", + "gripper_2d": [ + 110, + 143 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 127, + 139, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0057142856530845165, + 0.0, + -0.008214286528527737, + 0.0014285714132711291, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05000000819563866, + -0.014642857015132904, + -0.19142858684062958, + 0.004285714123398066, + 0.0357142835855484, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.48821786213712004, + 0.11967731302195816, + -0.5286813745553787, + -0.4208756051259389, + 0.799999681740418, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 8 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 50 mm; move right 15 mm; move downward 191 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 59 mm; move right 31 mm; move downward 158 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 345, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 1 mm; move downward 9 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 45 mm; move right 16 mm; move downward 188 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 54 mm; move right 31 mm; move downward 150 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [127,138], [133,148]\n", + "gripper_2d": [ + 110, + 143 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 127, + 138, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.005000000353902578, + -0.0007142857066355646, + -0.008571429178118706, + 0.0014285714132711291, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0446428619325161, + -0.016428573057055473, + -0.18785716593265533, + 0.0057142856530845165, + 0.03999999538064003, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.44687850327934897, + 0.09448205501568396, + -0.5434655138339939, + -0.4208756051259389, + 0.799999681740418, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 5 mm; move right 1 mm; move downward 9 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 45 mm; move right 16 mm; move downward 188 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 54 mm; move right 31 mm; move downward 150 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 346, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 1 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 42 mm; move right 18 mm; move downward 181 mm; roll upward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 49 mm; move right 31 mm; move downward 141 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,138], [133,148]\n", + "gripper_2d": [ + 109, + 143 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 138, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0035714288242161274, + -0.0007142857066355646, + -0.008571429178118706, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.04214286059141159, + -0.017500001937150955, + -0.18142859637737274, + 0.008571428246796131, + 0.045714281499385834, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.36419973166338626, + 0.09448205501568396, + -0.5434655138339939, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 1 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 42 mm; move right 18 mm; move downward 181 mm; roll upward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 49 mm; move right 31 mm; move downward 141 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 347, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 1 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 41 mm; move right 18 mm; move downward 174 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 45 mm; move right 30 mm; move downward 133 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,138], [133,148]\n", + "gripper_2d": [ + 109, + 143 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 138, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0039285714738070965, + -0.0010714286472648382, + -0.008928571827709675, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0414285771548748, + -0.018214287236332893, + -0.17357145249843597, + 0.009999999776482582, + 0.048571422696113586, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3848694110922719, + 0.08188442293277709, + -0.5582496531126091, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 1 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 41 mm; move right 18 mm; move downward 174 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 45 mm; move right 30 mm; move downward 133 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 348, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 1 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 39 mm; move right 19 mm; move downward 165 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 41 mm; move right 29 mm; move downward 124 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,138], [133,148]\n", + "gripper_2d": [ + 109, + 144 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 138, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.004285714589059353, + -0.0014285714132711291, + -0.009285714477300644, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.03928571566939354, + -0.01892857253551483, + -0.16464287042617798, + 0.009999999776482582, + 0.048571422696113586, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4055391174713676, + 0.06928679700940998, + -0.5730337923912243, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 1 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 39 mm; move right 19 mm; move downward 165 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 41 mm; move right 29 mm; move downward 124 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 349, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 1 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 37 mm; move right 19 mm; move downward 155 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 37 mm; move right 28 mm; move downward 115 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,138], [133,148]\n", + "gripper_2d": [ + 109, + 144 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 138, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.004642857238650322, + -0.0010714286472648382, + -0.010000000707805157, + 0.0, + 0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.03678571805357933, + -0.019285716116428375, + -0.15535716712474823, + 0.009999999776482582, + 0.048571422696113586, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.42620879690025326, + 0.08188442293277709, + -0.6026021095011245, + -0.5050506641555348, + 0.7499996937500453, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 5 mm; move right 1 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 37 mm; move right 19 mm; move downward 155 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 37 mm; move right 28 mm; move downward 115 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 350, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 32 mm; move right 20 mm; move downward 145 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 32 mm; move right 26 mm; move downward 105 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,138], [133,148]\n", + "gripper_2d": [ + 109, + 144 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 138, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.004285714589059353, + -0.0003571428533177823, + -0.010714286006987095, + 0.0, + 0.0057142856530845165, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.03214285895228386, + -0.020000001415610313, + -0.1453571617603302, + 0.009999999776482582, + 0.045714281499385834, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4055391174713676, + 0.10707968401882106, + -0.6321703880583549, + -0.5050506641555348, + 0.8499996778798622, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 32 mm; move right 20 mm; move downward 145 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 32 mm; move right 26 mm; move downward 105 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 351, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 10 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 28 mm; move right 21 mm; move downward 132 mm; roll upward 1 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 28 mm; move right 26 mm; move downward 94 mm; roll upward 1 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,138], [133,148]\n", + "gripper_2d": [ + 109, + 144 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 138, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0035714288242161274, + -0.0003571428533177823, + -0.010000000707805157, + 0.0014285714132711291, + 0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.02785714529454708, + -0.021071432158350945, + -0.13214287161827087, + 0.009999999776482582, + 0.03999999910593033, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.36419973166338626, + 0.10707968401882106, + -0.6026021095011245, + -0.4208756051259389, + 0.9999996500000516, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 10 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 28 mm; move right 21 mm; move downward 132 mm; roll upward 1 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 28 mm; move right 26 mm; move downward 94 mm; roll upward 1 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 352, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 24 mm; move right 21 mm; move downward 115 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 24 mm; move right 26 mm; move downward 84 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,138], [133,148]\n", + "gripper_2d": [ + 109, + 144 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 138, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0032142859417945147, + -0.0003571428533177823, + -0.009642857126891613, + 0.0, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.02428571693599224, + -0.021071432158350945, + -0.11500000953674316, + 0.008571428246796131, + 0.029999999329447746, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3435300387593956, + 0.10707968401882106, + -0.5878179316698395, + -0.5050506641555348, + 0.799999681740418, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 3 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 24 mm; move right 21 mm; move downward 115 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 24 mm; move right 26 mm; move downward 84 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 353, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 1 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 21 mm; move right 22 mm; move downward 91 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 21 mm; move right 25 mm; move downward 74 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,138], [133,148]\n", + "gripper_2d": [ + 109, + 144 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 138, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0028571428265422583, + -0.0010714286472648382, + -0.010000000707805157, + 0.0, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.021071430295705795, + -0.022142861038446426, + -0.09142859280109406, + 0.008571428246796131, + 0.025714285671710968, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.32286033238029965, + 0.08188442293277709, + -0.6026021095011245, + -0.5050506641555348, + 0.6999997016851369, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 3 mm; move right 1 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 21 mm; move right 22 mm; move downward 91 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 21 mm; move right 25 mm; move downward 74 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 354, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 1 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 18 mm; move right 24 mm; move downward 64 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 18 mm; move right 24 mm; move downward 64 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,138], [133,148]\n", + "gripper_2d": [ + 109, + 144 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 138, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0017857144121080637, + -0.0010714286472648382, + -0.009642857126891613, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.018214287236332893, + -0.02428571693599224, + -0.06428571790456772, + 0.008571428246796131, + 0.024285713210701942, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.2608512671434329, + 0.08188442293277709, + -0.5878179316698395, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 2 mm; move right 1 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 18 mm; move right 24 mm; move downward 64 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 18 mm; move right 24 mm; move downward 64 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 355, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 1 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 16 mm; move right 27 mm; move downward 36 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 16 mm; move right 23 mm; move downward 55 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,138], [133,148]\n", + "gripper_2d": [ + 109, + 144 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 138, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0014285714132711291, + -0.0007142857066355646, + -0.010357143357396126, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.016428573057055473, + -0.0267857164144516, + -0.036071427166461945, + 0.008571428246796131, + 0.024285713210701942, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.24018156750188946, + 0.09448205501568396, + -0.6173862487797397, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 1 mm; move right 1 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 16 mm; move right 27 mm; move downward 36 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 16 mm; move right 23 mm; move downward 55 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 356, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 15 mm; move right 30 mm; move downward 5 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 15 mm; move right 23 mm; move downward 44 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,138], [133,148]\n", + "gripper_2d": [ + 109, + 144 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 138, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0017857144121080637, + -0.0003571428533177823, + -0.010000000707805157, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.015000000596046448, + -0.03035714663565159, + -0.005357142072170973, + 0.008571428246796131, + 0.024285713210701942, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.2608512671434329, + 0.10707968401882106, + -0.6026021095011245, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 2 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 15 mm; move right 30 mm; move downward 5 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 15 mm; move right 23 mm; move downward 44 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 357, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 13 mm; move right 34 mm; move upward 25 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 13 mm; move right 22 mm; move downward 34 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,138], [133,148]\n", + "gripper_2d": [ + 109, + 144 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 138, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0010714286472648382, + -0.0003571428533177823, + -0.008928571827709675, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.013214285485446453, + -0.03392857313156128, + 0.025357145816087723, + 0.008571428246796131, + 0.024285713210701942, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.2195118813354513, + 0.10707968401882106, + -0.5582496531126091, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 13 mm; move right 34 mm; move upward 25 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 13 mm; move right 22 mm; move downward 34 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 358, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 1 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 12 mm; move right 41 mm; move upward 53 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 12 mm; move right 22 mm; move downward 25 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [125,138], [133,148]\n", + "gripper_2d": [ + 109, + 144 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 125, + 138, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0010714286472648382, + -0.0007142857066355646, + -0.010000000707805157, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.012142857536673546, + -0.040714289993047714, + 0.052500005811452866, + 0.008571428246796131, + 0.024285713210701942, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.2195118813354513, + 0.09448205501568396, + -0.6026021095011245, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 1 mm; move right 1 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 12 mm; move right 41 mm; move upward 53 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 12 mm; move right 22 mm; move downward 25 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 359, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 1 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 11 mm; move right 45 mm; move upward 80 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 11 mm; move right 21 mm; move downward 15 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [125,137], [133,148]\n", + "gripper_2d": [ + 109, + 144 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 125, + 137, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0007142857066355646, + -0.0007142857066355646, + -0.011071428656578064, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.011071428656578064, + -0.045357149094343185, + 0.07964285463094711, + 0.008571428246796131, + 0.024285713210701942, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.19884218506268447, + 0.09448205501568396, + -0.6469545273369701, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 1 mm; move right 1 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 11 mm; move right 45 mm; move upward 80 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 11 mm; move right 21 mm; move downward 15 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 360, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 1 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 9 mm; move right 50 mm; move upward 110 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 10 mm; move right 20 mm; move downward 4 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [125,137], [133,148]\n", + "gripper_2d": [ + 109, + 144 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 125, + 137, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0007142857066355646, + -0.0007142857066355646, + -0.011428571306169033, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.009285714477300644, + -0.05000000074505806, + 0.10964285582304001, + 0.008571428246796131, + 0.024285713210701942, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.19884218506268447, + 0.09448205501568396, + -0.6617386666155853, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 1 mm; move right 1 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 9 mm; move right 50 mm; move upward 110 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 10 mm; move right 20 mm; move downward 4 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 361, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 0 mm; move right 1 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 5 mm; move right 57 mm; move upward 141 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 10 mm; move right 20 mm; move upward 7 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [125,137], [133,148]\n", + "gripper_2d": [ + 109, + 144 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 125, + 137, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0003571428533177823, + -0.0007142857066355646, + -0.010714286006987095, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.005000000353902578, + -0.056785713881254196, + 0.14107143878936768, + 0.008571428246796131, + 0.024285713210701942, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.17817249384308176, + 0.09448205501568396, + -0.6321703880583549, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + 0.9999999900000001 + ], + "movement_text": "move forward 0 mm; move right 1 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 5 mm; move right 57 mm; move upward 141 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 10 mm; move right 20 mm; move upward 7 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 362, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 1 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move right 64 mm; move upward 172 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 9 mm; move right 19 mm; move upward 18 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [125,137], [133,148]\n", + "gripper_2d": [ + 109, + 144 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 125, + 137, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.0007142857066355646, + -0.008928571827709675, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.0014285714132711291, + -0.06428571790456772, + 0.1721428632736206, + 0.008571428246796131, + 0.024285713210701942, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.09448205501568396, + -0.5582496531126091, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 1 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move right 64 mm; move upward 172 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 9 mm; move right 19 mm; move upward 18 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 363, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 1 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 8 mm; move right 70 mm; move upward 203 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 9 mm; move right 18 mm; move upward 27 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [125,137], [133,148]\n", + "gripper_2d": [ + 109, + 144 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 125, + 137, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.0014285714132711291, + -0.006428571883589029, + 0.0, + 0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.007857142947614193, + -0.07035714387893677, + 0.20250001549720764, + 0.008571428246796131, + 0.024285713210701942, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.06928679700940998, + -0.4547606203332979, + -0.5050506641555348, + 0.7499996937500453, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 1 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 8 mm; move right 70 mm; move upward 203 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 9 mm; move right 18 mm; move upward 27 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 364, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 0 mm; move right 2 mm; move downward 5 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 16 mm; move right 75 mm; move upward 231 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 9 mm; move right 17 mm; move upward 33 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [125,137], [133,148]\n", + "gripper_2d": [ + 109, + 144 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 125, + 137, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0003571428533177823, + -0.0017857144121080637, + -0.004642857238650322, + 0.0028571428265422583, + 0.008571428246796131, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.016428573057055473, + -0.07535714656114578, + 0.2314285784959793, + 0.008571428246796131, + 0.02142857201397419, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.17817249384308176, + 0.05668916287332326, + -0.380839866111217, + -0.33670054609634315, + 0.9499996538606077, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 0 mm; move right 2 mm; move downward 5 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 16 mm; move right 75 mm; move upward 231 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 9 mm; move right 17 mm; move upward 33 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 365, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 2 mm; move downward 2 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 27 mm; move right 80 mm; move upward 259 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 9 mm; move right 15 mm; move upward 38 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [125,137], [133,148]\n", + "gripper_2d": [ + 109, + 143 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 125, + 137, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.002500000176951289, + -0.0017857144121080637, + -0.0021428572945296764, + 0.004285714123398066, + 0.009999999776482582, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.02678571455180645, + -0.0803571417927742, + 0.25928571820259094, + 0.0057142856530845165, + 0.012857142835855484, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.30219065295141423, + 0.05668916287332326, + -0.2773508333319058, + -0.252525493926234, + 0.9999996500000516, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 2 mm; move downward 2 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 27 mm; move right 80 mm; move upward 259 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 9 mm; move right 15 mm; move upward 38 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 366, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 1 mm; move downward 1 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 41 mm; move right 85 mm; move upward 284 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 6 mm; move right 13 mm; move upward 40 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [125,137], [133,148]\n", + "gripper_2d": [ + 109, + 143 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 125, + 137, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0028571428265422583, + -0.0014285714132711291, + -0.0007142857066355646, + 0.0014285714132711291, + 0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.0414285734295845, + -0.08464286476373672, + 0.2842857241630554, + 0.0014285714132711291, + 0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.32286033238029965, + 0.06928679700940998, + -0.2182142352552333, + -0.4208756051259389, + 0.7499996937500453, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 1 mm; move downward 1 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 41 mm; move right 85 mm; move upward 284 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 6 mm; move right 13 mm; move upward 40 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 367, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 57 mm; move right 88 mm; move upward 307 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 4 mm; move right 12 mm; move upward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [125,137], [133,148]\n", + "gripper_2d": [ + 109, + 143 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 125, + 137, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0017857144121080637, + -0.0017857144121080637, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.056785713881254196, + -0.08821428567171097, + 0.3067857325077057, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.2608512671434329, + 0.05668916287332326, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 57 mm; move right 88 mm; move upward 307 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 4 mm; move right 12 mm; move upward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 368, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 69 mm; move right 89 mm; move upward 328 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 2 mm; move right 10 mm; move upward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [125,137], [133,148]\n", + "gripper_2d": [ + 109, + 143 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 125, + 137, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0017857144121080637, + -0.0017857144121080637, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.06928571313619614, + -0.0892857238650322, + 0.32821428775787354, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.2608512671434329, + 0.05668916287332326, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 69 mm; move right 89 mm; move upward 328 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 2 mm; move right 10 mm; move upward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 369, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 82 mm; move right 90 mm; move upward 351 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 8 mm; move upward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [125,137], [133,148]\n", + "gripper_2d": [ + 109, + 143 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 125, + 137, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.0017857144121080637, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.08178571611642838, + -0.08999999612569809, + 0.3507142961025238, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.05668916287332326, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 82 mm; move right 90 mm; move upward 351 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 8 mm; move upward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 370, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 1 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 93 mm; move right 90 mm; move upward 373 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 6 mm; move upward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [125,137], [133,148]\n", + "gripper_2d": [ + 109, + 143 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 125, + 137, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.0014285714132711291, + 0.002500000176951289, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.09321428835391998, + -0.09000000357627869, + 0.37285715341567993, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.06928679700940998, + -0.08515689741373111, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 1 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 93 mm; move right 90 mm; move upward 373 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 6 mm; move upward 41 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 371, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 105 mm; move right 90 mm; move upward 392 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 5 mm; move upward 38 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [125,137], [133,148]\n", + "gripper_2d": [ + 109, + 143 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 125, + 137, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.0003571428533177823, + 0.007142857648432255, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.10535714775323868, + -0.09000001102685928, + 0.39178571105003357, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.10707968401882106, + 0.10703703850444368, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 105 mm; move right 90 mm; move upward 392 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 5 mm; move upward 38 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 372, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 1 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 119 mm; move right 90 mm; move upward 405 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 5 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,137], [133,148]\n", + "gripper_2d": [ + 109, + 143 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 137, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.0014285714132711291, + 0.013928571715950966, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.118571437895298, + -0.08964285999536514, + 0.4049999713897705, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.06928679700940998, + 0.3879358390088119, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 1 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 119 mm; move right 90 mm; move upward 405 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 5 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 373, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 3 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 132 mm; move right 88 mm; move upward 409 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 3 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,137], [133,148]\n", + "gripper_2d": [ + 109, + 143 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 137, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.0032142859417945147, + 0.01714285835623741, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.13178573548793793, + -0.08821429312229156, + 0.4089285433292389, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.006298642754415162, + 0.5209932081743585, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 3 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 132 mm; move right 88 mm; move upward 409 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 3 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 374, + "segment_id": 10430, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with the apple held inside, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 4 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 147 mm; move right 85 mm; move upward 409 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,137], [133,148]\n", + "gripper_2d": [ + 109, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 137, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.0035714288242161274, + 0.018571428954601288, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.14714287221431732, + -0.08500000089406967, + 0.40857139229774475, + 0.0, + -0.0014285714132711291, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.0062989872753117515, + 0.5801297652888193, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 4 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 147 mm; move right 85 mm; move upward 409 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 375, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 4 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 166 mm; move right 81 mm; move upward 406 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 485 mm; move right 81 mm; move upward 816 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,137], [133,148]\n", + "gripper_2d": [ + 109, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 137, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.004285714589059353, + 0.020357143133878708, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.165714293718338, + -0.08142857998609543, + 0.4064285457134247, + -0.0028571428265422583, + -0.008571428246796131, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.03149424733476569, + 0.6540505002345651, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 4 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 166 mm; move right 81 mm; move upward 406 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 485 mm; move right 81 mm; move upward 816 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 376, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 4 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 183 mm; move right 77 mm; move upward 402 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 485 mm; move right 77 mm; move upward 795 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,137], [133,148]\n", + "gripper_2d": [ + 109, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 137, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.0039285714738070965, + 0.02071428671479225, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.18321429193019867, + -0.0771428644657135, + 0.40214282274246216, + -0.009999999776482582, + -0.022857142612338066, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.018896609092319272, + 0.6688346780658501, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 4 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 183 mm; move right 77 mm; move upward 402 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 485 mm; move right 77 mm; move upward 795 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 377, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 7 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 199 mm; move right 73 mm; move upward 399 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 485 mm; move right 73 mm; move upward 775 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,138], [133,148]\n", + "gripper_2d": [ + 110, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 138, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.007142857648432255, + 0.018214285373687744, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.19857142865657806, + -0.07321429252624512, + 0.3985714316368103, + -0.022857142612338066, + -0.044285714626312256, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.13227528757258156, + 0.5653455874575342, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 7 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 199 mm; move right 73 mm; move upward 399 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 485 mm; move right 73 mm; move upward 775 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 378, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 5 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 215 mm; move right 66 mm; move upward 399 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 485 mm; move right 66 mm; move upward 756 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [126,138], [133,148]\n", + "gripper_2d": [ + 110, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 126, + 138, + 133, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.0053571430034935474, + 0.01714285835623741, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.21464286744594574, + -0.06607143580913544, + 0.39892855286598206, + -0.03285714238882065, + -0.06142856925725937, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + -0.06928712921122715, + 0.5209932081743585, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 5 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 215 mm; move right 66 mm; move upward 399 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 485 mm; move right 66 mm; move upward 756 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 379, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move right 5 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 231 mm; move right 61 mm; move upward 401 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 485 mm; move right 61 mm; move upward 739 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [127,138], [133,148]\n", + "gripper_2d": [ + 110, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 127, + 138, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.0010714286472648382, + -0.0053571430034935474, + 0.018928570672869682, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.23071430623531342, + -0.06071428582072258, + 0.4010713994503021, + -0.03857142850756645, + -0.07285714149475098, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.09549372391150723, + -0.06928712921122715, + 0.5949138660147646, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 1 mm; move right 5 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 231 mm; move right 61 mm; move upward 401 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 485 mm; move right 61 mm; move upward 739 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 380, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 8 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 246 mm; move right 55 mm; move upward 402 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 484 mm; move right 55 mm; move upward 720 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [127,139], [133,148]\n", + "gripper_2d": [ + 110, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 127, + 139, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.0035714288242161274, + -0.007500000298023224, + 0.020000001415610313, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.2460714429616928, + -0.05535714700818062, + 0.4017857015132904, + -0.044285714626312256, + -0.08571428060531616, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.04919412641642773, + -0.14487290938958908, + 0.6392663995086199, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 4 mm; move right 8 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 246 mm; move right 55 mm; move upward 402 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 484 mm; move right 55 mm; move upward 720 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 381, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 8 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 261 mm; move right 48 mm; move upward 403 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 480 mm; move right 48 mm; move upward 700 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [127,139], [133,148]\n", + "gripper_2d": [ + 111, + 139 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 127, + 139, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.006071428768336773, + -0.008214286528527737, + 0.020357143133878708, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.26107144355773926, + -0.047857146710157394, + 0.40285712480545044, + -0.05285714194178581, + -0.10571427643299103, + -0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + -0.19388196326925744, + -0.17006818587448203, + 0.6540505002345651, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 6 mm; move right 8 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 261 mm; move right 48 mm; move upward 403 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 480 mm; move right 48 mm; move upward 700 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 382, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 7 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 274 mm; move right 40 mm; move upward 405 mm; roll downward 3 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 474 mm; move right 40 mm; move upward 680 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [127,141], [133,148]\n", + "gripper_2d": [ + 111, + 139 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 127, + 141, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.006428571883589029, + -0.006785714533179998, + 0.02142857201397419, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.2742857038974762, + -0.03964285925030708, + 0.4050000309944153, + -0.058571428060531616, + -0.12285713106393814, + -0.0028571428265422583, + -1.0 + ], + "delta_full_state_norm": [ + -0.21455166964835337, + -0.11967764933013514, + 0.6984029566230805, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 6 mm; move right 7 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 274 mm; move right 40 mm; move upward 405 mm; roll downward 3 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 474 mm; move right 40 mm; move upward 680 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 383, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 6 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 288 mm; move right 33 mm; move upward 406 mm; roll downward 4 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 468 mm; move right 33 mm; move upward 659 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [127,141], [133,148]\n", + "gripper_2d": [ + 111, + 139 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 127, + 141, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.008571429178118706, + -0.006428571883589029, + 0.022499999031424522, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.2882142663002014, + -0.03285714611411095, + 0.40642863512039185, + -0.06285714358091354, + -0.13999998569488525, + -0.004285714123398066, + -1.0 + ], + "delta_full_state_norm": [ + -0.33856982707229755, + -0.10708002751312762, + 0.7427553359062564, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 9 mm; move right 6 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 288 mm; move right 33 mm; move upward 406 mm; roll downward 4 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 468 mm; move right 33 mm; move upward 659 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 384, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 7 mm; move upward 23 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 299 mm; move right 26 mm; move upward 408 mm; roll downward 4 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 459 mm; move right 26 mm; move upward 636 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [127,141], [133,148]\n", + "gripper_2d": [ + 112, + 138 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 127, + 141, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.010000000707805157, + -0.006785714533179998, + 0.02321428619325161, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.29892855882644653, + -0.026428570970892906, + 0.4082143008708954, + -0.07285714149475098, + -0.15999998152256012, + -0.004285714123398066, + -1.0 + ], + "delta_full_state_norm": [ + -0.42124859868826037, + -0.11967764933013514, + 0.7723236915688265, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 10 mm; move right 7 mm; move upward 23 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 299 mm; move right 26 mm; move upward 408 mm; roll downward 4 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 459 mm; move right 26 mm; move upward 636 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 385, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 6 mm; move upward 23 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 309 mm; move right 20 mm; move upward 410 mm; roll downward 5 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 449 mm; move right 20 mm; move upward 613 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [65,127], [73,138]\ndistr_sink: [127,142], [133,148]\n", + "gripper_2d": [ + 112, + 138 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 127, + 142, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.012142857536673546, + -0.006071428768336773, + 0.022857142612338066, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.30892857909202576, + -0.01964285783469677, + 0.4100000560283661, + -0.08142857253551483, + -0.17999997735023499, + -0.004285714123398066, + -1.0 + ], + "delta_full_state_norm": [ + -0.5452667291619941, + -0.09448238927068109, + 0.7575395137375414, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 12 mm; move right 6 mm; move upward 23 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 309 mm; move right 20 mm; move upward 410 mm; roll downward 5 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 449 mm; move right 20 mm; move upward 613 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 386, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 5 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 317 mm; move right 14 mm; move upward 413 mm; roll downward 5 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 437 mm; move right 14 mm; move upward 590 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [106,148], [111,148]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [127,142], [133,148]\n", + "gripper_2d": [ + 112, + 138 + ], + "task_obj_bbox": [ + 106, + 148, + 111, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 127, + 142, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.012500000186264515, + -0.005000000353902578, + 0.021785713732242584, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.3174999952316284, + -0.013571429066359997, + 0.4132142961025238, + -0.08714285492897034, + -0.19999997317790985, + -0.0057142856530845165, + -1.0 + ], + "delta_full_state_norm": [ + -0.5659364085908798, + -0.05668950739421963, + 0.713187057349026, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 5 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 317 mm; move right 14 mm; move upward 413 mm; roll downward 5 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 437 mm; move right 14 mm; move upward 590 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 387, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 3 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 325 mm; move right 9 mm; move upward 419 mm; roll downward 5 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 424 mm; move right 9 mm; move upward 568 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [106,148], [111,148]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [127,142], [133,148]\n", + "gripper_2d": [ + 113, + 137 + ], + "task_obj_bbox": [ + 106, + 148, + 111, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 127, + 142, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.010714286006987095, + -0.0028571428265422583, + 0.02142857201397419, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.32500001788139343, + -0.008571429178118706, + 0.41857147216796875, + -0.09285713732242584, + -0.2142856866121292, + -0.0071428571827709675, + -1.0 + ], + "delta_full_state_norm": [ + -0.46258795754603144, + 0.018896280996861803, + 0.6984029566230805, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 3 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 325 mm; move right 9 mm; move upward 419 mm; roll downward 5 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 424 mm; move right 9 mm; move upward 568 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 388, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 3 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 334 mm; move right 6 mm; move upward 426 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 414 mm; move right 6 mm; move upward 547 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [106,148], [111,148]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [127,142], [133,148]\n", + "gripper_2d": [ + 113, + 137 + ], + "task_obj_bbox": [ + 106, + 148, + 111, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 127, + 142, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.010714286006987095, + -0.002500000176951289, + 0.022499999031424522, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.33392855525016785, + -0.0057142856530845165, + 0.4260714650154114, + -0.09857141971588135, + -0.22571425139904022, + -0.0071428571827709675, + -1.0 + ], + "delta_full_state_norm": [ + -0.46258795754603144, + 0.03149390281386921, + 0.7427553359062564, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 3 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 334 mm; move right 6 mm; move upward 426 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 414 mm; move right 6 mm; move upward 547 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 389, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 2 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 342 mm; move right 3 mm; move upward 433 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 403 mm; move right 3 mm; move upward 524 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [105,147], [111,148]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [128,143], [133,148]\n", + "gripper_2d": [ + 114, + 137 + ], + "task_obj_bbox": [ + 105, + 147, + 111, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 128, + 143, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.011428571306169033, + -0.0017857144121080637, + 0.022142857313156128, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.3417856991291046, + -0.0032142859417945147, + 0.4328571856021881, + -0.09999999403953552, + -0.22999995946884155, + -0.0071428571827709675, + -1.0 + ], + "delta_full_state_norm": [ + -0.5039273164038025, + 0.05668916287332326, + 0.7279712351803109, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 2 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 342 mm; move right 3 mm; move upward 433 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 403 mm; move right 3 mm; move upward 524 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 390, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 1 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 350 mm; move right 1 mm; move upward 440 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 391 mm; move right 1 mm; move upward 502 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [105,147], [111,148]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [128,143], [133,148]\n", + "gripper_2d": [ + 114, + 136 + ], + "task_obj_bbox": [ + 105, + 147, + 111, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 128, + 143, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.012142857536673546, + -0.0014285714132711291, + 0.02142857201397419, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.3499999940395355, + -0.0014285714132711291, + 0.4399999678134918, + -0.09999999403953552, + -0.22999995946884155, + -0.0071428571827709675, + -1.0 + ], + "delta_full_state_norm": [ + -0.5452667291619941, + 0.06928679700940998, + 0.6984029566230805, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 12 mm; move right 1 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 350 mm; move right 1 mm; move upward 440 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 391 mm; move right 1 mm; move upward 502 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 391, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 358 mm; move right 0 mm; move upward 449 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 379 mm; move right 0 mm; move upward 481 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [105,147], [111,148]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [128,144], [133,148]\n", + "gripper_2d": [ + 114, + 136 + ], + "task_obj_bbox": [ + 105, + 147, + 111, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 128, + 144, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.013214285485446453, + 0.0, + 0.020357143133878708, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.3578571677207947, + 0.0, + 0.448928564786911, + -0.09999999403953552, + -0.22999995946884155, + -0.0071428571827709675, + -1.0 + ], + "delta_full_state_norm": [ + -0.6072757674486509, + 0.11967731302195816, + 0.6540505002345651, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 358 mm; move right 0 mm; move upward 449 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 379 mm; move right 0 mm; move upward 481 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 392, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 366 mm; move right 0 mm; move upward 460 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 366 mm; move right 0 mm; move upward 460 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [105,147], [111,148]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [129,144], [133,148]\n", + "gripper_2d": [ + 115, + 136 + ], + "task_obj_bbox": [ + 105, + 147, + 111, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 129, + 144, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.013214285485446453, + 0.0, + 0.01785714365541935, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.3660714328289032, + 0.0, + 0.4603571593761444, + -0.09999999403953552, + -0.22999995946884155, + -0.0071428571827709675, + -1.0 + ], + "delta_full_state_norm": [ + -0.6072757674486509, + 0.11967731302195816, + 0.5505614867315889, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 366 mm; move right 0 mm; move upward 460 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 366 mm; move right 0 mm; move upward 460 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 393, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 374 mm; move right 0 mm; move upward 474 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 353 mm; move right 0 mm; move upward 443 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [105,146], [111,148]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [129,144], [133,148]\n", + "gripper_2d": [ + 115, + 136 + ], + "task_obj_bbox": [ + 105, + 146, + 111, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 129, + 144, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.015357143245637417, + 0.0, + 0.016785714775323868, + 0.0, + -0.0014285714132711291, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.3739285469055176, + 0.0, + 0.474285751581192, + -0.09999999403953552, + -0.22999995946884155, + -0.0071428571827709675, + -1.0 + ], + "delta_full_state_norm": [ + -0.7312939518228054, + 0.11967731302195816, + 0.5062090303430733, + -0.5050506641555348, + 0.59999971755532, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 15 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 374 mm; move right 0 mm; move upward 474 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 353 mm; move right 0 mm; move upward 443 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 394, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 19 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 359 mm; move right 0 mm; move upward 458 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 338 mm; move right 0 mm; move upward 426 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [105,146], [111,148]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [129,145], [133,148]\n", + "gripper_2d": [ + 115, + 136 + ], + "task_obj_bbox": [ + 105, + 146, + 111, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 129, + 145, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.018571428954601288, + 0.0, + 0.016428573057055473, + -0.0028571428265422583, + -0.0071428571827709675, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.35857143998146057, + 0.0, + 0.45750004053115845, + -0.09999999403953552, + -0.22857140004634857, + -0.0071428571827709675, + -1.0 + ], + "delta_full_state_norm": [ + -0.9173211744836165, + 0.11967731302195816, + 0.491424929617128, + -0.6734007822147263, + 0.39999974522115056, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 19 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 359 mm; move right 0 mm; move upward 458 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 338 mm; move right 0 mm; move upward 426 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 395, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 18 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 340 mm; move right 0 mm; move upward 441 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 319 mm; move right 0 mm; move upward 409 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [105,146], [111,148]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [129,145], [133,148]\n", + "gripper_2d": [ + 116, + 136 + ], + "task_obj_bbox": [ + 105, + 146, + 111, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 129, + 145, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.017500000074505806, + 0.0, + 0.01607142947614193, + -0.0071428571827709675, + -0.014285714365541935, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.3400000035762787, + 0.0, + 0.441071480512619, + -0.09714285284280777, + -0.2214285433292389, + -0.0071428571827709675, + -1.0 + ], + "delta_full_state_norm": [ + -0.8553120822965392, + 0.11967731302195816, + 0.47664075178584286, + -0.9259259661630006, + 0.14999978082207277, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 18 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 340 mm; move right 0 mm; move upward 441 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 319 mm; move right 0 mm; move upward 409 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 396, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 0 mm; move upward 17 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 322 mm; move right 0 mm; move upward 425 mm; roll downward 5 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 301 mm; move right 0 mm; move upward 393 mm; roll downward 5 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [105,146], [111,148]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [130,145], [133,148]\n", + "gripper_2d": [ + 116, + 136 + ], + "task_obj_bbox": [ + 105, + 146, + 111, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 130, + 145, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.015357143245637417, + 0.0, + 0.01714285835623741, + -0.012857142835855484, + -0.02142857201397419, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.32249999046325684, + 0.0, + 0.42500001192092896, + -0.08999999612569809, + -0.20714282989501953, + -0.0071428571827709675, + -1.0 + ], + "delta_full_state_norm": [ + -0.7312939518228054, + 0.11967731302195816, + 0.5209932081743585, + -1.0, + -0.10000019987514763, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 15 mm; move right 0 mm; move upward 17 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 322 mm; move right 0 mm; move upward 425 mm; roll downward 5 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 301 mm; move right 0 mm; move upward 393 mm; roll downward 5 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 397, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 0 mm; move upward 19 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 307 mm; move right 0 mm; move upward 408 mm; roll downward 4 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 286 mm; move right 0 mm; move upward 376 mm; roll downward 4 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [105,146], [111,148]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [131,147], [133,148]\n", + "gripper_2d": [ + 116, + 136 + ], + "task_obj_bbox": [ + 105, + 146, + 111, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 131, + 147, + 133, + 148 + ] + ], + "delta_full_state": [ + -0.01607142947614193, + 0.0, + 0.018571428954601288, + -0.009999999776482582, + -0.017142856493592262, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.30714285373687744, + 0.0, + 0.40785714983940125, + -0.0771428570151329, + -0.1857142597436905, + -0.0071428571827709675, + -1.0 + ], + "delta_full_state_norm": [ + -0.7726333645809971, + 0.11967731302195816, + 0.5801297652888193, + -1.0, + 0.04999982113946988, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 0 mm; move upward 19 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 307 mm; move right 0 mm; move upward 408 mm; roll downward 4 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 286 mm; move right 0 mm; move upward 376 mm; roll downward 4 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 398, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 291 mm; move right 0 mm; move upward 389 mm; roll downward 4 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 270 mm; move right 0 mm; move upward 357 mm; roll downward 4 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [105,146], [111,148]\ndistr_counter: [65,127], [73,138]\ndistr_sink: [132,148], [132,148]\n", + "gripper_2d": [ + 117, + 136 + ], + "task_obj_bbox": [ + 105, + 146, + 111, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ], + [ + 132, + 148, + 132, + 148 + ] + ], + "delta_full_state": [ + -0.01607142947614193, + 0.0, + 0.019285714253783226, + -0.0057142856530845165, + -0.011428571306169033, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.29107144474983215, + 0.0, + 0.38928571343421936, + -0.06714285910129547, + -0.16857139766216278, + -0.0071428571827709675, + -1.0 + ], + "delta_full_state_norm": [ + -0.7726333645809971, + 0.11967731302195816, + 0.6096980438460495, + -0.8417509002739181, + 0.2499997731009611, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 291 mm; move right 0 mm; move upward 389 mm; roll downward 4 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 270 mm; move right 0 mm; move upward 357 mm; roll downward 4 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 399, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 275 mm; move right 0 mm; move upward 370 mm; roll downward 4 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 254 mm; move right 0 mm; move upward 338 mm; roll downward 4 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [105,146], [107,148]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 117, + 136 + ], + "task_obj_bbox": [ + 105, + 146, + 107, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + -0.016428573057055473, + 0.0, + 0.01964285783469677, + -0.0057142856530845165, + -0.012857142835855484, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.2750000059604645, + 0.0, + 0.37000003457069397, + -0.06142856925725937, + -0.15714283287525177, + -0.0071428571827709675, + -1.0 + ], + "delta_full_state_norm": [ + -0.7933030979103033, + 0.11967731302195816, + 0.6244822216773347, + -0.8417509002739181, + 0.19999977696151694, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 275 mm; move right 0 mm; move upward 370 mm; roll downward 4 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 254 mm; move right 0 mm; move upward 338 mm; roll downward 4 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 400, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 19 mm; move right 0 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 259 mm; move right 0 mm; move upward 350 mm; roll downward 3 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 237 mm; move right 0 mm; move upward 319 mm; roll downward 3 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [105,146], [107,148]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 117, + 136 + ], + "task_obj_bbox": [ + 105, + 146, + 107, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + -0.018571428954601288, + 0.0, + 0.021071428433060646, + -0.008571428246796131, + -0.019999999552965164, + -0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + -0.25857141613960266, + 0.0, + 0.35035714507102966, + -0.055714283138513565, + -0.14428569376468658, + -0.0071428571827709675, + -1.0 + ], + "delta_full_state_norm": [ + -0.9173211744836165, + 0.11967731302195816, + 0.6836187787917956, + -1.0, + -0.05000017113941824, + 0.947368061198244, + -1.0 + ], + "movement_text": "move backward 19 mm; move right 0 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 259 mm; move right 0 mm; move upward 350 mm; roll downward 3 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 237 mm; move right 0 mm; move upward 319 mm; roll downward 3 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 401, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 19 mm; move right 0 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 240 mm; move right 0 mm; move upward 329 mm; roll downward 3 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 219 mm; move right 0 mm; move upward 297 mm; roll downward 3 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [105,146], [107,148]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 118, + 136 + ], + "task_obj_bbox": [ + 105, + 146, + 107, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + -0.019285714253783226, + 0.0, + 0.022499999031424522, + -0.0057142856530845165, + -0.017142856493592262, + -0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + -0.24000000953674316, + 0.0, + 0.32928571105003357, + -0.04714285582304001, + -0.12428571283817291, + -0.0057142856530845165, + -1.0 + ], + "delta_full_state_norm": [ + -0.9586605333413876, + 0.11967731302195816, + 0.7427553359062564, + -0.8417509002739181, + 0.04999982113946988, + 0.947368061198244, + -1.0 + ], + "movement_text": "move backward 19 mm; move right 0 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 240 mm; move right 0 mm; move upward 329 mm; roll downward 3 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 219 mm; move right 0 mm; move upward 297 mm; roll downward 3 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 402, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 0 mm; move upward 23 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 221 mm; move right 0 mm; move upward 307 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 200 mm; move right 0 mm; move upward 275 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [105,145], [107,148]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 118, + 136 + ], + "task_obj_bbox": [ + 105, + 145, + 107, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + -0.020357143133878708, + 0.0, + 0.022857142612338066, + -0.004285714123398066, + -0.017142856493592262, + -0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + -0.2207142859697342, + 0.0, + 0.3067857325077057, + -0.041428569704294205, + -0.1071428582072258, + -0.004285714123398066, + -1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.11967731302195816, + 0.7575395137375414, + -0.7575758343848356, + 0.04999982113946988, + 0.947368061198244, + -1.0 + ], + "movement_text": "move backward 20 mm; move right 0 mm; move upward 23 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 221 mm; move right 0 mm; move upward 307 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 200 mm; move right 0 mm; move upward 275 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 403, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 19 mm; move right 0 mm; move upward 24 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 200 mm; move right 0 mm; move upward 284 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 179 mm; move right 0 mm; move upward 252 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [105,142], [107,148]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 118, + 136 + ], + "task_obj_bbox": [ + 105, + 142, + 107, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + -0.019285714253783226, + 0.0, + 0.02428571507334709, + -0.009999999776482582, + -0.019999999552965164, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.20035715401172638, + 0.0, + 0.28392860293388367, + -0.037142857909202576, + -0.09000000357627869, + -0.0028571428265422583, + -1.0 + ], + "delta_full_state_norm": [ + -0.9586605333413876, + 0.11967731302195816, + 0.8166761479573419, + -1.0, + -0.05000017113941824, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 19 mm; move right 0 mm; move upward 24 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 200 mm; move right 0 mm; move upward 284 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 179 mm; move right 0 mm; move upward 252 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 404, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 0 mm; move upward 25 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 181 mm; move right 0 mm; move upward 260 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 160 mm; move right 0 mm; move upward 228 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [105,142], [107,148]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 119, + 136 + ], + "task_obj_bbox": [ + 105, + 142, + 107, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + -0.020000001415610313, + 0.0, + 0.02500000037252903, + -0.008571428246796131, + -0.019999999552965164, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.1810714453458786, + 0.0, + 0.25964289903640747, + -0.027142856270074844, + -0.07000000029802322, + -0.0028571428265422583, + -1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.11967731302195816, + 0.8462444265145723, + -1.0, + -0.05000017113941824, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 20 mm; move right 0 mm; move upward 25 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 181 mm; move right 0 mm; move upward 260 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 160 mm; move right 0 mm; move upward 228 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 405, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 0 mm; move upward 26 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 161 mm; move right 0 mm; move upward 235 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 140 mm; move right 0 mm; move upward 203 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [105,141], [107,148]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 119, + 136 + ], + "task_obj_bbox": [ + 105, + 141, + 107, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + -0.02071428671479225, + 0.0, + 0.02607142925262451, + -0.0057142856530845165, + -0.019999999552965164, + -0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + -0.16107144951820374, + 0.0, + 0.234642893075943, + -0.01857142709195614, + -0.05000000074505806, + -0.0028571428265422583, + -1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.11967731302195816, + 0.8905968829030879, + -0.8417509002739181, + -0.05000017113941824, + 0.947368061198244, + -1.0 + ], + "movement_text": "move backward 21 mm; move right 0 mm; move upward 26 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 161 mm; move right 0 mm; move upward 235 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 140 mm; move right 0 mm; move upward 203 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 406, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 0 mm; move upward 27 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 140 mm; move right 0 mm; move upward 209 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 119 mm; move right 0 mm; move upward 177 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [105,141], [107,148]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 119, + 136 + ], + "task_obj_bbox": [ + 105, + 141, + 107, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + -0.020000001415610313, + 0.0, + 0.027142858132719994, + -0.0057142856530845165, + -0.014285714365541935, + -0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + -0.1403571367263794, + 0.0, + 0.2085714340209961, + -0.012857142835855484, + -0.029999999329447746, + -0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.11967731302195816, + 0.9349493392916033, + -0.8417509002739181, + 0.14999978082207277, + 0.947368061198244, + -1.0 + ], + "movement_text": "move backward 20 mm; move right 0 mm; move upward 27 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 140 mm; move right 0 mm; move upward 209 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 119 mm; move right 0 mm; move upward 177 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 407, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 0 mm; move upward 29 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 120 mm; move right 0 mm; move upward 181 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 99 mm; move right 0 mm; move upward 150 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [105,140], [108,148]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 120, + 136 + ], + "task_obj_bbox": [ + 105, + 140, + 108, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + -0.01964285783469677, + 0.0, + 0.028928572311997414, + -0.0057142856530845165, + -0.011428571306169033, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.12035714834928513, + 0.0, + 0.18142858147621155, + -0.0071428571827709675, + -0.015714285895228386, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.9793302666706938, + 0.11967731302195816, + 1.0, + -0.8417509002739181, + 0.2499997731009611, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 20 mm; move right 0 mm; move upward 29 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 120 mm; move right 0 mm; move upward 181 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 99 mm; move right 0 mm; move upward 150 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 408, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 19 mm; move right 0 mm; move upward 29 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 101 mm; move right 0 mm; move upward 153 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 80 mm; move right 0 mm; move upward 121 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [105,140], [108,148]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 120, + 136 + ], + "task_obj_bbox": [ + 105, + 140, + 108, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + -0.018571428954601288, + 0.0, + 0.029285714030265808, + -0.0014285714132711291, + -0.004285714123398066, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.10071428120136261, + 0.0, + 0.1525000035762787, + -0.0014285714132711291, + -0.004285714123398066, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.9173211744836165, + 0.11967731302195816, + 1.0, + -0.5892257231851306, + 0.4999997375000389, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 19 mm; move right 0 mm; move upward 29 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 101 mm; move right 0 mm; move upward 153 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 80 mm; move right 0 mm; move upward 121 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 409, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 0 mm; move upward 29 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 82 mm; move right 0 mm; move upward 123 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 61 mm; move right 0 mm; move upward 91 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [105,140], [109,148]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 120, + 136 + ], + "task_obj_bbox": [ + 105, + 140, + 109, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + -0.01964285783469677, + 0.0, + 0.029285714030265808, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.08214285969734192, + 0.0, + 0.12321429699659348, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.9793302666706938, + 0.11967731302195816, + 1.0, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 20 mm; move right 0 mm; move upward 29 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 82 mm; move right 0 mm; move upward 123 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 61 mm; move right 0 mm; move upward 91 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 410, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 0 mm; move upward 30 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 62 mm; move right 0 mm; move upward 94 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 41 mm; move right 0 mm; move upward 62 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [105,140], [109,148]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 120, + 135 + ], + "task_obj_bbox": [ + 105, + 140, + 109, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + -0.020000001415610313, + 0.0, + 0.03035714291036129, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.0625, + 0.0, + 0.09392857551574707, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.11967731302195816, + 1.0, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 20 mm; move right 0 mm; move upward 30 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 62 mm; move right 0 mm; move upward 94 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 41 mm; move right 0 mm; move upward 62 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 411, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 0 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 43 mm; move right 0 mm; move upward 64 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 21 mm; move right 0 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [105,140], [110,148]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 120, + 135 + ], + "task_obj_bbox": [ + 105, + 140, + 110, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + -0.02142857201397419, + 0.0, + 0.031785715371370316, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.042500000447034836, + 0.0, + 0.06357143074274063, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.11967731302195816, + 1.0, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 21 mm; move right 0 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 43 mm; move right 0 mm; move upward 64 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 21 mm; move right 0 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 412, + "segment_id": 10475, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. grasp the apple\n3. lift the apple\n4. move to the sink\n5. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned inside the sink basin, making contact with the red apple. The sequence of frames shows the gripper moving over and settling onto the object within the sink, consistent with the action of placing it there.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 21 mm; move right 0 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [105,140], [110,148]\ndistr_counter: [65,127], [73,138]\n", + "gripper_2d": [ + 121, + 135 + ], + "task_obj_bbox": [ + 105, + 140, + 110, + 148 + ], + "distractor_bboxes": [ + [ + 65, + 127, + 73, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.021071428433060646, + 0.0, + 0.031785715371370316, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.15750280262347927, + 0.11967731302195816, + -0.1886459398312098, + -0.5050506641555348, + 0.6499997096202283, + 0.9999996315790034, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 21 mm; move right 0 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + } + ], + "all_object_names": [ + "obj", + "distr_counter", + "distr_sink" + ], + "obj_cat": "obj", + "distr_cats": [ + "distr_counter", + "distr_sink" + ], + "grounding_camera": "robot0_agentview_left", + "grounding_method": "self_render_selfconsistent" +} \ No newline at end of file diff --git a/grounding_cot/PnPCounterToSink/extras/episode_000003/cot_annotations.json b/grounding_cot/PnPCounterToSink/extras/episode_000003/cot_annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..7a6f19bd4544ecf58554177cb419cb2dee951c7a --- /dev/null +++ b/grounding_cot/PnPCounterToSink/extras/episode_000003/cot_annotations.json @@ -0,0 +1,28478 @@ +{ + "sample_key": "PnPCounterToSink|3", + "subtask_list": [ + "approach the rolling pin", + "grasp the rolling pin", + "lift the rolling pin", + "move to the sink", + "place the rolling pin in the sink" + ], + "segment_labels_raw": { + "1": [ + "move to the sink", + "The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin." + ], + "2": [ + "move to the sink", + "The robot's end-effector is positioned over the sink area and appears to be adjusting its pose or orientation near the faucet, consistent with positioning for a subsequent action like grasping." + ], + "3": [ + "move to the sink", + "The end-effector is positioned over the sink area, indicating the robot has moved from the previous location to this target zone." + ], + "4": [ + "move to the sink", + "The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object." + ], + "5": [ + "move to the sink", + "The visual evidence shows the robot's end-effector moving towards and positioning itself at the sink basin, which aligns with the previous segment label and precedes any object placement." + ], + "6": [ + "move to the sink", + "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction." + ], + "7": [ + "move to the sink", + "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction." + ], + "8": [ + "move to the sink", + "The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object." + ], + "9": [ + "place the rolling pin in the sink", + "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action." + ], + "10": [ + "place the rolling pin in the sink", + "The robot's end-effector is positioned directly over the sink basin, holding a cylindrical object consistent with the rolling pin. The hand is oriented downwards, indicating the action of releasing or placing the object into the water." + ], + "11": [ + "place the rolling pin in the sink", + "The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task." + ], + "12": [ + "place the rolling pin in the sink", + "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action." + ], + "13": [ + "place the rolling pin in the sink", + "The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence." + ], + "14": [ + "place the rolling pin in the sink", + "The robot arm is positioned over the sink with the rolling pin held directly above it, indicating the final placement action." + ], + "15": [ + "place the rolling pin in the sink", + "The robot's end-effector is positioned directly over the sink basin, holding the rolling pin vertically with its handle oriented downwards, consistent with the action of placing or inserting the object into the sink." + ], + "16": [ + "place the rolling pin in the sink", + "The robot's end-effector is positioned over the sink with the rolling pin held vertically, indicating it is being placed into the basin to complete the task." + ], + "17": [ + "place the rolling pin in the sink", + "The robot's end-effector is holding the rolling pin directly over the sink basin, indicating the action of placing it into the container." + ] + }, + "instruction": "pick the rolling pin from the counter and place it in the sink", + "suite": "PnPCounterToSink", + "num_frames": 447, + "segment_count": 17, + "movement_statistics": { + "mean": [ + 0.0028883030887987982, + -0.00222275495491151, + -0.0023242251180405093, + 0.0, + -0.0012623841910241733, + -0.0030520933415111515, + -0.21700223713646533 + ], + "std": [ + 0.00445244041465733, + 0.012410176468786989, + 0.010621921827941444, + 0.0, + 0.01550147179016772, + 0.01626784038360721, + 0.9761711064550972 + ], + "Q1": [ + -0.0009071428945753723, + -0.0318142868578434, + -0.015714285895228386, + 0.0, + -0.0658285741508007, + -0.04571428522467613, + -1.0 + ], + "Q99": [ + 0.01714285835623741, + 0.023571429774165154, + 0.035935714319348354, + 0.0, + 0.03362857051193717, + 0.03142857179045677, + 1.0 + ] + }, + "frames": [ + { + "frame_index": 0, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 399 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 19 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 278 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 13 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,117], [218,122]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": [ + 214, + 117, + 218, + 122 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + -0.0014285714132711291, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.39892861247062683, + 0.0, + 0.0, + -0.034285712987184525, + -0.3399999737739563, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.29503006507499396, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 399 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 19 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 278 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 13 degrees; close gripper;" + }, + { + "frame_index": 1, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 430 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 21 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 278 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 13 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,117], [218,122]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": [ + 214, + 117, + 218, + 122 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + -0.009999999776482582, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.43000003695487976, + 0.0, + 0.0, + -0.03285714238882065, + -0.36714282631874084, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.12266582657898173, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 430 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 21 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 278 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 13 degrees; close gripper;" + }, + { + "frame_index": 2, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 461 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 23 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 278 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 13 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,117], [218,122]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": [ + 214, + 117, + 218, + 122 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + -0.011428571306169033, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.4610714614391327, + 0.0, + 0.0, + -0.022857142612338066, + -0.3928571045398712, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.09393845076512952, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 461 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 23 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 278 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 13 degrees; close gripper;" + }, + { + "frame_index": 3, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 493 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 24 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 278 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 13 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,117], [218,122]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": [ + 214, + 117, + 218, + 122 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.0032142859417945147, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.49250003695487976, + 0.0, + 0.0, + -0.011428571306169033, + -0.4171428084373474, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.0327570894238427, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 493 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 24 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 278 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 13 degrees; close gripper;" + }, + { + "frame_index": 4, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 521 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 25 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 274 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 13 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,117], [218,122]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": [ + 214, + 117, + 218, + 122 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.008214286528527737, + 0.0, + 0.0, + -0.0014285714132711291, + -0.004285714123398066, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.5214285850524902, + 0.0, + 0.0, + -0.011428571306169033, + -0.4414285123348236, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.14779486469076186, + -0.39150889496655017, + -1.0, + 0.29503006507499396, + 0.07407392813521274, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 521 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 25 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 274 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 13 degrees; close gripper;" + }, + { + "frame_index": 5, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 545 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 26 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 266 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 13 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,117], [218,122]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 151, + 101 + ], + "task_obj_bbox": [ + 214, + 117, + 218, + 122 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.012500000186264515, + 0.0, + 0.0, + -0.009999999776482582, + -0.011428571306169033, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.5453571677207947, + 0.0, + 0.0, + -0.009999999776482582, + -0.46142852306365967, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.3025536416663438, + -0.39150889496655017, + -1.0, + 0.12266582657898173, + -0.11111123438589943, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 545 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 26 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 266 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 13 degrees; close gripper;" + }, + { + "frame_index": 6, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 17 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 565 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 27 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 254 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,117], [218,121]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 151, + 101 + ], + "task_obj_bbox": [ + 214, + 117, + 218, + 121 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.016785714775323868, + 0.0, + 0.0, + 0.0, + -0.012857142835855484, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.565000057220459, + 0.0, + 0.0, + 0.0, + -0.47428563237190247, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.45731245227234385, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + -0.14814826930466152, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 17 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 565 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 27 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 254 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; close gripper;" + }, + { + "frame_index": 7, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 580 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 28 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 237 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 11 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [217,120], [218,121]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 152, + 101 + ], + "task_obj_bbox": [ + 217, + 120, + 218, + 121 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.02142857201397419, + 0.0, + 0.0, + 0.0, + -0.014285714365541935, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.5803572535514832, + 0.0, + 0.0, + 0.0, + -0.4885713458061218, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.6249678220212393, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + -0.18518530422342372, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 580 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 28 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 237 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 11 degrees; close gripper;" + }, + { + "frame_index": 8, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 24 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move right 592 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 29 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 215 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 11 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 153, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.02428571507334709, + 0.0, + 0.0, + 0.0, + -0.018571428954601288, + -1.0 + ], + "delta_next_20": [ + -0.0010714286472648382, + -0.5921429395675659, + 0.0, + 0.0, + 0.0, + -0.5057141780853271, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.7281403624252394, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + -0.2962964089797102, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 24 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move right 592 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 29 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 215 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 11 degrees; close gripper;" + }, + { + "frame_index": 9, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 24 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move right 599 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 30 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 191 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 154, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.023928571492433548, + 0.0, + 0.0, + 0.0, + -0.018571428954601288, + -1.0 + ], + "delta_next_20": [ + -0.0010714286472648382, + -0.5985714793205261, + -0.0007142857066355646, + 0.0, + 0.0, + -0.5257142186164856, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.7152437696519257, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + -0.2962964089797102, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 24 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move right 599 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 30 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 191 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; close gripper;" + }, + { + "frame_index": 10, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 25 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move right 604 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 31 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 167 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 155, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.024642856791615486, + 0.0, + 0.0, + 0.0, + -0.019999999552965164, + -1.0 + ], + "delta_next_20": [ + -0.0010714286472648382, + -0.6039286255836487, + -0.0014285714132711291, + 0.0, + 0.0, + -0.5471428036689758, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.7410368879377167, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + -0.3333334197530753, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 25 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move right 604 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 31 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 167 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; close gripper;" + }, + { + "frame_index": 11, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 26 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move right 607 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 32 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 143 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 156, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.02607142925262451, + 0.0, + 0.0, + 0.0, + -0.019999999552965164, + -1.0 + ], + "delta_next_20": [ + -0.0010714286472648382, + -0.6071428656578064, + -0.0021428572945296764, + 0.0, + 0.0, + -0.5671428442001343, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.7926231917701348, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + -0.3333334197530753, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 26 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move right 607 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 32 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 143 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; close gripper;" + }, + { + "frame_index": 12, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 28 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move right 609 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 34 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 116 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 158, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.027857143431901932, + 0.0, + 0.0, + 0.0, + -0.02428571507334709, + -1.0 + ], + "delta_next_20": [ + -0.0010714286472648382, + -0.6089286208152771, + -0.002500000176951289, + 0.0, + 0.0, + -0.587142825126648, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.8571060211150303, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + -0.4444445486547588, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 28 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move right 609 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 34 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 116 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; close gripper;" + }, + { + "frame_index": 13, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 29 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move right 608 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 35 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 89 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 159, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.028928572311997414, + 0.0, + 0.0, + 0.0, + -0.029999999329447746, + -1.0 + ], + "delta_next_20": [ + -0.0010714286472648382, + -0.6082143187522888, + -0.0035714288242161274, + 0.0, + 0.0, + -0.6028571128845215, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.8957957321741349, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + -0.5925926400390134, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 29 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move right 608 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 35 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 89 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; close gripper;" + }, + { + "frame_index": 14, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 29 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move right 606 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 35 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 60 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [145,135], [153,142]\n", + "gripper_2d": [ + 160, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 145, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.028928572311997414, + 0.0, + 0.0, + 0.0, + -0.025714285671710968, + -1.0 + ], + "delta_next_20": [ + -0.0010714286472648382, + -0.6060714721679688, + -0.004642857238650322, + 0.0, + 0.0, + -0.6128571629524231, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.8957957321741349, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + -0.4814815594281239, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 29 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move right 606 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 35 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 60 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;" + }, + { + "frame_index": 15, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 31 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move right 605 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 36 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 31 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 162, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.030714286491274834, + 0.0, + 0.0, + 0.0, + -0.027142856270074844, + -1.0 + ], + "delta_next_20": [ + -0.0010714286472648382, + -0.604642927646637, + -0.0053571430034935474, + 0.0, + 0.0, + -0.6271429061889648, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.9602785615190303, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + -0.5185185702014891, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 31 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move right 605 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 36 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 31 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 16, + "segment_id": 20100, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area and appears stationary or making minor adjustments in orientation, indicating it has navigated to the target location but has not yet initiated contact with the rolling pin.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 30 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move right 602 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 37 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 163, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.03035714291036129, + 0.0, + 0.0, + 0.0, + -0.02857142873108387, + -1.0 + ], + "delta_next_20": [ + -0.0010714286472648382, + -0.602142870426178, + -0.006071428768336773, + 0.0, + 0.0, + -0.6385714411735535, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.9473819687457168, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + -0.5555556292656483, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 30 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move right 602 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 37 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 17, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned over the sink area and appears to be adjusting its pose or orientation near the faucet, consistent with positioning for a subsequent action like grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink area and appears to be adjusting its pose or orientation near the faucet, consistent with positioning for a subsequent action like grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 30 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move right 600 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 37 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 217 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 11 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 165, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.03035714291036129, + 0.0, + 0.0, + 0.0, + -0.02857142873108387, + -1.0 + ], + "delta_next_20": [ + -0.0010714286472648382, + -0.600357174873352, + -0.007500000298023224, + 0.0, + 0.0, + -0.6485714316368103, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.9473819687457168, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + -0.5555556292656483, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 30 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move right 600 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 37 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 217 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 11 degrees; close gripper;" + }, + { + "frame_index": 18, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned over the sink area and appears to be adjusting its pose or orientation near the faucet, consistent with positioning for a subsequent action like grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink area and appears to be adjusting its pose or orientation near the faucet, consistent with positioning for a subsequent action like grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 30 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move right 599 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 38 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 186 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 166, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.030000001192092896, + 0.0, + 0.0, + 0.0, + -0.02857142873108387, + -1.0 + ], + "delta_next_20": [ + -0.0010714286472648382, + -0.5985714197158813, + -0.008571429178118706, + 0.0, + 0.0, + -0.6585713624954224, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.9344854432332395, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + -0.5555556292656483, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 30 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move right 599 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 38 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 186 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; close gripper;" + }, + { + "frame_index": 19, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned over the sink area and appears to be adjusting its pose or orientation near the faucet, consistent with positioning for a subsequent action like grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink area and appears to be adjusting its pose or orientation near the faucet, consistent with positioning for a subsequent action like grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 31 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move right 598 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 38 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 156 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 168, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.030714286491274834, + 0.0, + 0.0, + 0.0, + -0.027142856270074844, + -1.0 + ], + "delta_next_20": [ + -0.0010714286472648382, + -0.5982142686843872, + -0.009642857126891613, + 0.0, + 0.0, + -0.6671428084373474, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.9602785615190303, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + -0.5185185702014891, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 31 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move right 598 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 38 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 156 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; close gripper;" + }, + { + "frame_index": 20, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned over the sink area and appears to be adjusting its pose or orientation near the faucet, consistent with positioning for a subsequent action like grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink area and appears to be adjusting its pose or orientation near the faucet, consistent with positioning for a subsequent action like grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 31 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move right 597 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 39 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 126 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 170, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.031071428209543228, + 0.0, + 0.0, + 0.0, + -0.027142856270074844, + -1.0 + ], + "delta_next_20": [ + -0.0010714286472648382, + -0.5971428155899048, + -0.010357143357396126, + 0.0, + 0.0, + -0.6757142543792725, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.9731750870315077, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + -0.5185185702014891, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 31 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move right 597 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 39 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 126 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; close gripper;" + }, + { + "frame_index": 21, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned over the sink area and appears to be adjusting its pose or orientation near the faucet, consistent with positioning for a subsequent action like grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink area and appears to be adjusting its pose or orientation near the faucet, consistent with positioning for a subsequent action like grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 31 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move right 596 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 39 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 95 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 171, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.031071428209543228, + 0.0, + 0.0, + 0.0, + -0.025714285671710968, + -1.0 + ], + "delta_next_20": [ + -0.0010714286472648382, + -0.5960714221000671, + -0.010714286006987095, + 0.0, + 0.0, + -0.6842856407165527, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.9731750870315077, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + -0.4814815594281239, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 31 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move right 596 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 39 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 95 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; close gripper;" + }, + { + "frame_index": 22, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned over the sink area and appears to be adjusting its pose or orientation near the faucet, consistent with positioning for a subsequent action like grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink area and appears to be adjusting its pose or orientation near the faucet, consistent with positioning for a subsequent action like grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 31 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move right 595 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 40 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 64 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [152,142]\n", + "gripper_2d": [ + 173, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 152, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.03142857179045677, + 0.0, + 0.0, + 0.0, + -0.02428571507334709, + -1.0 + ], + "delta_next_20": [ + -0.0010714286472648382, + -0.5949999690055847, + -0.010714286006987095, + 0.0, + 0.0, + -0.6942856311798096, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.9860716798048212, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + -0.4444445486547588, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 31 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move right 595 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 40 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 64 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;" + }, + { + "frame_index": 23, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned over the sink area and appears to be adjusting its pose or orientation near the faucet, consistent with positioning for a subsequent action like grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink area and appears to be adjusting its pose or orientation near the faucet, consistent with positioning for a subsequent action like grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 32 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move right 593 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 41 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 32 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 174, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.03214285895228386, + 0.0, + 0.0, + 0.0, + -0.02428571507334709, + -1.0 + ], + "delta_next_20": [ + -0.0010714286472648382, + -0.5925000309944153, + -0.010714286006987095, + 0.0, + 0.0, + -0.7085713148117065, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -1.0, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + -0.4444445486547588, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 32 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move right 593 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 41 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 32 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;" + }, + { + "frame_index": 24, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned over the sink area and appears to be adjusting its pose or orientation near the faucet, consistent with positioning for a subsequent action like grasping.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink area and appears to be adjusting its pose or orientation near the faucet, consistent with positioning for a subsequent action like grasping.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 32 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move right 588 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 41 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 176, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.03214285895228386, + 0.0, + 0.0, + 0.0, + -0.02428571507334709, + -1.0 + ], + "delta_next_20": [ + -0.0010714286472648382, + -0.5882143378257751, + -0.011785714887082577, + 0.0, + 0.0, + -0.7228570580482483, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -1.0, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + -0.4444445486547588, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 32 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move right 588 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 41 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 25, + "segment_id": 30125, + "subtask": "move to the sink", + "reason": "The end-effector is positioned over the sink area, indicating the robot has moved from the previous location to this target zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The end-effector is positioned over the sink area, indicating the robot has moved from the previous location to this target zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 32 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move right 584 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 42 degrees; close gripper;\nSubtask Movement: move backward 1 mm; move right 158 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 177, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.03214285895228386, + 0.0, + 0.0, + 0.0, + -0.02428571507334709, + -1.0 + ], + "delta_next_20": [ + -0.0010714286472648382, + -0.5835715532302856, + -0.012857143767178059, + 0.0, + 0.0, + -0.7371426820755005, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -1.0, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + -0.4444445486547588, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 32 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move right 584 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 42 degrees; close gripper;", + "subtask_movement_text": "move backward 1 mm; move right 158 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; close gripper;" + }, + { + "frame_index": 26, + "segment_id": 30125, + "subtask": "move to the sink", + "reason": "The end-effector is positioned over the sink area, indicating the robot has moved from the previous location to this target zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The end-effector is positioned over the sink area, indicating the robot has moved from the previous location to this target zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 32 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move right 579 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 43 degrees; close gripper;\nSubtask Movement: move backward 1 mm; move right 125 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 179, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.03214285895228386, + 0.0, + 0.0, + 0.0, + -0.027142856270074844, + -1.0 + ], + "delta_next_20": [ + -0.0010714286472648382, + -0.5789286494255066, + -0.01428571529686451, + 0.0, + 0.0, + -0.7514284253120422, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -1.0, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + -0.5185185702014891, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 32 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move right 579 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 43 degrees; close gripper;", + "subtask_movement_text": "move backward 1 mm; move right 125 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; close gripper;" + }, + { + "frame_index": 27, + "segment_id": 30125, + "subtask": "move to the sink", + "reason": "The end-effector is positioned over the sink area, indicating the robot has moved from the previous location to this target zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The end-effector is positioned over the sink area, indicating the robot has moved from the previous location to this target zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move right 33 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move right 574 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 44 degrees; close gripper;\nSubtask Movement: move backward 1 mm; move right 93 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 180, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + -0.0010714286472648382, + -0.03321428596973419, + 0.0, + 0.0, + 0.0, + -0.03142857179045677, + -1.0 + ], + "delta_next_20": [ + -0.0010714286472648382, + -0.5735715627670288, + -0.01714285835623741, + 0.0, + 0.0, + -0.7642856240272522, + -1.0 + ], + "delta_full_state_norm": [ + -1.0, + -1.0, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + -0.6296296991031725, + -1.0 + ], + "movement_text": "move backward 1 mm; move right 33 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move right 574 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 44 degrees; close gripper;", + "subtask_movement_text": "move backward 1 mm; move right 93 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; close gripper;" + }, + { + "frame_index": 28, + "segment_id": 30125, + "subtask": "move to the sink", + "reason": "The end-effector is positioned over the sink area, indicating the robot has moved from the previous location to this target zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The end-effector is positioned over the sink area, indicating the robot has moved from the previous location to this target zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 31 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 566 mm; move downward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 44 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 60 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 182, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.030714286491274834, + -0.0007142857066355646, + 0.0, + 0.0, + -0.03857142850756645, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.5660714507102966, + -0.02071428671479225, + 0.0, + 0.0, + -0.7728570699691772, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.9602785615190303, + -0.41916758094427253, + -1.0, + 0.3237574385478317, + -0.8148148495515862, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 31 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 566 mm; move downward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 44 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 60 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; close gripper;" + }, + { + "frame_index": 29, + "segment_id": 30125, + "subtask": "move to the sink", + "reason": "The end-effector is positioned over the sink area, indicating the robot has moved from the previous location to this target zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The end-effector is positioned over the sink area, indicating the robot has moved from the previous location to this target zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 29 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 561 mm; move downward 24 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 44 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 29 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 184, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.029285714030265808, + -0.0007142857066355646, + 0.0, + 0.0, + -0.03999999910593033, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.561071515083313, + -0.02428571507334709, + 0.0, + 0.0, + -0.7742857336997986, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.9086922576866121, + -0.41916758094427253, + -1.0, + 0.3237574385478317, + -0.8518518603249514, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 29 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 561 mm; move downward 24 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 44 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 29 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 30, + "segment_id": 30125, + "subtask": "move to the sink", + "reason": "The end-effector is positioned over the sink area, indicating the robot has moved from the previous location to this target zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The end-effector is positioned over the sink area, indicating the robot has moved from the previous location to this target zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 28 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 557 mm; move downward 29 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 44 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 185, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.027857143431901932, + -0.0007142857066355646, + 0.0, + 0.0, + -0.03999999910593033, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.5567857623100281, + -0.029285714030265808, + 0.0, + 0.0, + -0.7742857933044434, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.8571060211150303, + -0.41916758094427253, + -1.0, + 0.3237574385478317, + -0.8518518603249514, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 28 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 557 mm; move downward 29 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 44 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 31, + "segment_id": 10125, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 28 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 551 mm; move downward 36 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 45 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 504 mm; move downward 23 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 40 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 187, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.027857143431901932, + -0.0003571428533177823, + 0.0, + 0.0, + -0.03999999910593033, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.5510714054107666, + -0.03642857447266579, + 0.0, + 0.0, + -0.7785715460777283, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.8571060211150303, + -0.40533823795541135, + -1.0, + 0.3237574385478317, + -0.8518518603249514, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 28 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 551 mm; move downward 36 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 45 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 504 mm; move downward 23 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 40 degrees; close gripper;" + }, + { + "frame_index": 32, + "segment_id": 10125, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 27 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 545 mm; move downward 44 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 45 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 476 mm; move downward 22 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 37 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 188, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.027142858132719994, + -0.0010714286472648382, + 0.0, + 0.0, + -0.03999999910593033, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.5450000166893005, + -0.044285714626312256, + 0.0, + 0.0, + -0.7842857837677002, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.8313129028292394, + -0.4329969273140233, + -1.0, + 0.3237574385478317, + -0.8518518603249514, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 27 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 545 mm; move downward 44 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 45 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 476 mm; move downward 22 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 37 degrees; close gripper;" + }, + { + "frame_index": 33, + "segment_id": 10125, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 27 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 538 mm; move downward 53 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 45 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 449 mm; move downward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 35 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 189, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.02678571455180645, + -0.0010714286472648382, + 0.0, + 0.0, + -0.03999999910593033, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.537857174873352, + -0.052500005811452866, + 0.0, + 0.0, + -0.7914286255836487, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.8184163100559257, + -0.4329969273140233, + -1.0, + 0.3237574385478317, + -0.8518518603249514, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 27 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 538 mm; move downward 53 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 45 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 449 mm; move downward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 35 degrees; close gripper;" + }, + { + "frame_index": 34, + "segment_id": 10125, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 28 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 529 mm; move downward 61 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 46 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 422 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 33 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 191, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.027500001713633537, + -0.0007142857066355646, + 0.0, + 0.0, + -0.03999999910593033, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.5289285182952881, + -0.061428576707839966, + 0.0, + 0.0, + -0.7985714077949524, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.8442094956025531, + -0.41916758094427253, + -1.0, + 0.3237574385478317, + -0.8518518603249514, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 28 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 529 mm; move downward 61 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 46 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 422 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 33 degrees; close gripper;" + }, + { + "frame_index": 35, + "segment_id": 10125, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 28 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 519 mm; move downward 71 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 46 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 395 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 31 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 192, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.028214285150170326, + -0.0007142857066355646, + 0.0, + 0.0, + -0.03857142850756645, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.5189285278320312, + -0.07107143104076385, + 0.0, + 0.0, + -0.8042856454849243, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.8700025466275076, + -0.41916758094427253, + -1.0, + 0.3237574385478317, + -0.8148148495515862, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 28 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 519 mm; move downward 71 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 46 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 395 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 31 degrees; close gripper;" + }, + { + "frame_index": 36, + "segment_id": 10125, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 29 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 508 mm; move downward 81 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 46 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 366 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 28 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 193, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.02857143059372902, + -0.0014285714132711291, + 0.0, + 0.0, + -0.03857142850756645, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.5078571438789368, + -0.08107142895460129, + 0.0, + 0.0, + -0.811428427696228, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.8828992066616577, + -0.4468262669219949, + -1.0, + 0.3237574385478317, + -0.8148148495515862, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 29 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 508 mm; move downward 81 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 46 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 366 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 28 degrees; close gripper;" + }, + { + "frame_index": 37, + "segment_id": 10125, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 29 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 496 mm; move downward 91 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 47 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 338 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 195, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.02857143059372902, + -0.0010714286472648382, + 0.0, + 0.0, + -0.03857142850756645, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.4957142770290375, + -0.09142857044935226, + 0.0, + 0.0, + -0.8185712695121765, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.8828992066616577, + -0.4329969273140233, + -1.0, + 0.3237574385478317, + -0.8148148495515862, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 29 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 496 mm; move downward 91 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 47 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 338 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 38, + "segment_id": 10125, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 30 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 482 mm; move downward 103 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 47 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 309 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 24 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 196, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.029642855748534203, + -0.0010714286472648382, + 0.0, + 0.0, + -0.037142857909202576, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.48178574442863464, + -0.10285715013742447, + 0.0, + 0.0, + -0.8242855668067932, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.9215887831990894, + -0.4329969273140233, + -1.0, + 0.3237574385478317, + -0.777777838778221, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 30 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 482 mm; move downward 103 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 47 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 309 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 24 degrees; close gripper;" + }, + { + "frame_index": 39, + "segment_id": 10125, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 30 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 465 mm; move downward 115 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 48 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 280 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 22 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 197, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.029642855748534203, + -0.0007142857066355646, + 0.0, + 0.0, + -0.0357142873108387, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.4653571546077728, + -0.11500000953674316, + 0.0, + 0.0, + -0.8299999237060547, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.9215887831990894, + -0.41916758094427253, + -1.0, + 0.3237574385478317, + -0.740740828004856, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 30 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 465 mm; move downward 115 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 48 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 280 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 22 degrees; close gripper;" + }, + { + "frame_index": 40, + "segment_id": 10125, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 30 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 449 mm; move downward 128 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 48 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 250 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 20 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 199, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.030000001192092896, + -0.0003571428533177823, + 0.0, + 0.0, + -0.0357142873108387, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.4489285945892334, + -0.1275000125169754, + 0.0, + 0.0, + -0.837142825126648, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.9344854432332395, + -0.40533823795541135, + -1.0, + 0.3237574385478317, + -0.740740828004856, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 30 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 449 mm; move downward 128 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 48 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 250 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 20 degrees; close gripper;" + }, + { + "frame_index": 41, + "segment_id": 10125, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 30 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 432 mm; move downward 140 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 48 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 220 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 18 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 200, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.030000001192092896, + 0.0, + 0.0, + 0.0, + -0.0357142873108387, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.4321429431438446, + -0.14000001549720764, + 0.0, + 0.0, + -0.8442857265472412, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.9344854432332395, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + -0.740740828004856, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 30 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 432 mm; move downward 140 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 48 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 220 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 18 degrees; close gripper;" + }, + { + "frame_index": 42, + "segment_id": 10125, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 29 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 416 mm; move downward 153 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 49 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 190 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 16 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 201, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.028928572311997414, + 0.0, + 0.0, + 0.0, + -0.03857142850756645, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.41607141494750977, + -0.15285715460777283, + 0.0, + 0.0, + -0.8528571724891663, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.8957957321741349, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + -0.8148148495515862, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 29 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 416 mm; move downward 153 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 49 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 190 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 16 degrees; close gripper;" + }, + { + "frame_index": 43, + "segment_id": 10125, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 28 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 401 mm; move downward 165 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 49 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 161 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 14 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 203, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.027857143431901932, + -0.0010714286472648382, + 0.0, + 0.0, + -0.03857142850756645, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.40142861008644104, + -0.16464285552501678, + 0.0, + 0.0, + -0.8585714101791382, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.8571060211150303, + -0.4329969273140233, + -1.0, + 0.3237574385478317, + -0.8148148495515862, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 28 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 401 mm; move downward 165 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 49 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 161 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 14 degrees; close gripper;" + }, + { + "frame_index": 44, + "segment_id": 10125, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 28 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 389 mm; move downward 175 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 50 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 133 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 11 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 204, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.027500001713633537, + -0.0010714286472648382, + 0.0, + 0.0, + -0.03857142850756645, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.3889285624027252, + -0.1753571480512619, + 0.0, + 0.0, + -0.8642857670783997, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.8442094956025531, + -0.4329969273140233, + -1.0, + 0.3237574385478317, + -0.8148148495515862, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 28 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 389 mm; move downward 175 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 50 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 133 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 11 degrees; close gripper;" + }, + { + "frame_index": 45, + "segment_id": 10125, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 28 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 378 mm; move downward 186 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 50 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 106 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 205, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.027500001713633537, + -0.0014285714132711291, + 0.0, + 0.0, + -0.03857142850756645, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.37785714864730835, + -0.18571428954601288, + 0.0, + 0.0, + -0.8700000643730164, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.8442094956025531, + -0.4468262669219949, + -1.0, + 0.3237574385478317, + -0.8148148495515862, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 28 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 378 mm; move downward 186 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 50 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 106 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; close gripper;" + }, + { + "frame_index": 46, + "segment_id": 10125, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 27 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 368 mm; move downward 195 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 50 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 78 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 207, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.02678571455180645, + -0.0028571428265422583, + 0.0, + 0.0, + -0.03999999910593033, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.3675000071525574, + -0.19464285671710968, + 0.0, + 0.0, + -0.8757143616676331, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.8184163100559257, + -0.5021436388774395, + -1.0, + 0.3237574385478317, + -0.8518518603249514, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 27 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 368 mm; move downward 195 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 50 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 78 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; close gripper;" + }, + { + "frame_index": 47, + "segment_id": 10125, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 26 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 358 mm; move downward 202 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 50 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 51 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [213,126]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 208, + 99 + ], + "task_obj_bbox": [ + 213, + 126, + 213, + 126 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.025714287534356117, + -0.0035714288242161274, + 0.0, + 0.0, + -0.03999999910593033, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.3578571379184723, + -0.2021428644657135, + 0.0, + 0.0, + -0.880000114440918, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.7797266662576576, + -0.5298023361247939, + -1.0, + 0.3237574385478317, + -0.8518518603249514, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 26 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 358 mm; move downward 202 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 50 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 51 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; close gripper;" + }, + { + "frame_index": 48, + "segment_id": 10125, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 26 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 349 mm; move downward 209 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 51 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 26 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,123], [213,127]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 209, + 99 + ], + "task_obj_bbox": [ + 212, + 123, + 213, + 127 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.025714287534356117, + -0.004285714589059353, + 0.0, + 0.0, + -0.03999999910593033, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.34928572177886963, + -0.20892857015132904, + 0.0, + 0.0, + -0.8828572034835815, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.7797266662576576, + -0.5574610243564426, + -1.0, + 0.3237574385478317, + -0.8518518603249514, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 26 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 349 mm; move downward 209 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 51 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 26 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 49, + "segment_id": 10125, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned at the base of the faucet, hovering over the sink area. The camera angle and object placement indicate the robot has arrived at the target location but has not yet established contact with any object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 25 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 342 mm; move downward 215 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 51 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,122], [213,128]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 210, + 99 + ], + "task_obj_bbox": [ + 212, + 122, + 213, + 128 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.02500000037252903, + -0.0057142856530845165, + 0.0, + 0.0, + -0.03999999910593033, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.34214287996292114, + -0.2149999886751175, + 0.0, + 0.0, + -0.8857143521308899, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.7539334807110303, + -0.6127783827883289, + -1.0, + 0.3237574385478317, + -0.8518518603249514, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 25 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 342 mm; move downward 215 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 51 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 50, + "segment_id": 10150, + "subtask": "move to the sink", + "reason": "The visual evidence shows the robot's end-effector moving towards and positioning itself at the sink basin, which aligns with the previous segment label and precedes any object placement.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The visual evidence shows the robot's end-effector moving towards and positioning itself at the sink basin, which aligns with the previous segment label and precedes any object placement.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 22 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 336 mm; move downward 219 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 51 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,121], [214,129]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 211, + 99 + ], + "task_obj_bbox": [ + 212, + 121, + 214, + 129 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.022142857313156128, + -0.007857142947614193, + 0.0, + 0.0, + -0.044285714626312256, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.33642861247062683, + -0.21928571164608002, + 0.0, + 0.0, + -0.8871429562568665, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.6507609403070302, + -0.6957544474832751, + -1.0, + 0.3237574385478317, + -0.9629629892266348, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 22 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 336 mm; move downward 219 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 51 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 51, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 22 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 333 mm; move downward 221 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 50 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 952 mm; move downward 1212 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,121], [214,130]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 212, + 99 + ], + "task_obj_bbox": [ + 212, + 121, + 214, + 130 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.021785713732242584, + -0.008214286528527737, + 0.0, + 0.0, + -0.04571428522467613, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.33250004053115845, + -0.2214285433292389, + 0.0, + 0.0, + -0.8800000548362732, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.6378643475337166, + -0.7095838186462163, + -1.0, + 0.3237574385478317, + -1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 22 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 333 mm; move downward 221 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 50 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 952 mm; move downward 1212 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 52, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 20 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 329 mm; move downward 222 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 50 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 930 mm; move downward 1204 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,120], [214,129]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 213, + 99 + ], + "task_obj_bbox": [ + 212, + 120, + 214, + 129 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.020000001415610313, + -0.009285714477300644, + 0.0, + 0.0, + -0.04714285582304001, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.32892856001853943, + -0.22249996662139893, + 0.0, + 0.0, + -0.8700000643730164, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.5733815854496576, + -0.7510718239465726, + -1.0, + 0.3237574385478317, + -1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 20 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 329 mm; move downward 222 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 50 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 930 mm; move downward 1204 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 53, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 327 mm; move downward 222 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 49 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 910 mm; move downward 1195 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,120], [215,130]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 214, + 100 + ], + "task_obj_bbox": [ + 212, + 120, + 215, + 130 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.01785714365541935, + -0.010000000707805157, + 0.0, + 0.0, + -0.04714285582304001, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.3271428644657135, + -0.22214284539222717, + 0.0, + 0.0, + -0.8557143211364746, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.4960021633314484, + -0.7787305302096326, + -1.0, + 0.3237574385478317, + -1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 327 mm; move downward 222 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 49 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 910 mm; move downward 1195 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 54, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 326 mm; move downward 221 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 48 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 892 mm; move downward 1185 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,120], [215,129]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 215, + 100 + ], + "task_obj_bbox": [ + 212, + 120, + 215, + 129 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.017500000074505806, + -0.010357143357396126, + 0.0, + 0.0, + -0.04571428522467613, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.3260714113712311, + -0.22107140719890594, + 0.0, + 0.0, + -0.8357143402099609, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.48310557055813474, + -0.7925598653097513, + -1.0, + 0.3237574385478317, + -1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 326 mm; move downward 221 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 48 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 892 mm; move downward 1185 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 8 degrees; open gripper;" + }, + { + "frame_index": 55, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 17 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 324 mm; move downward 220 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 47 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 875 mm; move downward 1174 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,119], [215,130]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 100 + ], + "task_obj_bbox": [ + 212, + 119, + 215, + 130 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.01714285835623741, + -0.010714286006987095, + 0.0, + 0.0, + -0.04571428522467613, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.32428568601608276, + -0.22035713493824005, + 0.0, + 0.0, + -0.8142857551574707, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.4702090450456575, + -0.80638920040987, + -1.0, + 0.3237574385478317, + -1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 17 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 324 mm; move downward 220 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 47 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 875 mm; move downward 1174 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 10 degrees; open gripper;" + }, + { + "frame_index": 56, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 16 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 322 mm; move downward 219 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 45 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 858 mm; move downward 1164 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,118], [215,130]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 100 + ], + "task_obj_bbox": [ + 212, + 118, + 215, + 130 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.016428573057055473, + -0.011785714887082577, + 0.0, + 0.0, + -0.04571428522467613, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.32249996066093445, + -0.2192857265472412, + 0.0, + 0.0, + -0.7928572297096252, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.4444159267598665, + -0.8478772417730488, + -1.0, + 0.3237574385478317, + -1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 16 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 322 mm; move downward 219 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 45 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 858 mm; move downward 1164 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 13 degrees; open gripper;" + }, + { + "frame_index": 57, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 321 mm; move downward 217 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 44 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 841 mm; move downward 1152 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 15 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,118], [215,130]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 217, + 101 + ], + "task_obj_bbox": [ + 212, + 118, + 215, + 130 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.014642857015132904, + -0.012500000186264515, + 0.0, + 0.0, + -0.044285714626312256, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.321428507566452, + -0.21714286506175995, + 0.0, + 0.0, + -0.7700000405311584, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.3799330301541347, + -0.8755359119732863, + -1.0, + 0.3237574385478317, + -0.9629629892266348, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 321 mm; move downward 217 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 44 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 841 mm; move downward 1152 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 15 degrees; open gripper;" + }, + { + "frame_index": 58, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 321 mm; move downward 215 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 43 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 827 mm; move downward 1139 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 18 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [215,130]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 217, + 101 + ], + "task_obj_bbox": [ + 212, + 117, + 215, + 130 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.013214285485446453, + -0.013214285485446453, + 0.0, + 0.0, + -0.04285714402794838, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.3214285671710968, + -0.21535716950893402, + 0.0, + 0.0, + -0.7471429109573364, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.3283467599521347, + -0.9031945821735238, + -1.0, + 0.3237574385478317, + -0.9259259784532696, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 321 mm; move downward 215 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 43 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 827 mm; move downward 1139 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 18 degrees; open gripper;" + }, + { + "frame_index": 59, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 321 mm; move downward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 41 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 814 mm; move downward 1126 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 20 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [216,130]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 218, + 102 + ], + "task_obj_bbox": [ + 212, + 117, + 216, + 130 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.013214285485446453, + -0.013214285485446453, + 0.0, + 0.0, + -0.04285714402794838, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.3214285373687744, + -0.2135714590549469, + 0.0, + 0.0, + -0.7242857217788696, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.3283467599521347, + -0.9031945821735238, + -1.0, + 0.3237574385478317, + -0.9259259784532696, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 321 mm; move downward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 41 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 814 mm; move downward 1126 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 20 degrees; open gripper;" + }, + { + "frame_index": 60, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 319 mm; move downward 213 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 40 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 800 mm; move downward 1113 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [216,130]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 218, + 102 + ], + "task_obj_bbox": [ + 212, + 117, + 216, + 130 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.013214285485446453, + -0.012857143767178059, + 0.0, + 0.0, + -0.04285714402794838, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.3189285695552826, + -0.2128571718931198, + 0.0, + 0.0, + -0.6971428394317627, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.3283467599521347, + -0.8893652831362275, + -1.0, + 0.3237574385478317, + -0.9259259784532696, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 319 mm; move downward 213 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 40 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 800 mm; move downward 1113 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 23 degrees; open gripper;" + }, + { + "frame_index": 61, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 314 mm; move downward 213 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 38 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 787 mm; move downward 1100 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 25 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [216,130]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 219, + 103 + ], + "task_obj_bbox": [ + 212, + 117, + 216, + 130 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.013928571715950966, + -0.012857143767178059, + 0.0, + 0.0, + -0.044285714626312256, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.3142857253551483, + -0.21250000596046448, + 0.0, + 0.0, + -0.6657143831253052, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.3541399118683438, + -0.8893652831362275, + -1.0, + 0.3237574385478317, + -0.9629629892266348, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 314 mm; move downward 213 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 38 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 787 mm; move downward 1100 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 25 degrees; open gripper;" + }, + { + "frame_index": 62, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 309 mm; move downward 213 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 36 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 773 mm; move downward 1087 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [216,130]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 219, + 103 + ], + "task_obj_bbox": [ + 212, + 117, + 216, + 130 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.01428571529686451, + -0.011785714887082577, + 0.0, + 0.0, + -0.044285714626312256, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.3085714280605316, + -0.21250000596046448, + 0.0, + 0.0, + -0.6300000548362732, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.3670365046416574, + -0.8478772417730488, + -1.0, + 0.3237574385478317, + -0.9629629892266348, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 309 mm; move downward 213 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 36 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 773 mm; move downward 1087 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 28 degrees; open gripper;" + }, + { + "frame_index": 63, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 302 mm; move downward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 34 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 759 mm; move downward 1075 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 30 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [216,129]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 220, + 103 + ], + "task_obj_bbox": [ + 212, + 117, + 216, + 129 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.015357143245637417, + -0.011785714887082577, + 0.0, + 0.0, + -0.044285714626312256, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.3017857074737549, + -0.2135714292526245, + 0.0, + 0.0, + -0.5914286375045776, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.40572618207034383, + -0.8478772417730488, + -1.0, + 0.3237574385478317, + -0.9629629892266348, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 302 mm; move downward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 34 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 759 mm; move downward 1075 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 30 degrees; open gripper;" + }, + { + "frame_index": 64, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 16 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 293 mm; move downward 215 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 32 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 744 mm; move downward 1064 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 33 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [216,129]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 220, + 104 + ], + "task_obj_bbox": [ + 212, + 117, + 216, + 129 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.016428573057055473, + -0.011428571306169033, + 0.0, + 0.0, + -0.044285714626312256, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.2928571403026581, + -0.21464288234710693, + 0.0, + 0.0, + -0.5500000715255737, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.4444159267598665, + -0.8340478706101075, + -1.0, + 0.3237574385478317, + -0.9629629892266348, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 16 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 293 mm; move downward 215 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 32 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 744 mm; move downward 1064 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 33 degrees; open gripper;" + }, + { + "frame_index": 65, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 17 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 283 mm; move downward 216 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 29 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 727 mm; move downward 1052 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 36 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [216,130]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 221, + 104 + ], + "task_obj_bbox": [ + 212, + 117, + 216, + 130 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.01714285835623741, + -0.010357143357396126, + 0.0, + 0.0, + -0.044285714626312256, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.28285714983940125, + -0.21607144176959991, + 0.0, + 0.0, + -0.5057142972946167, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.4702090450456575, + -0.7925598653097513, + -1.0, + 0.3237574385478317, + -0.9629629892266348, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 17 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 283 mm; move downward 216 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 29 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 727 mm; move downward 1052 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 36 degrees; open gripper;" + }, + { + "frame_index": 66, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 17 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 273 mm; move downward 218 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 710 mm; move downward 1042 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 38 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,119], [216,129]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 221, + 105 + ], + "task_obj_bbox": [ + 212, + 119, + 216, + 129 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.01714285835623741, + -0.010357143357396126, + 0.0, + 0.0, + -0.044285714626312256, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.2728571593761444, + -0.2182142734527588, + 0.0, + 0.0, + -0.46142855286598206, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.4702090450456575, + -0.7925598653097513, + -1.0, + 0.3237574385478317, + -0.9629629892266348, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 17 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 273 mm; move downward 218 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 710 mm; move downward 1042 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 38 degrees; open gripper;" + }, + { + "frame_index": 67, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 17 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 264 mm; move downward 220 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 24 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 693 mm; move downward 1031 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 41 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,119], [216,130]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 222, + 105 + ], + "task_obj_bbox": [ + 213, + 119, + 216, + 130 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.01714285835623741, + -0.010357143357396126, + 0.0, + 0.0, + -0.04285714402794838, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.26428574323654175, + -0.22035713493824005, + 0.0, + 0.0, + -0.4171428382396698, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.4702090450456575, + -0.7925598653097513, + -1.0, + 0.3237574385478317, + -0.9259259784532696, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 17 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 264 mm; move downward 220 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 24 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 693 mm; move downward 1031 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 41 degrees; open gripper;" + }, + { + "frame_index": 68, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 19 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 256 mm; move downward 223 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 21 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 676 mm; move downward 1021 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 43 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,117], [216,130]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 222, + 106 + ], + "task_obj_bbox": [ + 213, + 117, + 216, + 130 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.018571428954601288, + -0.010357143357396126, + 0.0, + 0.0, + -0.04285714402794838, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.2557142972946167, + -0.22285714745521545, + 0.0, + 0.0, + -0.3742857277393341, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.5217952816172393, + -0.7925598653097513, + -1.0, + 0.3237574385478317, + -0.9259259784532696, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 19 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 256 mm; move downward 223 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 21 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 676 mm; move downward 1021 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 43 degrees; open gripper;" + }, + { + "frame_index": 69, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 19 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 246 mm; move downward 225 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 19 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 657 mm; move downward 1011 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 46 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [216,129]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 223, + 106 + ], + "task_obj_bbox": [ + 212, + 117, + 216, + 129 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.019285714253783226, + -0.010000000707805157, + 0.0, + 0.0, + -0.041428569704294205, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.24571430683135986, + -0.22500000894069672, + 0.0, + 0.0, + -0.331428587436676, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.5475883999030302, + -0.7787305302096326, + -1.0, + 0.3237574385478317, + -0.8888888710983166, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 19 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 246 mm; move downward 225 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 19 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 657 mm; move downward 1011 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 46 degrees; open gripper;" + }, + { + "frame_index": 70, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 235 mm; move downward 227 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 17 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 638 mm; move downward 1001 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 48 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [216,130]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 224, + 106 + ], + "task_obj_bbox": [ + 212, + 117, + 216, + 130 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.018214285373687744, + -0.010000000707805157, + 0.0, + 0.0, + -0.037142857909202576, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.234642893075943, + -0.22678570449352264, + 0.0, + 0.0, + -0.28999999165534973, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.5088986888439256, + -0.7787305302096326, + -1.0, + 0.3237574385478317, + -0.777777838778221, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 235 mm; move downward 227 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 17 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 638 mm; move downward 1001 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 48 degrees; open gripper;" + }, + { + "frame_index": 71, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 224 mm; move downward 228 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 14 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 620 mm; move downward 991 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [215,129]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 224, + 107 + ], + "task_obj_bbox": [ + 212, + 117, + 215, + 129 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.018214285373687744, + -0.009285714477300644, + 0.0, + 0.0, + -0.0357142873108387, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.22428572177886963, + -0.22821426391601562, + 0.0, + 0.0, + -0.25285714864730835, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.5088986888439256, + -0.7510718239465726, + -1.0, + 0.3237574385478317, + -0.740740828004856, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 224 mm; move downward 228 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 14 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 620 mm; move downward 991 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 72, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 213 mm; move downward 230 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 601 mm; move downward 981 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 52 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [215,129]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 225, + 107 + ], + "task_obj_bbox": [ + 212, + 117, + 215, + 129 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.018214285373687744, + -0.008928571827709675, + 0.0, + 0.0, + -0.03285714238882065, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.21250002086162567, + -0.2303571254014969, + 0.0, + 0.0, + -0.21714285016059875, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.5088986888439256, + -0.7372424888464538, + -1.0, + 0.3237574385478317, + -0.6666667098765376, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 213 mm; move downward 230 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 601 mm; move downward 981 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 52 degrees; open gripper;" + }, + { + "frame_index": 73, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 17 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 200 mm; move downward 232 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 11 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 583 mm; move downward 973 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 54 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [216,126]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 225, + 108 + ], + "task_obj_bbox": [ + 212, + 117, + 216, + 126 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.016785714775323868, + -0.008928571827709675, + 0.0, + 0.0, + -0.027142856270074844, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.20035718381404877, + -0.23178569972515106, + 0.0, + 0.0, + -0.1842857152223587, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.45731245227234385, + -0.7372424888464538, + -1.0, + 0.3237574385478317, + -0.5185185702014891, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 17 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 200 mm; move downward 232 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 11 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 583 mm; move downward 973 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 54 degrees; open gripper;" + }, + { + "frame_index": 74, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 16 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 189 mm; move downward 233 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 566 mm; move downward 964 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 55 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [216,127]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 226, + 108 + ], + "task_obj_bbox": [ + 212, + 117, + 216, + 127 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.015714285895228386, + -0.009642857126891613, + 0.0, + 0.0, + -0.02428571507334709, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.1892857402563095, + -0.23250000178813934, + 0.0, + 0.0, + -0.15714286267757416, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.4186227412132393, + -0.7649011590466913, + -1.0, + 0.3237574385478317, + -0.4444445486547588, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 16 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 189 mm; move downward 233 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 566 mm; move downward 964 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 55 degrees; open gripper;" + }, + { + "frame_index": 75, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 179 mm; move downward 231 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 551 mm; move downward 954 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 57 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [216,127]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 227, + 108 + ], + "task_obj_bbox": [ + 212, + 117, + 216, + 127 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.015357143245637417, + -0.009642857126891613, + 0.0, + 0.0, + -0.02428571507334709, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.17928573489189148, + -0.23071427643299103, + 0.0, + 0.0, + -0.13285715878009796, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.40572618207034383, + -0.7649011590466913, + -1.0, + 0.3237574385478317, + -0.4444445486547588, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 179 mm; move downward 231 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 551 mm; move downward 954 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 57 degrees; open gripper;" + }, + { + "frame_index": 76, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 170 mm; move downward 226 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 535 mm; move downward 944 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 58 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [216,127]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 227, + 109 + ], + "task_obj_bbox": [ + 212, + 117, + 216, + 127 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.015357143245637417, + -0.009642857126891613, + 0.0, + 0.0, + -0.022857142612338066, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.17000000178813934, + -0.22607143223285675, + 0.0, + 0.0, + -0.10857142508029938, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.40572618207034383, + -0.7649011590466913, + -1.0, + 0.3237574385478317, + -0.4074074895905996, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 170 mm; move downward 226 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 535 mm; move downward 944 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 58 degrees; open gripper;" + }, + { + "frame_index": 77, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 161 mm; move downward 220 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 520 mm; move downward 935 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 60 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [216,126]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 227, + 109 + ], + "task_obj_bbox": [ + 212, + 117, + 216, + 126 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.014642857015132904, + -0.010714286006987095, + 0.0, + 0.0, + -0.02142857201397419, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.1607142835855484, + -0.2200000137090683, + 0.0, + 0.0, + -0.08571428805589676, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.3799330301541347, + -0.80638920040987, + -1.0, + 0.3237574385478317, + -0.3703704788172345, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 161 mm; move downward 220 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 520 mm; move downward 935 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 60 degrees; open gripper;" + }, + { + "frame_index": 78, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 154 mm; move downward 211 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 505 mm; move downward 924 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 61 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [216,126]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 228, + 109 + ], + "task_obj_bbox": [ + 212, + 117, + 216, + 126 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.013214285485446453, + -0.011428571306169033, + 0.0, + 0.0, + -0.019999999552965164, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.15357142686843872, + -0.21071429550647736, + 0.0, + 0.0, + -0.06428571045398712, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.3283467599521347, + -0.8340478706101075, + -1.0, + 0.3237574385478317, + -0.3333334197530753, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 154 mm; move downward 211 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 505 mm; move downward 924 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 61 degrees; open gripper;" + }, + { + "frame_index": 79, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 11 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 143 mm; move downward 199 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 3 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 492 mm; move downward 913 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 62 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [216,125]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 228, + 110 + ], + "task_obj_bbox": [ + 212, + 117, + 216, + 125 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.010714286006987095, + -0.012500000186264515, + 0.0, + 0.0, + -0.015714285895228386, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.14250001311302185, + -0.19928571581840515, + 0.0, + 0.0014285714132711291, + -0.04428571090102196, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.23807081232144822, + -0.8755359119732863, + -1.0, + 0.3237574385478317, + -0.2222223391421858, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 11 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 143 mm; move downward 199 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 492 mm; move downward 913 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 62 degrees; open gripper;" + }, + { + "frame_index": 80, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 9 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 135 mm; move downward 187 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 2 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 481 mm; move downward 900 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [216,125]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 229, + 110 + ], + "task_obj_bbox": [ + 212, + 117, + 216, + 125 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.008571429178118706, + -0.012500000186264515, + 0.0, + 0.0, + -0.011428571306169033, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.13464286923408508, + -0.1867857128381729, + 0.0, + 0.0057142856530845165, + -0.02857142873108387, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.1606914238336573, + -0.8755359119732863, + -1.0, + 0.3237574385478317, + -0.11111123438589943, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 9 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 135 mm; move downward 187 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 481 mm; move downward 900 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 81, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 8 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 129 mm; move downward 174 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 1 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 473 mm; move downward 888 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [216,124]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 229, + 111 + ], + "task_obj_bbox": [ + 212, + 117, + 216, + 124 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.008214286528527737, + -0.012857143767178059, + 0.0, + 0.0, + -0.008571428246796131, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.12928572297096252, + -0.17428570985794067, + 0.0, + 0.008571428246796131, + -0.017142856493592262, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.14779486469076186, + -0.8893652831362275, + -1.0, + 0.3237574385478317, + -0.037037164548375134, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 8 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 129 mm; move downward 174 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 473 mm; move downward 888 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 82, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 8 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 124 mm; move downward 161 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 465 mm; move downward 875 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [216,124]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 229, + 111 + ], + "task_obj_bbox": [ + 212, + 117, + 216, + 124 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.007500000298023224, + -0.012857143767178059, + 0.0, + 0.0, + -0.0057142856530845165, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.1242857351899147, + -0.1614285558462143, + 0.0, + 0.008571428246796131, + -0.008571428246796131, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.12200171277455274, + -0.8893652831362275, + -1.0, + 0.3237574385478317, + 0.03703689321645065, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 8 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 124 mm; move downward 161 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 465 mm; move downward 875 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 83, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 6 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 120 mm; move downward 149 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 457 mm; move downward 862 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [216,123]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 229, + 112 + ], + "task_obj_bbox": [ + 212, + 117, + 216, + 123 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.006428571883589029, + -0.012857143767178059, + 0.0, + 0.0, + -0.0028571428265422583, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.12035715579986572, + -0.1485714316368103, + 0.0, + 0.008571428246796131, + -0.0028571428265422583, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.08331201853065728, + -0.8893652831362275, + -1.0, + 0.3237574385478317, + 0.11111095701762563, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 6 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 120 mm; move downward 149 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 457 mm; move downward 862 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 84, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 6 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 118 mm; move downward 136 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 451 mm; move downward 849 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [216,123]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 229, + 112 + ], + "task_obj_bbox": [ + 212, + 117, + 216, + 123 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.006428571883589029, + -0.012857143767178059, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.11750000715255737, + -0.13571427762508392, + 0.0, + 0.008571428246796131, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.08331201853065728, + -0.8893652831362275, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 6 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 118 mm; move downward 136 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 451 mm; move downward 849 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 85, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 7 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 115 mm; move downward 123 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 444 mm; move downward 836 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [215,123]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 229, + 113 + ], + "task_obj_bbox": [ + 212, + 117, + 215, + 123 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.007142857648432255, + -0.012500000186264515, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.11464285850524902, + -0.12285713106393814, + 0.0, + 0.008571428246796131, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.10910515363165729, + -0.8755359119732863, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 7 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 115 mm; move downward 123 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 444 mm; move downward 836 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 86, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 9 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 111 mm; move downward 111 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 437 mm; move downward 824 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [215,122]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 229, + 113 + ], + "task_obj_bbox": [ + 212, + 117, + 215, + 122 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.008571429178118706, + -0.012500000186264515, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.11107143014669418, + -0.11142855882644653, + 0.0, + 0.008571428246796131, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.1606914238336573, + -0.8755359119732863, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 9 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 111 mm; move downward 111 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 437 mm; move downward 824 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 87, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 9 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 106 mm; move downward 101 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 429 mm; move downward 811 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,117], [215,122]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 230, + 113 + ], + "task_obj_bbox": [ + 212, + 117, + 215, + 122 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.008571429178118706, + -0.012857143767178059, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.10607143491506577, + -0.1007142886519432, + 0.0, + 0.008571428246796131, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.1606914238336573, + -0.8893652831362275, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 9 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 106 mm; move downward 101 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 429 mm; move downward 811 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 88, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 9 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 101 mm; move downward 90 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 420 mm; move downward 798 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,117], [215,122]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 230, + 114 + ], + "task_obj_bbox": [ + 213, + 117, + 215, + 122 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.008571429178118706, + -0.012500000186264515, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.10107143223285675, + -0.09035714715719223, + 0.0, + 0.008571428246796131, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.1606914238336573, + -0.8755359119732863, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 9 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 101 mm; move downward 90 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 420 mm; move downward 798 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 89, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 8 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 97 mm; move downward 80 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 411 mm; move downward 786 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,117], [215,121]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 230, + 114 + ], + "task_obj_bbox": [ + 213, + 117, + 215, + 121 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.008214286528527737, + -0.011785714887082577, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.09678571671247482, + -0.0803571417927742, + 0.0, + 0.008571428246796131, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.14779486469076186, + -0.8478772417730488, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 8 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 97 mm; move downward 80 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 411 mm; move downward 786 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 90, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 8 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 94 mm; move downward 70 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 403 mm; move downward 774 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,117], [215,121]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 230, + 115 + ], + "task_obj_bbox": [ + 213, + 117, + 215, + 121 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.007857142947614193, + -0.011428571306169033, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.09357142448425293, + -0.07035713642835617, + 0.0, + 0.008571428246796131, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.1348982719174482, + -0.8340478706101075, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 8 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 94 mm; move downward 70 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 403 mm; move downward 774 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 91, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 6 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 91 mm; move downward 61 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 395 mm; move downward 763 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,117], [215,121]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 230, + 115 + ], + "task_obj_bbox": [ + 213, + 117, + 215, + 121 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.006428571883589029, + -0.011428571306169033, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.09107141941785812, + -0.06071428209543228, + 0.0, + 0.008571428246796131, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.08331201853065728, + -0.8340478706101075, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 6 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 91 mm; move downward 61 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 395 mm; move downward 763 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 92, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 6 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 90 mm; move downward 52 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 389 mm; move downward 751 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,117], [215,120]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 230, + 116 + ], + "task_obj_bbox": [ + 213, + 117, + 215, + 120 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.006071428768336773, + -0.010357143357396126, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.08999998867511749, + -0.05214285850524902, + 0.0, + 0.008571428246796131, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.07041544257255272, + -0.7925598653097513, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 6 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 90 mm; move downward 52 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 389 mm; move downward 751 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 93, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 6 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 89 mm; move downward 44 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 383 mm; move downward 741 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,117], [215,120]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 230, + 116 + ], + "task_obj_bbox": [ + 214, + 117, + 215, + 120 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.0057142856530845165, + -0.009642857126891613, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.08892857283353806, + -0.044285714626312256, + 0.0, + 0.008571428246796131, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.05751886661444816, + -0.7649011590466913, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 6 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 89 mm; move downward 44 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 383 mm; move downward 741 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 94, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 6 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 88 mm; move downward 38 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 377 mm; move downward 731 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,117], [215,120]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 230, + 116 + ], + "task_obj_bbox": [ + 214, + 117, + 215, + 120 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.0057142856530845165, + -0.007857142947614193, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.08821429312229156, + -0.03750000149011612, + 0.0, + 0.008571428246796131, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.05751886661444816, + -0.6957544474832751, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 6 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 88 mm; move downward 38 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 377 mm; move downward 731 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 95, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 6 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 86 mm; move downward 34 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 371 mm; move downward 723 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,117], [215,119]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 231, + 117 + ], + "task_obj_bbox": [ + 214, + 117, + 215, + 119 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.006071428768336773, + -0.005000000353902578, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.08642857521772385, + -0.03392857313156128, + 0.0, + 0.008571428246796131, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.07041544257255272, + -0.5851197125880914, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 6 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 86 mm; move downward 34 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 371 mm; move downward 723 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 96, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 6 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 83 mm; move downward 34 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 365 mm; move downward 718 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,117], [215,119]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 231, + 117 + ], + "task_obj_bbox": [ + 214, + 117, + 215, + 119 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.006071428768336773, + -0.0035714288242161274, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.08321429789066315, + -0.033571433275938034, + 0.0, + 0.008571428246796131, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.07041544257255272, + -0.5298023361247939, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 6 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 83 mm; move downward 34 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 365 mm; move downward 718 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 97, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 8 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 77 mm; move downward 36 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 359 mm; move downward 715 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,117], [215,119]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 231, + 117 + ], + "task_obj_bbox": [ + 214, + 117, + 215, + 119 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.007500000298023224, + -0.0014285714132711291, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.0771428644657135, + -0.03642857447266579, + 0.0, + 0.008571428246796131, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.12200171277455274, + -0.4468262669219949, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 8 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 77 mm; move downward 36 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 359 mm; move downward 715 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 98, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 70 mm; move downward 41 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 352 mm; move downward 713 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,117], [214,119]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 231, + 117 + ], + "task_obj_bbox": [ + 214, + 117, + 214, + 119 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.0021428572945296764, + 0.0, + 0.0, + 0.0014285714132711291, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.06964286416769028, + -0.0414285771548748, + 0.0, + 0.008571428246796131, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.07144679207534277, + -0.39150889496655017, + -1.0, + 0.3524848120206694, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 70 mm; move downward 41 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 352 mm; move downward 713 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 99, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 68 mm; move downward 48 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 350 mm; move downward 713 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,117], [214,119]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 231, + 117 + ], + "task_obj_bbox": [ + 214, + 117, + 214, + 119 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.0028571428265422583, + 0.0, + 0.0, + 0.004285714123398066, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.06750001013278961, + -0.04750000312924385, + 0.0, + 0.00714285671710968, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.04565366538194726, + -0.39150889496655017, + -1.0, + 0.4099395566253303, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 68 mm; move downward 48 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 350 mm; move downward 713 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 100, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 65 mm; move downward 54 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 347 mm; move downward 713 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,117], [214,118]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 231, + 117 + ], + "task_obj_bbox": [ + 214, + 117, + 214, + 118 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.0032142859417945147, + 0.0, + 0.0, + 0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.06464286148548126, + -0.0535714328289032, + 0.0, + 0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.0327570894238427, + -0.39150889496655017, + -1.0, + 0.3812121854935071, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 65 mm; move downward 54 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 347 mm; move downward 713 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 101, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 61 mm; move downward 59 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 344 mm; move downward 713 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,117], [214,118]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 231, + 117 + ], + "task_obj_bbox": [ + 214, + 117, + 214, + 118 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.0032142859417945147, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.061428576707839966, + -0.05892857536673546, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.0327570894238427, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 61 mm; move downward 59 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 344 mm; move downward 713 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 102, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 1 mm; move right 58 mm; move downward 65 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 340 mm; move downward 713 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,117], [214,118]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 232, + 117 + ], + "task_obj_bbox": [ + 214, + 117, + 214, + 118 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.0035714288242161274, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0010714286472648382, + -0.05821428820490837, + -0.0650000050663948, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.01986052187334275, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 1 mm; move right 58 mm; move downward 65 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 340 mm; move downward 713 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 103, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 3 mm; move right 55 mm; move downward 71 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 337 mm; move downward 713 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,117], [214,118]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 232, + 117 + ], + "task_obj_bbox": [ + 214, + 117, + 214, + 118 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.0035714288242161274, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.002500000176951289, + -0.05464286357164383, + -0.07107143849134445, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.01986052187334275, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 3 mm; move right 55 mm; move downward 71 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 337 mm; move downward 713 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 104, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 5 mm; move right 51 mm; move downward 77 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 333 mm; move downward 713 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,117], [214,118]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 232, + 117 + ], + "task_obj_bbox": [ + 214, + 117, + 214, + 118 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.0035714288242161274, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.004642857238650322, + -0.05107143521308899, + -0.0771428644657135, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.01986052187334275, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 5 mm; move right 51 mm; move downward 77 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 333 mm; move downward 713 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 105, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 4 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 7 mm; move right 48 mm; move downward 83 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 330 mm; move downward 713 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,117], [214,118]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 232, + 117 + ], + "task_obj_bbox": [ + 214, + 117, + 214, + 118 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.0035714288242161274, + -0.0010714286472648382, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.007142857648432255, + -0.04750000312924385, + -0.08321429789066315, + 0.0, + -0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.01986052187334275, + -0.4329969273140233, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 4 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 7 mm; move right 48 mm; move downward 83 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 330 mm; move downward 713 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 106, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 4 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 9 mm; move right 44 mm; move downward 88 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 326 mm; move downward 712 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,117], [214,118]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 232, + 117 + ], + "task_obj_bbox": [ + 214, + 117, + 214, + 118 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.0035714288242161274, + -0.0017857144121080637, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.009285714477300644, + -0.04392857477068901, + -0.08750000596046448, + 0.0, + -0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.01986052187334275, + -0.460655615545672, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 4 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 9 mm; move right 44 mm; move downward 88 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 326 mm; move downward 712 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 107, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 4 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 11 mm; move right 40 mm; move downward 92 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 323 mm; move downward 710 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,117], [214,118]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 232, + 117 + ], + "task_obj_bbox": [ + 214, + 117, + 214, + 118 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.0035714288242161274, + -0.002500000176951289, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.011428571306169033, + -0.04035714641213417, + -0.0917857214808464, + 0.0, + -0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.01986052187334275, + -0.48831430377732077, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 4 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 11 mm; move right 40 mm; move downward 92 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 323 mm; move downward 710 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 108, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 4 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 14 mm; move right 37 mm; move downward 96 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 319 mm; move downward 708 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,117], [214,117]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 232, + 118 + ], + "task_obj_bbox": [ + 214, + 117, + 214, + 117 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.004285714589059353, + -0.002500000176951289, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.013571429066359997, + -0.03678571805357933, + -0.09571429342031479, + 0.0, + -0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.005932613227657257, + -0.48831430377732077, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 4 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 14 mm; move right 37 mm; move downward 96 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 319 mm; move downward 708 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 109, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 5 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 16 mm; move right 33 mm; move downward 99 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 315 mm; move downward 705 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,117], [214,117]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 232, + 118 + ], + "task_obj_bbox": [ + 214, + 117, + 214, + 117 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.005000000353902578, + -0.0017857144121080637, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.016428573057055473, + -0.0325000025331974, + -0.09892857819795609, + 0.0, + -0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.031725748328657266, + -0.460655615545672, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 5 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 16 mm; move right 33 mm; move downward 99 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 315 mm; move downward 705 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 110, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 5 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 19 mm; move right 28 mm; move downward 104 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 310 mm; move downward 704 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,117], [214,117]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 232, + 118 + ], + "task_obj_bbox": [ + 214, + 117, + 214, + 117 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.0053571430034935474, + -0.0017857144121080637, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.019285714253783226, + -0.027500001713633537, + -0.1039285808801651, + 0.0, + -0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.044622307471552713, + -0.460655615545672, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 5 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 19 mm; move right 28 mm; move downward 104 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 310 mm; move downward 704 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 111, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 5 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 23 mm; move right 22 mm; move downward 109 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 304 mm; move downward 702 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,117], [214,117]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 233, + 118 + ], + "task_obj_bbox": [ + 214, + 117, + 214, + 117 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.0053571430034935474, + -0.0028571428265422583, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.02321428619325161, + -0.022142857313156128, + -0.10892857611179352, + 0.0, + -0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.044622307471552713, + -0.5021436388774395, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 5 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 23 mm; move right 22 mm; move downward 109 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 304 mm; move downward 702 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 112, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 5 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 27 mm; move right 17 mm; move downward 113 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 299 mm; move downward 699 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 233, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.005000000353902578, + -0.002500000176951289, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.027142858132719994, + -0.016785714775323868, + -0.1128571406006813, + 0.0, + -0.0028571428265422583, + 0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.031725748328657266, + -0.48831430377732077, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 5 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 27 mm; move right 17 mm; move downward 113 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 299 mm; move downward 699 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 113, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 5 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 31 mm; move right 12 mm; move downward 117 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 294 mm; move downward 696 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 233, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.005000000353902578, + -0.0028571428265422583, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.031071430072188377, + -0.011785714887082577, + -0.11749999970197678, + 0.0, + -0.0028571428265422583, + 0.0071428571827709675, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + -0.031725748328657266, + -0.5021436388774395, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 5 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 31 mm; move right 12 mm; move downward 117 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 294 mm; move downward 696 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 114, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 4 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 35 mm; move right 7 mm; move downward 122 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 289 mm; move downward 694 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 233, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.0039285714738070965, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.03500000387430191, + -0.006785714533179998, + -0.12178570032119751, + 0.0, + -0.0028571428265422583, + 0.014285714365541935, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.006963962730447193, + -0.5574610243564426, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 4 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 35 mm; move right 7 mm; move downward 122 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 289 mm; move downward 694 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 115, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 3 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 39 mm; move right 3 mm; move downward 125 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 285 mm; move downward 689 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 233, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.0028571428265422583, + -0.004642857238650322, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.03928571566939354, + -0.0028571428265422583, + -0.12464284896850586, + 0.0, + -0.0028571428265422583, + 0.022857142612338066, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.04565366538194726, + -0.5712903594565614, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 3 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 39 mm; move right 3 mm; move downward 125 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 285 mm; move downward 689 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 116, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 44 mm; move right 0 mm; move downward 127 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 282 mm; move downward 685 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 233, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.006428571883589029, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.04357143118977547, + 0.0, + -0.12714284658432007, + 0.0, + -0.0028571428265422583, + 0.03142857179045677, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.6404370890513889, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 44 mm; move right 0 mm; move downward 127 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 282 mm; move downward 685 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 117, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 48 mm; move right 0 mm; move downward 128 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 282 mm; move downward 678 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 233, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.006428571883589029, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.047857146710157394, + 0.0, + -0.12785713374614716, + 0.0, + -0.0028571428265422583, + 0.03999999910593033, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.6404370890513889, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 48 mm; move right 0 mm; move downward 128 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 282 mm; move downward 678 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 118, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 52 mm; move right 0 mm; move downward 128 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 282 mm; move downward 672 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 233, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.006071428768336773, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.05214285850524902, + 0.0, + -0.1282142847776413, + 0.0, + -0.0028571428265422583, + 0.048571426421403885, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.6266077359198589, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 52 mm; move right 0 mm; move downward 128 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 282 mm; move downward 672 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 119, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 56 mm; move right 0 mm; move downward 129 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 282 mm; move downward 666 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 233, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.006071428768336773, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.05642857775092125, + 0.0, + -0.12892857193946838, + 0.0, + -0.0028571428265422583, + 0.05714285373687744, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.6266077359198589, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 56 mm; move right 0 mm; move downward 129 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 282 mm; move downward 666 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 120, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 61 mm; move right 0 mm; move downward 130 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 282 mm; move downward 660 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 233, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.06071429327130318, + 0.0, + -0.1300000101327896, + 0.0, + -0.0028571428265422583, + 0.0657142847776413, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.5989490476882101, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 61 mm; move right 0 mm; move downward 130 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 282 mm; move downward 660 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 121, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 65 mm; move right 0 mm; move downward 132 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; close gripper;\nSubtask Movement: move forward 598 mm; move right 282 mm; move downward 654 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 233, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0010714286472648382, + 0.0, + -0.006071428768336773, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0650000125169754, + 0.0, + -0.13178572058677673, + 0.0, + -0.0028571428265422583, + 0.07428571581840515, + -1.0 + ], + "delta_full_state_norm": [ + -0.7807678328454098, + 0.1488261973783429, + -0.6266077359198589, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 65 mm; move right 0 mm; move downward 132 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; close gripper;", + "subtask_movement_text": "move forward 598 mm; move right 282 mm; move downward 654 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 122, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 68 mm; move right 0 mm; move downward 133 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; close gripper;\nSubtask Movement: move forward 596 mm; move right 282 mm; move downward 648 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 233, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0014285714132711291, + 0.0, + -0.006071428768336773, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.06785715371370316, + 0.0, + -0.13285714387893677, + 0.0, + -0.0028571428265422583, + 0.082857146859169, + -1.0 + ], + "delta_full_state_norm": [ + -0.7411952518598763, + 0.1488261973783429, + -0.6266077359198589, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 68 mm; move right 0 mm; move downward 133 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; close gripper;", + "subtask_movement_text": "move forward 596 mm; move right 282 mm; move downward 648 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 123, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 71 mm; move right 0 mm; move downward 134 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; close gripper;\nSubtask Movement: move forward 595 mm; move right 282 mm; move downward 642 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 233, + 120 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0021428572945296764, + 0.0, + -0.006071428768336773, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.07071429491043091, + 0.0, + -0.133928582072258, + 0.0, + -0.0028571428265422583, + 0.09142857789993286, + -1.0 + ], + "delta_full_state_norm": [ + -0.6620500511912193, + 0.1488261973783429, + -0.6266077359198589, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 71 mm; move right 0 mm; move downward 134 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; close gripper;", + "subtask_movement_text": "move forward 595 mm; move right 282 mm; move downward 642 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 124, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 73 mm; move right 0 mm; move downward 135 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; close gripper;\nSubtask Movement: move forward 593 mm; move right 282 mm; move downward 636 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 233, + 120 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.002500000176951289, + 0.0, + -0.006071428768336773, + 0.0, + -0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.07285715639591217, + 0.0, + -0.13464286923408508, + 0.0, + -0.0028571428265422583, + 0.10285715013742447, + -1.0 + ], + "delta_full_state_norm": [ + -0.6224774573064891, + 0.1488261973783429, + -0.6266077359198589, + -1.0, + 0.266302691602156, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 73 mm; move right 0 mm; move downward 135 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; close gripper;", + "subtask_movement_text": "move forward 593 mm; move right 282 mm; move downward 636 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 125, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 75 mm; move right 0 mm; move downward 136 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; close gripper;\nSubtask Movement: move forward 590 mm; move right 282 mm; move downward 630 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 232, + 120 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0021428572945296764, + 0.0, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.07464286684989929, + 0.0, + -0.13571427762508392, + 0.0, + 0.0, + 0.11428572237491608, + -1.0 + ], + "delta_full_state_norm": [ + -0.6620500511912193, + 0.1488261973783429, + -0.5989490476882101, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 75 mm; move right 0 mm; move downward 136 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; close gripper;", + "subtask_movement_text": "move forward 590 mm; move right 282 mm; move downward 630 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 126, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 77 mm; move right 0 mm; move downward 138 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; close gripper;\nSubtask Movement: move forward 588 mm; move right 282 mm; move downward 625 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 232, + 120 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0021428572945296764, + 0.0, + -0.006071428768336773, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0771428719162941, + -0.0003571428533177823, + -0.13821429014205933, + 0.0, + 0.0, + 0.12714286148548126, + -1.0 + ], + "delta_full_state_norm": [ + -0.6620500511912193, + 0.1488261973783429, + -0.6266077359198589, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 77 mm; move right 0 mm; move downward 138 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; close gripper;", + "subtask_movement_text": "move forward 588 mm; move right 282 mm; move downward 625 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 127, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 80 mm; move right 2 mm; move downward 140 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 8 degrees; close gripper;\nSubtask Movement: move forward 586 mm; move right 282 mm; move downward 619 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 232, + 120 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0021428572945296764, + 0.0, + -0.006428571883589029, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0796428695321083, + -0.0017857144121080637, + -0.14000001549720764, + 0.0, + 0.0, + 0.14142857491970062, + -1.0 + ], + "delta_full_state_norm": [ + -0.6620500511912193, + 0.1488261973783429, + -0.6404370890513889, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 80 mm; move right 2 mm; move downward 140 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 8 degrees; close gripper;", + "subtask_movement_text": "move forward 586 mm; move right 282 mm; move downward 619 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 128, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 82 mm; move right 4 mm; move downward 141 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 9 degrees; close gripper;\nSubtask Movement: move forward 584 mm; move right 282 mm; move downward 612 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 232, + 120 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0028571428265422583, + 0.0, + -0.0057142856530845165, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.08214286714792252, + -0.004285714589059353, + -0.14142857491970062, + 0.0, + 0.0, + 0.1599999964237213, + -1.0 + ], + "delta_full_state_norm": [ + -0.582904889220152, + 0.1488261973783429, + -0.6127783827883289, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 82 mm; move right 4 mm; move downward 141 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 9 degrees; close gripper;", + "subtask_movement_text": "move forward 584 mm; move right 282 mm; move downward 612 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 129, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 85 mm; move right 7 mm; move downward 144 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 10 degrees; close gripper;\nSubtask Movement: move forward 581 mm; move right 282 mm; move downward 606 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 232, + 121 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0028571428265422583, + 0.0, + -0.006785714533179998, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.08464285731315613, + -0.007142857648432255, + -0.14357145130634308, + 0.0, + 0.0, + 0.18142856657505035, + -1.0 + ], + "delta_full_state_norm": [ + -0.582904889220152, + 0.1488261973783429, + -0.6542664241515076, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 85 mm; move right 7 mm; move downward 144 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 10 degrees; close gripper;", + "subtask_movement_text": "move forward 581 mm; move right 282 mm; move downward 606 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 130, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 88 mm; move right 10 mm; move downward 145 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 12 degrees; close gripper;\nSubtask Movement: move forward 578 mm; move right 282 mm; move downward 600 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 231, + 121 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0039285714738070965, + 0.0, + -0.006785714533179998, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.08785714954137802, + -0.010000000707805157, + -0.1446428745985031, + 0.0, + 0.0, + 0.2028571367263794, + -1.0 + ], + "delta_full_state_norm": [ + -0.4641871075659614, + 0.1488261973783429, + -0.6542664241515076, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 88 mm; move right 10 mm; move downward 145 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 12 degrees; close gripper;", + "subtask_movement_text": "move forward 578 mm; move right 282 mm; move downward 600 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 131, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 90 mm; move right 14 mm; move downward 146 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 13 degrees; close gripper;\nSubtask Movement: move forward 574 mm; move right 282 mm; move downward 593 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 231, + 121 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0039285714738070965, + 0.0, + -0.006785714533179998, + 0.0, + 0.0, + 0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + 0.09000000357627869, + -0.013571429066359997, + -0.14571429789066315, + 0.0, + 0.0, + 0.22714285552501678, + -1.0 + ], + "delta_full_state_norm": [ + -0.4641871075659614, + 0.1488261973783429, + -0.6542664241515076, + -1.0, + 0.3237574385478317, + 0.22222205271938833, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 90 mm; move right 14 mm; move downward 146 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 13 degrees; close gripper;", + "subtask_movement_text": "move forward 574 mm; move right 282 mm; move downward 593 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 132, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 91 mm; move right 18 mm; move downward 146 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 14 degrees; close gripper;\nSubtask Movement: move forward 570 mm; move right 282 mm; move downward 586 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 231, + 121 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0039285714738070965, + 0.0, + -0.007142857648432255, + 0.0, + 0.0, + 0.0057142856530845165, + -1.0 + ], + "delta_next_20": [ + 0.09142857044935226, + -0.01785714365541935, + -0.14642859995365143, + 0.0, + 0.0, + 0.2514285743236542, + -1.0 + ], + "delta_full_state_norm": [ + -0.4641871075659614, + 0.1488261973783429, + -0.6680957772830376, + -1.0, + 0.3237574385478317, + 0.3333331484211508, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 91 mm; move right 18 mm; move downward 146 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 14 degrees; close gripper;", + "subtask_movement_text": "move forward 570 mm; move right 282 mm; move downward 586 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 133, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 93 mm; move right 23 mm; move downward 146 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 16 degrees; close gripper;\nSubtask Movement: move forward 566 mm; move right 282 mm; move downward 579 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 231, + 121 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0039285714738070965, + 0.0, + -0.007142857648432255, + 0.0, + 0.0, + 0.0071428571827709675, + -1.0 + ], + "delta_next_20": [ + 0.09285713732242584, + -0.02250000089406967, + -0.14642858505249023, + 0.0, + 0.0, + 0.2728571593761444, + -1.0 + ], + "delta_full_state_norm": [ + -0.4641871075659614, + 0.1488261973783429, + -0.6680957772830376, + -1.0, + 0.3237574385478317, + 0.3703701833399131, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 93 mm; move right 23 mm; move downward 146 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 16 degrees; close gripper;", + "subtask_movement_text": "move forward 566 mm; move right 282 mm; move downward 579 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 134, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 95 mm; move right 27 mm; move downward 146 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 17 degrees; close gripper;\nSubtask Movement: move forward 562 mm; move right 282 mm; move downward 572 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 230, + 121 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.004285714589059353, + 0.0, + -0.007142857648432255, + 0.0, + 0.0, + 0.008571428246796131, + -1.0 + ], + "delta_next_20": [ + 0.0949999988079071, + -0.027142858132719994, + -0.14642858505249023, + 0.0, + 0.0, + 0.2928571403026581, + -1.0 + ], + "delta_full_state_norm": [ + -0.42461448788283795, + 0.1488261973783429, + -0.6680957772830376, + -1.0, + 0.3237574385478317, + 0.4074072061859766, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 95 mm; move right 27 mm; move downward 146 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 17 degrees; close gripper;", + "subtask_movement_text": "move forward 562 mm; move right 282 mm; move downward 572 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 135, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 97 mm; move right 31 mm; move downward 147 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 18 degrees; close gripper;\nSubtask Movement: move forward 558 mm; move right 282 mm; move downward 565 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 230, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.004285714589059353, + 0.0, + -0.007142857648432255, + 0.0, + 0.0, + 0.008571428246796131, + -1.0 + ], + "delta_next_20": [ + 0.09714285284280777, + -0.03142857179045677, + -0.14678572118282318, + 0.0, + 0.0, + 0.31142857670783997, + -1.0 + ], + "delta_full_state_norm": [ + -0.42461448788283795, + 0.1488261973783429, + -0.6680957772830376, + -1.0, + 0.3237574385478317, + 0.4074072061859766, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 97 mm; move right 31 mm; move downward 147 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 18 degrees; close gripper;", + "subtask_movement_text": "move forward 558 mm; move right 282 mm; move downward 565 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 136, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 99 mm; move right 36 mm; move downward 147 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 19 degrees; close gripper;\nSubtask Movement: move forward 554 mm; move right 282 mm; move downward 558 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 230, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.004285714589059353, + 0.0, + -0.007142857648432255, + 0.0, + 0.0, + 0.008571428246796131, + -1.0 + ], + "delta_next_20": [ + 0.09928570687770844, + -0.03642857447266579, + -0.14714287221431732, + 0.0, + 0.0, + 0.33142855763435364, + -1.0 + ], + "delta_full_state_norm": [ + -0.42461448788283795, + 0.1488261973783429, + -0.6680957772830376, + -1.0, + 0.3237574385478317, + 0.4074072061859766, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 99 mm; move right 36 mm; move downward 147 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 19 degrees; close gripper;", + "subtask_movement_text": "move forward 554 mm; move right 282 mm; move downward 558 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 137, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 102 mm; move right 43 mm; move downward 147 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 20 degrees; close gripper;\nSubtask Movement: move forward 550 mm; move right 282 mm; move downward 550 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 62 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 229, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.004285714589059353, + 0.0, + -0.006785714533179998, + 0.0, + 0.0, + 0.008571428246796131, + -1.0 + ], + "delta_next_20": [ + 0.10214284807443619, + -0.042500000447034836, + -0.14678572118282318, + 0.0, + 0.0, + 0.35428571701049805, + -1.0 + ], + "delta_full_state_norm": [ + -0.42461448788283795, + 0.1488261973783429, + -0.6542664241515076, + -1.0, + 0.3237574385478317, + 0.4074072061859766, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 102 mm; move right 43 mm; move downward 147 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 20 degrees; close gripper;", + "subtask_movement_text": "move forward 550 mm; move right 282 mm; move downward 550 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 62 degrees; open gripper;" + }, + { + "frame_index": 138, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 105 mm; move right 49 mm; move downward 147 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 22 degrees; close gripper;\nSubtask Movement: move forward 545 mm; move right 282 mm; move downward 544 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 62 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 229, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.004285714589059353, + 0.0, + -0.006785714533179998, + 0.0, + 0.0, + 0.008571428246796131, + -1.0 + ], + "delta_next_20": [ + 0.10535714775323868, + -0.04928571730852127, + -0.14678572118282318, + 0.0, + 0.0, + 0.37714284658432007, + -1.0 + ], + "delta_full_state_norm": [ + -0.42461448788283795, + 0.1488261973783429, + -0.6542664241515076, + -1.0, + 0.3237574385478317, + 0.4074072061859766, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 105 mm; move right 49 mm; move downward 147 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 22 degrees; close gripper;", + "subtask_movement_text": "move forward 545 mm; move right 282 mm; move downward 544 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 62 degrees; open gripper;" + }, + { + "frame_index": 139, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 109 mm; move right 57 mm; move downward 147 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 23 degrees; close gripper;\nSubtask Movement: move forward 541 mm; move right 282 mm; move downward 537 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 61 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 229, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.004285714589059353, + 0.0, + -0.007142857648432255, + 0.0, + 0.0, + 0.008571428246796131, + -1.0 + ], + "delta_next_20": [ + 0.10928571224212646, + -0.056785713881254196, + -0.14678572118282318, + 0.0, + 0.0, + 0.4000000059604645, + -1.0 + ], + "delta_full_state_norm": [ + -0.42461448788283795, + 0.1488261973783429, + -0.6680957772830376, + -1.0, + 0.3237574385478317, + 0.4074072061859766, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 109 mm; move right 57 mm; move downward 147 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 23 degrees; close gripper;", + "subtask_movement_text": "move forward 541 mm; move right 282 mm; move downward 537 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 61 degrees; open gripper;" + }, + { + "frame_index": 140, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 113 mm; move right 64 mm; move downward 146 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 24 degrees; close gripper;\nSubtask Movement: move forward 537 mm; move right 282 mm; move downward 530 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 61 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 229, + 123 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.004285714589059353, + 0.0, + -0.007142857648432255, + 0.0, + 0.0, + 0.008571428246796131, + -1.0 + ], + "delta_next_20": [ + 0.1128571406006813, + -0.06428571790456772, + -0.1460714489221573, + 0.0, + 0.0, + 0.4228571653366089, + -1.0 + ], + "delta_full_state_norm": [ + -0.42461448788283795, + 0.1488261973783429, + -0.6680957772830376, + -1.0, + 0.3237574385478317, + 0.4074072061859766, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 113 mm; move right 64 mm; move downward 146 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 24 degrees; close gripper;", + "subtask_movement_text": "move forward 537 mm; move right 282 mm; move downward 530 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 61 degrees; open gripper;" + }, + { + "frame_index": 141, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 116 mm; move right 74 mm; move downward 145 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 26 degrees; close gripper;\nSubtask Movement: move forward 532 mm; move right 282 mm; move downward 523 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 60 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 228, + 123 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0039285714738070965, + 0.0, + -0.007142857648432255, + 0.0, + 0.0, + 0.008571428246796131, + -1.0 + ], + "delta_next_20": [ + 0.1160714253783226, + -0.07392857223749161, + -0.1446428745985031, + 0.0, + 0.0, + 0.44857144355773926, + -1.0 + ], + "delta_full_state_norm": [ + -0.4641871075659614, + 0.1488261973783429, + -0.6680957772830376, + -1.0, + 0.3237574385478317, + 0.4074072061859766, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 116 mm; move right 74 mm; move downward 145 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 26 degrees; close gripper;", + "subtask_movement_text": "move forward 532 mm; move right 282 mm; move downward 523 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 60 degrees; open gripper;" + }, + { + "frame_index": 142, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 120 mm; move right 84 mm; move downward 143 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 27 degrees; close gripper;\nSubtask Movement: move forward 529 mm; move right 282 mm; move downward 515 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 60 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 228, + 123 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.004285714589059353, + 0.0, + -0.007142857648432255, + 0.0, + 0.0, + 0.008571428246796131, + -1.0 + ], + "delta_next_20": [ + 0.11964286863803864, + -0.08428571373224258, + -0.14321430027484894, + 0.0, + 0.0, + 0.47428572177886963, + -1.0 + ], + "delta_full_state_norm": [ + -0.42461448788283795, + 0.1488261973783429, + -0.6680957772830376, + -1.0, + 0.3237574385478317, + 0.4074072061859766, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 120 mm; move right 84 mm; move downward 143 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 27 degrees; close gripper;", + "subtask_movement_text": "move forward 529 mm; move right 282 mm; move downward 515 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 60 degrees; open gripper;" + }, + { + "frame_index": 143, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 123 mm; move right 95 mm; move downward 142 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 29 degrees; close gripper;\nSubtask Movement: move forward 524 mm; move right 282 mm; move downward 508 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 59 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 228, + 123 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.004285714589059353, + 0.0, + -0.006785714533179998, + 0.0, + 0.0, + 0.011428571306169033, + -1.0 + ], + "delta_next_20": [ + 0.12285715341567993, + -0.09464285522699356, + -0.1421428769826889, + 0.0, + 0.0, + 0.4985714554786682, + -1.0 + ], + "delta_full_state_norm": [ + -0.42461448788283795, + 0.1488261973783429, + -0.6542664241515076, + -1.0, + 0.3237574385478317, + 0.481481276023501, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 123 mm; move right 95 mm; move downward 142 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 29 degrees; close gripper;", + "subtask_movement_text": "move forward 524 mm; move right 282 mm; move downward 508 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 59 degrees; open gripper;" + }, + { + "frame_index": 144, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 126 mm; move right 105 mm; move downward 141 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 30 degrees; close gripper;\nSubtask Movement: move forward 520 mm; move right 282 mm; move downward 501 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 59 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 227, + 123 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.004285714589059353, + 0.0, + -0.007142857648432255, + 0.0, + 0.0, + 0.011428571306169033, + -1.0 + ], + "delta_next_20": [ + 0.12642858922481537, + -0.10535713285207748, + -0.14142857491970062, + 0.0, + 0.0, + 0.5185714364051819, + -1.0 + ], + "delta_full_state_norm": [ + -0.42461448788283795, + 0.1488261973783429, + -0.6680957772830376, + -1.0, + 0.3237574385478317, + 0.481481276023501, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 126 mm; move right 105 mm; move downward 141 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 30 degrees; close gripper;", + "subtask_movement_text": "move forward 520 mm; move right 282 mm; move downward 501 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 59 degrees; open gripper;" + }, + { + "frame_index": 145, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 130 mm; move right 117 mm; move downward 140 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 31 degrees; close gripper;\nSubtask Movement: move forward 516 mm; move right 282 mm; move downward 494 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 58 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 227, + 123 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.004642857238650322, + -0.0003571428533177823, + -0.007857142947614193, + 0.0, + 0.0, + 0.012857142835855484, + -1.0 + ], + "delta_next_20": [ + 0.13035714626312256, + -0.11678570508956909, + -0.1403571367263794, + 0.0, + 0.0, + 0.5385714769363403, + -1.0 + ], + "delta_full_state_norm": [ + -0.38504191979650093, + 0.1359296308787934, + -0.6957544474832751, + -1.0, + 0.3237574385478317, + 0.5185183109422631, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 130 mm; move right 117 mm; move downward 140 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 31 degrees; close gripper;", + "subtask_movement_text": "move forward 516 mm; move right 282 mm; move downward 494 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 58 degrees; open gripper;" + }, + { + "frame_index": 146, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 1 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 134 mm; move right 128 mm; move downward 138 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 32 degrees; close gripper;\nSubtask Movement: move forward 511 mm; move right 282 mm; move downward 486 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 57 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 227, + 124 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.004642857238650322, + -0.0014285714132711291, + -0.007857142947614193, + 0.0, + 0.0, + 0.014285714365541935, + -1.0 + ], + "delta_next_20": [ + 0.133928582072258, + -0.1282142847776413, + -0.13785713911056519, + 0.0, + 0.0, + 0.5542857050895691, + -1.0 + ], + "delta_full_state_norm": [ + -0.38504191979650093, + 0.09723993138014508, + -0.6957544474832751, + -1.0, + 0.3237574385478317, + 0.5555553458610252, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 1 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 134 mm; move right 128 mm; move downward 138 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 32 degrees; close gripper;", + "subtask_movement_text": "move forward 511 mm; move right 282 mm; move downward 486 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 57 degrees; open gripper;" + }, + { + "frame_index": 147, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 3 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 138 mm; move right 140 mm; move downward 136 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 33 degrees; close gripper;\nSubtask Movement: move forward 506 mm; move right 280 mm; move downward 479 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 56 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 227, + 124 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.004642857238650322, + -0.002500000176951289, + -0.007857142947614193, + 0.0, + 0.0, + 0.018571428954601288, + -1.0 + ], + "delta_next_20": [ + 0.13750000298023224, + -0.1396428495645523, + -0.13571427762508392, + 0.0, + 0.0, + 0.5685714483261108, + -1.0 + ], + "delta_full_state_norm": [ + -0.38504191979650093, + 0.05855022452484282, + -0.6957544474832751, + -1.0, + 0.3237574385478317, + 0.6666664506173117, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 3 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 138 mm; move right 140 mm; move downward 136 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 33 degrees; close gripper;", + "subtask_movement_text": "move forward 506 mm; move right 280 mm; move downward 479 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 56 degrees; open gripper;" + }, + { + "frame_index": 148, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 3 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 141 mm; move right 150 mm; move downward 134 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 33 degrees; close gripper;\nSubtask Movement: move forward 502 mm; move right 278 mm; move downward 471 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 55 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 226, + 124 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0053571430034935474, + -0.0028571428265422583, + -0.007857142947614193, + 0.0, + 0.0, + 0.02142857201397419, + -1.0 + ], + "delta_next_20": [ + 0.14071428775787354, + -0.14999999105930328, + -0.13357143104076385, + 0.0, + 0.0, + 0.5785714983940125, + -1.0 + ], + "delta_full_state_norm": [ + -0.3058967320270405, + 0.04565366538194726, + -0.6957544474832751, + -1.0, + 0.3237574385478317, + 0.7407405204548361, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 3 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 141 mm; move right 150 mm; move downward 134 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 33 degrees; close gripper;", + "subtask_movement_text": "move forward 502 mm; move right 278 mm; move downward 471 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 55 degrees; open gripper;" + }, + { + "frame_index": 149, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 3 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 144 mm; move right 160 mm; move downward 132 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 33 degrees; close gripper;\nSubtask Movement: move forward 496 mm; move right 275 mm; move downward 463 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 54 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 226, + 124 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.006071428768336773, + -0.0028571428265422583, + -0.007857142947614193, + 0.0, + 0.0, + 0.02142857201397419, + -1.0 + ], + "delta_next_20": [ + 0.1435714215040207, + -0.1599999964237213, + -0.13178570568561554, + 0.0, + 0.0, + 0.5842857956886292, + -1.0 + ], + "delta_full_state_norm": [ + -0.22675154425758004, + 0.04565366538194726, + -0.6957544474832751, + -1.0, + 0.3237574385478317, + 0.7407405204548361, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 3 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 144 mm; move right 160 mm; move downward 132 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 33 degrees; close gripper;", + "subtask_movement_text": "move forward 496 mm; move right 275 mm; move downward 463 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 54 degrees; open gripper;" + }, + { + "frame_index": 150, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 4 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 146 mm; move right 170 mm; move downward 130 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 34 degrees; close gripper;\nSubtask Movement: move forward 490 mm; move right 272 mm; move downward 455 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 53 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 226, + 124 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.006071428768336773, + -0.0035714288242161274, + -0.007857142947614193, + 0.0, + 0.0, + 0.02428571507334709, + -1.0 + ], + "delta_next_20": [ + 0.14571428298950195, + -0.16999998688697815, + -0.12999999523162842, + 0.0, + 0.0, + 0.5900000929832458, + -1.0 + ], + "delta_full_state_norm": [ + -0.22675154425758004, + 0.01986052187334275, + -0.6957544474832751, + -1.0, + 0.3237574385478317, + 0.8148145902923603, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 4 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 146 mm; move right 170 mm; move downward 130 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 34 degrees; close gripper;", + "subtask_movement_text": "move forward 490 mm; move right 272 mm; move downward 455 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 53 degrees; open gripper;" + }, + { + "frame_index": 151, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 4 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 147 mm; move right 179 mm; move downward 128 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 34 degrees; close gripper;\nSubtask Movement: move forward 484 mm; move right 269 mm; move downward 447 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 51 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 225, + 125 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0053571430034935474, + -0.004285714589059353, + -0.007500000298023224, + 0.0, + 0.0, + 0.025714285671710968, + -1.0 + ], + "delta_next_20": [ + 0.14749999344348907, + -0.1792856901884079, + -0.1282142847776413, + 0.0, + 0.0, + 0.5928572416305542, + -1.0 + ], + "delta_full_state_norm": [ + -0.3058967320270405, + -0.005932613227657257, + -0.6819251123831563, + -1.0, + 0.3237574385478317, + 0.8518516010657255, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 4 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 147 mm; move right 179 mm; move downward 128 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 34 degrees; close gripper;", + "subtask_movement_text": "move forward 484 mm; move right 269 mm; move downward 447 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 51 degrees; open gripper;" + }, + { + "frame_index": 152, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 5 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 150 mm; move right 187 mm; move downward 127 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 34 degrees; close gripper;\nSubtask Movement: move forward 479 mm; move right 264 mm; move downward 440 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 225, + 125 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0053571430034935474, + -0.004642857238650322, + -0.007142857648432255, + 0.0, + 0.0, + 0.027142856270074844, + -1.0 + ], + "delta_next_20": [ + 0.14999999105930328, + -0.18678568303585052, + -0.12714286148548126, + 0.0, + 0.0, + 0.5942858457565308, + -1.0 + ], + "delta_full_state_norm": [ + -0.3058967320270405, + -0.018829172370552705, + -0.6680957772830376, + -1.0, + 0.3237574385478317, + 0.8888886118390906, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 5 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 150 mm; move right 187 mm; move downward 127 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 34 degrees; close gripper;", + "subtask_movement_text": "move forward 479 mm; move right 264 mm; move downward 440 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 153, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 5 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 153 mm; move right 193 mm; move downward 127 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 34 degrees; close gripper;\nSubtask Movement: move forward 474 mm; move right 260 mm; move downward 433 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 48 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 225, + 125 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.006071428768336773, + -0.004642857238650322, + -0.007142857648432255, + 0.0, + 0.0, + 0.027142856270074844, + -1.0 + ], + "delta_next_20": [ + 0.1525000035762787, + -0.1932142674922943, + -0.12678572535514832, + 0.0, + 0.0, + 0.594285786151886, + -1.0 + ], + "delta_full_state_norm": [ + -0.22675154425758004, + -0.018829172370552705, + -0.6680957772830376, + -1.0, + 0.3237574385478317, + 0.8888886118390906, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 5 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 153 mm; move right 193 mm; move downward 127 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 34 degrees; close gripper;", + "subtask_movement_text": "move forward 474 mm; move right 260 mm; move downward 433 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 48 degrees; open gripper;" + }, + { + "frame_index": 154, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 4 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 154 mm; move right 200 mm; move downward 126 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 34 degrees; close gripper;\nSubtask Movement: move forward 467 mm; move right 255 mm; move downward 425 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 47 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 225, + 125 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.006428571883589029, + -0.004285714589059353, + -0.007500000298023224, + 0.0, + 0.0, + 0.027142856270074844, + -1.0 + ], + "delta_next_20": [ + 0.1542857140302658, + -0.1996428370475769, + -0.12642858922481537, + 0.0, + 0.0, + 0.594285786151886, + -1.0 + ], + "delta_full_state_norm": [ + -0.18717892457445673, + -0.005932613227657257, + -0.6819251123831563, + -1.0, + 0.3237574385478317, + 0.8888886118390906, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 4 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 154 mm; move right 200 mm; move downward 126 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 34 degrees; close gripper;", + "subtask_movement_text": "move forward 467 mm; move right 255 mm; move downward 425 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 47 degrees; open gripper;" + }, + { + "frame_index": 155, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 5 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 156 mm; move right 205 mm; move downward 126 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 34 degrees; close gripper;\nSubtask Movement: move forward 461 mm; move right 251 mm; move downward 418 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 45 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 224, + 125 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.006428571883589029, + -0.005000000353902578, + -0.007500000298023224, + 0.0, + 0.0, + 0.02857142873108387, + -1.0 + ], + "delta_next_20": [ + 0.15607142448425293, + -0.20464284718036652, + -0.1257142871618271, + 0.0, + 0.0, + 0.5928571820259094, + -1.0 + ], + "delta_full_state_norm": [ + -0.18717892457445673, + -0.031725748328657266, + -0.6819251123831563, + -1.0, + 0.3237574385478317, + 0.9259256709032497, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 5 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 156 mm; move right 205 mm; move downward 126 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 34 degrees; close gripper;", + "subtask_movement_text": "move forward 461 mm; move right 251 mm; move downward 418 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 45 degrees; open gripper;" + }, + { + "frame_index": 156, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 6 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 158 mm; move right 208 mm; move downward 125 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 34 degrees; close gripper;\nSubtask Movement: move forward 455 mm; move right 246 mm; move downward 410 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 44 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 224, + 126 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.007142857648432255, + -0.006071428768336773, + -0.006785714533179998, + 0.0, + 0.0, + 0.03142857179045677, + -1.0 + ], + "delta_next_20": [ + 0.15785713493824005, + -0.20821426808834076, + -0.12535715103149414, + 0.0, + 0.0, + 0.5899999737739563, + -1.0 + ], + "delta_full_state_norm": [ + -0.1080337368049964, + -0.07041544257255272, + -0.6542664241515076, + -1.0, + 0.3237574385478317, + 0.9999997407407741, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 6 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 158 mm; move right 208 mm; move downward 125 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 34 degrees; close gripper;", + "subtask_movement_text": "move forward 455 mm; move right 246 mm; move downward 410 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 44 degrees; open gripper;" + }, + { + "frame_index": 157, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 7 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 159 mm; move right 210 mm; move downward 126 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 33 degrees; close gripper;\nSubtask Movement: move forward 447 mm; move right 240 mm; move downward 404 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 42 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 224, + 126 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.007500000298023224, + -0.006785714533179998, + -0.006785714533179998, + 0.0, + 0.0, + 0.03142857179045677, + -1.0 + ], + "delta_next_20": [ + 0.15928570926189423, + -0.20999999344348907, + -0.1257142871618271, + 0.0, + 0.0, + 0.5842856764793396, + -1.0 + ], + "delta_full_state_norm": [ + -0.06846116871865937, + -0.09620857767355273, + -0.6542664241515076, + -1.0, + 0.3237574385478317, + 0.9999997407407741, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 7 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 159 mm; move right 210 mm; move downward 126 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 33 degrees; close gripper;", + "subtask_movement_text": "move forward 447 mm; move right 240 mm; move downward 404 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 42 degrees; open gripper;" + }, + { + "frame_index": 158, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 8 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 161 mm; move right 210 mm; move downward 126 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 33 degrees; close gripper;\nSubtask Movement: move forward 440 mm; move right 233 mm; move downward 397 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 224, + 126 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.008214286528527737, + -0.007500000298023224, + -0.006785714533179998, + 0.0, + 0.0, + 0.03142857179045677, + -1.0 + ], + "delta_next_20": [ + 0.16107141971588135, + -0.21035714447498322, + -0.12642858922481537, + 0.0, + 0.0, + 0.5785713791847229, + -1.0 + ], + "delta_full_state_norm": [ + 0.010684070647587474, + -0.12200171277455274, + -0.6542664241515076, + -1.0, + 0.3237574385478317, + 0.9999997407407741, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 8 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 161 mm; move right 210 mm; move downward 126 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 33 degrees; close gripper;", + "subtask_movement_text": "move forward 440 mm; move right 233 mm; move downward 397 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 159, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 8 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 162 mm; move right 209 mm; move downward 127 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 33 degrees; close gripper;\nSubtask Movement: move forward 432 mm; move right 225 mm; move downward 390 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 38 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 223, + 126 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + -0.007500000298023224, + -0.006428571883589029, + 0.0, + 0.0, + 0.03142857179045677, + -1.0 + ], + "delta_next_20": [ + 0.16214285790920258, + -0.20928573608398438, + -0.12714287638664246, + 0.0, + 0.0, + 0.5714285373687744, + -1.0 + ], + "delta_full_state_norm": [ + -0.028888600632322348, + -0.12200171277455274, + -0.6404370890513889, + -1.0, + 0.3237574385478317, + 0.9999997407407741, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 8 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 162 mm; move right 209 mm; move downward 127 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 33 degrees; close gripper;", + "subtask_movement_text": "move forward 432 mm; move right 225 mm; move downward 390 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 38 degrees; open gripper;" + }, + { + "frame_index": 160, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 10 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 164 mm; move right 207 mm; move downward 128 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 32 degrees; close gripper;\nSubtask Movement: move forward 424 mm; move right 218 mm; move downward 384 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 37 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [219,140], [219,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 223, + 126 + ], + "task_obj_bbox": [ + 219, + 140, + 219, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.007500000298023224, + -0.009642857126891613, + -0.0057142856530845165, + 0.0, + 0.0, + 0.034285712987184525, + -1.0 + ], + "delta_next_20": [ + 0.1639285832643509, + -0.20714285969734192, + -0.1282142996788025, + 0.0, + 0.0, + 0.5642856955528259, + -1.0 + ], + "delta_full_state_norm": [ + -0.06846116871865937, + -0.19938110126234365, + -0.6127783827883289, + -1.0, + 0.3237574385478317, + 1.0, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 10 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 164 mm; move right 207 mm; move downward 128 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 32 degrees; close gripper;", + "subtask_movement_text": "move forward 424 mm; move right 218 mm; move downward 384 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 37 degrees; open gripper;" + }, + { + "frame_index": 161, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 10 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 166 mm; move right 203 mm; move downward 130 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 32 degrees; close gripper;\nSubtask Movement: move forward 416 mm; move right 208 mm; move downward 378 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 35 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [218,139], [219,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 223, + 126 + ], + "task_obj_bbox": [ + 218, + 139, + 219, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.007500000298023224, + -0.010357143357396126, + -0.0057142856530845165, + 0.0, + 0.0, + 0.034285712987184525, + -1.0 + ], + "delta_next_20": [ + 0.16607144474983215, + -0.20250001549720764, + -0.12964287400245667, + 0.0, + 0.0, + 0.5542857050895691, + -1.0 + ], + "delta_full_state_norm": [ + -0.06846116871865937, + -0.22517425317855277, + -0.6127783827883289, + -1.0, + 0.3237574385478317, + 1.0, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 10 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 166 mm; move right 203 mm; move downward 130 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 32 degrees; close gripper;", + "subtask_movement_text": "move forward 416 mm; move right 208 mm; move downward 378 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 35 degrees; open gripper;" + }, + { + "frame_index": 162, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 10 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 169 mm; move right 196 mm; move downward 131 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 31 degrees; close gripper;\nSubtask Movement: move forward 409 mm; move right 198 mm; move downward 372 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 33 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [217,135], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 223, + 126 + ], + "task_obj_bbox": [ + 217, + 135, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.007500000298023224, + -0.010357143357396126, + -0.006071428768336773, + 0.0, + 0.0, + 0.03285714238882065, + -1.0 + ], + "delta_next_20": [ + 0.1689285784959793, + -0.1957142949104309, + -0.13107143342494965, + 0.0, + 0.0, + 0.5414285063743591, + -1.0 + ], + "delta_full_state_norm": [ + -0.06846116871865937, + -0.22517425317855277, + -0.6266077359198589, + -1.0, + 0.3237574385478317, + 1.0, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 10 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 169 mm; move right 196 mm; move downward 131 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 31 degrees; close gripper;", + "subtask_movement_text": "move forward 409 mm; move right 198 mm; move downward 372 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 33 degrees; open gripper;" + }, + { + "frame_index": 163, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 11 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 172 mm; move right 186 mm; move downward 132 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 30 degrees; close gripper;\nSubtask Movement: move forward 401 mm; move right 188 mm; move downward 366 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 31 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [217,132], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 223, + 127 + ], + "task_obj_bbox": [ + 217, + 132, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + -0.010714286006987095, + -0.006071428768336773, + 0.0, + 0.0, + 0.03142857179045677, + -1.0 + ], + "delta_next_20": [ + 0.1721428483724594, + -0.18642859160900116, + -0.13178572058677673, + 0.0, + 0.0, + 0.5257141590118408, + -1.0 + ], + "delta_full_state_norm": [ + -0.028888600632322348, + -0.23807081232144822, + -0.6266077359198589, + -1.0, + 0.3237574385478317, + 0.9999997407407741, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 11 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 172 mm; move right 186 mm; move downward 132 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 30 degrees; close gripper;", + "subtask_movement_text": "move forward 401 mm; move right 188 mm; move downward 366 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 31 degrees; open gripper;" + }, + { + "frame_index": 164, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 11 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 176 mm; move right 176 mm; move downward 132 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 29 degrees; close gripper;\nSubtask Movement: move forward 394 mm; move right 177 mm; move downward 360 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 29 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,132], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [217,142]\n", + "gripper_2d": [ + 222, + 127 + ], + "task_obj_bbox": [ + 214, + 132, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 217, + 142 + ] + ], + "delta_full_state": [ + 0.008214286528527737, + -0.011428571306169033, + -0.006071428768336773, + 0.0, + 0.0, + 0.03142857179045677, + -1.0 + ], + "delta_next_20": [ + 0.17571429908275604, + -0.17571429908275604, + -0.13214287161827087, + 0.0, + 0.0, + 0.5042856335639954, + -1.0 + ], + "delta_full_state_norm": [ + 0.010684070647587474, + -0.2638639306072392, + -0.6266077359198589, + -1.0, + 0.3237574385478317, + 0.9999997407407741, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 11 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 176 mm; move right 176 mm; move downward 132 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 29 degrees; close gripper;", + "subtask_movement_text": "move forward 394 mm; move right 177 mm; move downward 360 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 29 degrees; open gripper;" + }, + { + "frame_index": 165, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 12 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 179 mm; move right 164 mm; move downward 131 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 27 degrees; close gripper;\nSubtask Movement: move forward 385 mm; move right 165 mm; move downward 354 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 27 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,127], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [217,142]\n", + "gripper_2d": [ + 222, + 127 + ], + "task_obj_bbox": [ + 214, + 127, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 217, + 142 + ] + ], + "delta_full_state": [ + 0.008214286528527737, + -0.011785714887082577, + -0.0053571430034935474, + 0.0, + 0.0, + 0.02857142873108387, + -1.0 + ], + "delta_next_20": [ + 0.17928571999073029, + -0.16428573429584503, + -0.1314285844564438, + 0.0, + 0.0, + 0.4728570878505707, + -1.0 + ], + "delta_full_state_norm": [ + 0.010684070647587474, + -0.2767605233805528, + -0.5989490476882101, + -1.0, + 0.3237574385478317, + 0.9259256709032497, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 12 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 179 mm; move right 164 mm; move downward 131 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 27 degrees; close gripper;", + "subtask_movement_text": "move forward 385 mm; move right 165 mm; move downward 354 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 27 degrees; open gripper;" + }, + { + "frame_index": 166, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 13 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 184 mm; move right 153 mm; move downward 131 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 25 degrees; close gripper;\nSubtask Movement: move forward 377 mm; move right 154 mm; move downward 349 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 25 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,126], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [217,142]\n", + "gripper_2d": [ + 222, + 127 + ], + "task_obj_bbox": [ + 214, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 217, + 142 + ] + ], + "delta_full_state": [ + 0.008214286528527737, + -0.012857143767178059, + -0.0057142856530845165, + 0.0, + 0.0, + 0.02857142873108387, + -1.0 + ], + "delta_next_20": [ + 0.1835714429616928, + -0.15250001847743988, + -0.13107143342494965, + 0.0, + 0.0, + 0.44428566098213196, + -1.0 + ], + "delta_full_state_norm": [ + 0.010684070647587474, + -0.31545023443965736, + -0.6127783827883289, + -1.0, + 0.3237574385478317, + 0.9259256709032497, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 13 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 184 mm; move right 153 mm; move downward 131 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 25 degrees; close gripper;", + "subtask_movement_text": "move forward 377 mm; move right 154 mm; move downward 349 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 25 degrees; open gripper;" + }, + { + "frame_index": 167, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 13 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 188 mm; move right 140 mm; move downward 131 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 24 degrees; close gripper;\nSubtask Movement: move forward 369 mm; move right 141 mm; move downward 343 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 24 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [220,140]\ndistr_counter: [14,114], [217,136]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 222, + 127 + ], + "task_obj_bbox": [ + 213, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 217, + 136 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + -0.012857143767178059, + -0.0057142856530845165, + 0.0, + 0.0, + 0.02857142873108387, + -1.0 + ], + "delta_next_20": [ + 0.1882142722606659, + -0.1396428793668747, + -0.1307142972946167, + 0.0, + 0.0, + 0.41571423411369324, + -1.0 + ], + "delta_full_state_norm": [ + -0.028888600632322348, + -0.31545023443965736, + -0.6127783827883289, + -1.0, + 0.3237574385478317, + 0.9259256709032497, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 13 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 188 mm; move right 140 mm; move downward 131 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 24 degrees; close gripper;", + "subtask_movement_text": "move forward 369 mm; move right 141 mm; move downward 343 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 24 degrees; open gripper;" + }, + { + "frame_index": 168, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 13 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 193 mm; move right 127 mm; move downward 130 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 22 degrees; close gripper;\nSubtask Movement: move forward 361 mm; move right 128 mm; move downward 337 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 22 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [220,140]\ndistr_counter: [14,114], [216,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 222, + 127 + ], + "task_obj_bbox": [ + 213, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 216, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.008214286528527737, + -0.012857143767178059, + -0.006071428768336773, + 0.0, + 0.0, + 0.027142856270074844, + -1.0 + ], + "delta_next_20": [ + 0.19285713136196136, + -0.12678572535514832, + -0.1300000101327896, + 0.0, + 0.0, + 0.3871428072452545, + -1.0 + ], + "delta_full_state_norm": [ + 0.010684070647587474, + -0.31545023443965736, + -0.6266077359198589, + -1.0, + 0.3237574385478317, + 0.8888886118390906, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 13 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 193 mm; move right 127 mm; move downward 130 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 22 degrees; close gripper;", + "subtask_movement_text": "move forward 361 mm; move right 128 mm; move downward 337 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 22 degrees; open gripper;" + }, + { + "frame_index": 169, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 13 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 197 mm; move right 114 mm; move downward 129 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 21 degrees; close gripper;\nSubtask Movement: move forward 353 mm; move right 115 mm; move downward 331 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 21 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [220,140]\ndistr_counter: [14,114], [216,136]\ndistr_sink: [144,135], [217,142]\n", + "gripper_2d": [ + 223, + 127 + ], + "task_obj_bbox": [ + 213, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 216, + 136 + ], + [ + 144, + 135, + 217, + 142 + ] + ], + "delta_full_state": [ + 0.008214286528527737, + -0.012857143767178059, + -0.006071428768336773, + 0.0, + 0.0, + 0.027142856270074844, + -1.0 + ], + "delta_next_20": [ + 0.1971428543329239, + -0.11392857134342194, + -0.12857143580913544, + 0.0, + 0.0, + 0.35999995470046997, + -1.0 + ], + "delta_full_state_norm": [ + 0.010684070647587474, + -0.31545023443965736, + -0.6266077359198589, + -1.0, + 0.3237574385478317, + 0.8888886118390906, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 13 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 197 mm; move right 114 mm; move downward 129 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 21 degrees; close gripper;", + "subtask_movement_text": "move forward 353 mm; move right 115 mm; move downward 331 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 21 degrees; open gripper;" + }, + { + "frame_index": 170, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 13 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 201 mm; move right 101 mm; move downward 127 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 19 degrees; close gripper;\nSubtask Movement: move forward 345 mm; move right 102 mm; move downward 325 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 19 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [220,140]\ndistr_counter: [14,114], [218,135]\ndistr_sink: [144,134], [217,142]\n", + "gripper_2d": [ + 223, + 127 + ], + "task_obj_bbox": [ + 213, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 218, + 135 + ], + [ + 144, + 134, + 217, + 142 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + -0.012857143767178059, + -0.006071428768336773, + 0.0, + 0.0, + 0.027142856270074844, + -1.0 + ], + "delta_next_20": [ + 0.20107141137123108, + -0.10107143223285675, + -0.12678571045398712, + 0.0, + 0.0, + 0.3328571319580078, + -1.0 + ], + "delta_full_state_norm": [ + -0.028888600632322348, + -0.31545023443965736, + -0.6266077359198589, + -1.0, + 0.3237574385478317, + 0.8888886118390906, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 13 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 201 mm; move right 101 mm; move downward 127 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 19 degrees; close gripper;", + "subtask_movement_text": "move forward 345 mm; move right 102 mm; move downward 325 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 19 degrees; open gripper;" + }, + { + "frame_index": 171, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 12 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 205 mm; move right 88 mm; move downward 125 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 18 degrees; close gripper;\nSubtask Movement: move forward 337 mm; move right 89 mm; move downward 319 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 18 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 223, + 127 + ], + "task_obj_bbox": [ + 213, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + -0.011785714887082577, + -0.006428571883589029, + 0.0, + 0.0, + 0.027142856270074844, + -1.0 + ], + "delta_next_20": [ + 0.20499999821186066, + -0.08821429312229156, + -0.125, + 0.0, + 0.0, + 0.30571427941322327, + -1.0 + ], + "delta_full_state_norm": [ + -0.028888600632322348, + -0.2767605233805528, + -0.6404370890513889, + -1.0, + 0.3237574385478317, + 0.8888886118390906, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 12 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 205 mm; move right 88 mm; move downward 125 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 18 degrees; close gripper;", + "subtask_movement_text": "move forward 337 mm; move right 89 mm; move downward 319 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 18 degrees; open gripper;" + }, + { + "frame_index": 172, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 11 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 209 mm; move right 76 mm; move downward 123 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 16 degrees; close gripper;\nSubtask Movement: move forward 329 mm; move right 78 mm; move downward 312 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 16 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [220,140]\ndistr_counter: [14,114], [217,135]\ndistr_sink: [144,134], [219,142]\n", + "gripper_2d": [ + 223, + 128 + ], + "task_obj_bbox": [ + 213, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 217, + 135 + ], + [ + 144, + 134, + 219, + 142 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + -0.011071428656578064, + -0.006785714533179998, + 0.0, + 0.0, + 0.027142856270074844, + -1.0 + ], + "delta_next_20": [ + 0.2085714340209961, + -0.07642856985330582, + -0.12285714596509933, + 0.0, + 0.0, + 0.2785714268684387, + -1.0 + ], + "delta_full_state_norm": [ + -0.028888600632322348, + -0.25096737146434367, + -0.6542664241515076, + -1.0, + 0.3237574385478317, + 0.8888886118390906, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 11 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 209 mm; move right 76 mm; move downward 123 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 16 degrees; close gripper;", + "subtask_movement_text": "move forward 329 mm; move right 78 mm; move downward 312 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 16 degrees; open gripper;" + }, + { + "frame_index": 173, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 11 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 212 mm; move right 65 mm; move downward 120 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 14 degrees; close gripper;\nSubtask Movement: move forward 321 mm; move right 66 mm; move downward 306 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 14 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [220,140]\ndistr_counter: [14,114], [218,135]\ndistr_sink: [144,134], [219,142]\n", + "gripper_2d": [ + 223, + 128 + ], + "task_obj_bbox": [ + 213, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 218, + 135 + ], + [ + 144, + 134, + 219, + 142 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + -0.011071428656578064, + -0.006785714533179998, + 0.0, + 0.0, + 0.027142856270074844, + -1.0 + ], + "delta_next_20": [ + 0.21214285492897034, + -0.06535714119672775, + -0.12035715579986572, + 0.0, + 0.0, + 0.2514285743236542, + -1.0 + ], + "delta_full_state_norm": [ + -0.028888600632322348, + -0.25096737146434367, + -0.6542664241515076, + -1.0, + 0.3237574385478317, + 0.8888886118390906, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 11 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 212 mm; move right 65 mm; move downward 120 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 14 degrees; close gripper;", + "subtask_movement_text": "move forward 321 mm; move right 66 mm; move downward 306 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 14 degrees; open gripper;" + }, + { + "frame_index": 174, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 9 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 215 mm; move right 54 mm; move downward 118 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 13 degrees; close gripper;\nSubtask Movement: move forward 313 mm; move right 55 mm; move downward 299 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,133], [219,142]\n", + "gripper_2d": [ + 223, + 128 + ], + "task_obj_bbox": [ + 213, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 133, + 219, + 142 + ] + ], + "delta_full_state": [ + 0.008214286528527737, + -0.009285714477300644, + -0.006785714533179998, + 0.0, + 0.0, + 0.025714285671710968, + -1.0 + ], + "delta_next_20": [ + 0.21464286744594574, + -0.05428571626543999, + -0.11785715073347092, + 0.0, + 0.0, + 0.22428573668003082, + -1.0 + ], + "delta_full_state_norm": [ + 0.010684070647587474, + -0.1864845421194482, + -0.6542664241515076, + -1.0, + 0.3237574385478317, + 0.8518516010657255, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 9 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 215 mm; move right 54 mm; move downward 118 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 13 degrees; close gripper;", + "subtask_movement_text": "move forward 313 mm; move right 55 mm; move downward 299 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 13 degrees; open gripper;" + }, + { + "frame_index": 175, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 9 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 216 mm; move right 45 mm; move downward 115 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 11 degrees; close gripper;\nSubtask Movement: move forward 305 mm; move right 46 mm; move downward 292 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [220,140]\ndistr_counter: [14,114], [219,135]\ndistr_sink: [144,132], [220,142]\n", + "gripper_2d": [ + 224, + 128 + ], + "task_obj_bbox": [ + 213, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 219, + 135 + ], + [ + 144, + 132, + 220, + 142 + ] + ], + "delta_full_state": [ + 0.008214286528527737, + -0.008571429178118706, + -0.007142857648432255, + 0.0, + 0.0, + 0.025714285671710968, + -1.0 + ], + "delta_next_20": [ + 0.21642856299877167, + -0.04500000551342964, + -0.11500000208616257, + 0.0, + 0.0, + 0.19857144355773926, + -1.0 + ], + "delta_full_state_norm": [ + 0.010684070647587474, + -0.1606914238336573, + -0.6680957772830376, + -1.0, + 0.3237574385478317, + 0.8518516010657255, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 9 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 216 mm; move right 45 mm; move downward 115 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 11 degrees; close gripper;", + "subtask_movement_text": "move forward 305 mm; move right 46 mm; move downward 292 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 176, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 8 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 218 mm; move right 36 mm; move downward 112 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 10 degrees; close gripper;\nSubtask Movement: move forward 297 mm; move right 38 mm; move downward 285 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,132], [220,142]\n", + "gripper_2d": [ + 224, + 128 + ], + "task_obj_bbox": [ + 213, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 132, + 220, + 142 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + -0.007857142947614193, + -0.007142857648432255, + 0.0, + 0.0, + 0.025714285671710968, + -1.0 + ], + "delta_next_20": [ + 0.2175000011920929, + -0.036428578197956085, + -0.11214286088943481, + 0.0, + 0.0, + 0.1728571653366089, + -1.0 + ], + "delta_full_state_norm": [ + 0.0502566387339245, + -0.1348982719174482, + -0.6680957772830376, + -1.0, + 0.3237574385478317, + 0.8518516010657255, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 8 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 218 mm; move right 36 mm; move downward 112 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 10 degrees; close gripper;", + "subtask_movement_text": "move forward 297 mm; move right 38 mm; move downward 285 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 10 degrees; open gripper;" + }, + { + "frame_index": 177, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 7 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 218 mm; move right 29 mm; move downward 109 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 8 degrees; close gripper;\nSubtask Movement: move forward 288 mm; move right 30 mm; move downward 278 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [220,140]\ndistr_counter: [14,114], [220,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 224, + 128 + ], + "task_obj_bbox": [ + 213, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 220, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + -0.007142857648432255, + -0.007500000298023224, + 0.0, + 0.0, + 0.025714285671710968, + -1.0 + ], + "delta_next_20": [ + 0.2175000160932541, + -0.02857143059372902, + -0.10928572714328766, + 0.0, + 0.0, + 0.14714287221431732, + -1.0 + ], + "delta_full_state_norm": [ + 0.12940177490659854, + -0.10910515363165729, + -0.6819251123831563, + -1.0, + 0.3237574385478317, + 0.8518516010657255, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 7 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 218 mm; move right 29 mm; move downward 109 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 8 degrees; close gripper;", + "subtask_movement_text": "move forward 288 mm; move right 30 mm; move downward 278 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 8 degrees; open gripper;" + }, + { + "frame_index": 178, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 6 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 217 mm; move right 21 mm; move downward 107 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; close gripper;\nSubtask Movement: move forward 279 mm; move right 23 mm; move downward 270 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [220,140]\ndistr_counter: [14,114], [220,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 224, + 128 + ], + "task_obj_bbox": [ + 213, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 220, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + -0.006428571883589029, + -0.007500000298023224, + 0.0, + 0.0, + 0.02428571507334709, + -1.0 + ], + "delta_next_20": [ + 0.2167857140302658, + -0.02142857201397419, + -0.10678572952747345, + 0.0, + 0.0, + 0.12142856419086456, + -1.0 + ], + "delta_full_state_norm": [ + 0.12940177490659854, + -0.08331201853065728, + -0.6819251123831563, + -1.0, + 0.3237574385478317, + 0.8148145902923603, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 6 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 217 mm; move right 21 mm; move downward 107 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; close gripper;", + "subtask_movement_text": "move forward 279 mm; move right 23 mm; move downward 270 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 179, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 5 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 215 mm; move right 15 mm; move downward 105 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; close gripper;\nSubtask Movement: move forward 270 mm; move right 16 mm; move downward 263 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 224, + 128 + ], + "task_obj_bbox": [ + 213, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + -0.0053571430034935474, + -0.007500000298023224, + 0.0, + 0.0, + 0.02428571507334709, + -1.0 + ], + "delta_next_20": [ + 0.21535713970661163, + -0.015000000596046448, + -0.10500003397464752, + 0.0, + 0.0, + 0.09714285284280777, + -1.0 + ], + "delta_full_state_norm": [ + 0.16897434299293557, + -0.044622307471552713, + -0.6819251123831563, + -1.0, + 0.3237574385478317, + 0.8148145902923603, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 5 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 215 mm; move right 15 mm; move downward 105 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; close gripper;", + "subtask_movement_text": "move forward 270 mm; move right 16 mm; move downward 263 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 6 degrees; open gripper;" + }, + { + "frame_index": 180, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 5 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 213 mm; move right 10 mm; move downward 104 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; close gripper;\nSubtask Movement: move forward 260 mm; move right 11 mm; move downward 255 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,127], [220,140]\ndistr_counter: [14,114], [219,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 224, + 128 + ], + "task_obj_bbox": [ + 213, + 127, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 219, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + -0.005000000353902578, + -0.007142857648432255, + 0.0, + 0.0, + 0.02428571507334709, + -1.0 + ], + "delta_next_20": [ + 0.21321430802345276, + -0.009642857126891613, + -0.10392860323190689, + 0.0, + 0.0, + 0.07285714149475098, + -1.0 + ], + "delta_full_state_norm": [ + 0.16897434299293557, + -0.031725748328657266, + -0.6680957772830376, + -1.0, + 0.3237574385478317, + 0.8148145902923603, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 5 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 213 mm; move right 10 mm; move downward 104 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; close gripper;", + "subtask_movement_text": "move forward 260 mm; move right 11 mm; move downward 255 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 181, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 4 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 210 mm; move right 5 mm; move downward 103 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; close gripper;\nSubtask Movement: move forward 250 mm; move right 6 mm; move downward 248 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,127], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,132], [220,142]\n", + "gripper_2d": [ + 224, + 128 + ], + "task_obj_bbox": [ + 213, + 127, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 132, + 220, + 142 + ] + ], + "delta_full_state": [ + 0.010357143357396126, + -0.0035714288242161274, + -0.007142857648432255, + 0.0, + 0.0, + 0.02142857201397419, + -1.0 + ], + "delta_next_20": [ + 0.21035714447498322, + -0.004642857238650322, + -0.1032143160700798, + 0.0, + 0.0, + 0.04857143014669418, + -1.0 + ], + "delta_full_state_norm": [ + 0.2481195823591824, + 0.01986052187334275, + -0.6680957772830376, + -1.0, + 0.3237574385478317, + 0.7407405204548361, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 4 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 210 mm; move right 5 mm; move downward 103 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; close gripper;", + "subtask_movement_text": "move forward 250 mm; move right 6 mm; move downward 248 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 182, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 1 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 206 mm; move right 1 mm; move downward 103 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nSubtask Movement: move forward 240 mm; move right 2 mm; move downward 241 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,127], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,132], [220,142]\n", + "gripper_2d": [ + 224, + 128 + ], + "task_obj_bbox": [ + 213, + 127, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 132, + 220, + 142 + ] + ], + "delta_full_state": [ + 0.010714286006987095, + -0.0010714286472648382, + -0.006785714533179998, + 0.0, + 0.0, + 0.017142856493592262, + -1.0 + ], + "delta_next_20": [ + 0.2060714215040207, + -0.0010714286472648382, + -0.10285716503858566, + 0.0, + 0.0, + 0.027142856270074844, + -1.0 + ], + "delta_full_state_norm": [ + 0.28769215044551943, + 0.11013649472684284, + -0.6542664241515076, + -1.0, + 0.3237574385478317, + 0.6296293915531526, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 1 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 206 mm; move right 1 mm; move downward 103 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "subtask_movement_text": "move forward 240 mm; move right 2 mm; move downward 241 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 183, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 201 mm; move right 0 mm; move downward 105 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nSubtask Movement: move forward 229 mm; move right 1 mm; move downward 234 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,127], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,132], [220,142]\n", + "gripper_2d": [ + 224, + 128 + ], + "task_obj_bbox": [ + 213, + 127, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 132, + 220, + 142 + ] + ], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + -0.006428571883589029, + 0.0, + 0.0, + 0.009999999776482582, + -1.0 + ], + "delta_next_20": [ + 0.2014285773038864, + 0.0, + -0.10535714775323868, + 0.0, + 0.0, + 0.009999999776482582, + -1.0 + ], + "delta_full_state_norm": [ + 0.3668372866181935, + 0.1488261973783429, + -0.6404370890513889, + -1.0, + 0.3237574385478317, + 0.4444442411047389, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 201 mm; move right 0 mm; move downward 105 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 229 mm; move right 1 mm; move downward 234 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 184, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 195 mm; move right 0 mm; move downward 110 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 218 mm; move right 1 mm; move downward 228 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,127], [220,140]\ndistr_counter: [14,114], [220,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 224, + 128 + ], + "task_obj_bbox": [ + 213, + 127, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 220, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.011785714887082577, + 0.0, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.19500000774860382, + 0.0, + -0.10964285582304001, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4064099578981031, + 0.1488261973783429, + -0.5989490476882101, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 195 mm; move right 0 mm; move downward 110 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 218 mm; move right 1 mm; move downward 228 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 185, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 188 mm; move right 0 mm; move downward 114 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 206 mm; move right 1 mm; move downward 222 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,127], [220,140]\ndistr_counter: [14,114], [220,135]\ndistr_sink: [144,131], [220,142]\n", + "gripper_2d": [ + 223, + 128 + ], + "task_obj_bbox": [ + 213, + 127, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 220, + 135 + ], + [ + 144, + 131, + 220, + 142 + ] + ], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + -0.005000000353902578, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1875000149011612, + 0.0, + -0.11428570747375488, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4855550940707771, + 0.1488261973783429, + -0.5851197125880914, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 188 mm; move right 0 mm; move downward 114 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 206 mm; move right 1 mm; move downward 222 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 186, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 179 mm; move right 0 mm; move downward 120 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 194 mm; move right 1 mm; move downward 218 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,131], [220,142]\n", + "gripper_2d": [ + 223, + 128 + ], + "task_obj_bbox": [ + 213, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 131, + 220, + 142 + ] + ], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1785714328289032, + 0.0, + -0.11964285373687744, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.525127765350687, + 0.1488261973783429, + -0.5989490476882101, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 179 mm; move right 0 mm; move downward 120 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 194 mm; move right 1 mm; move downward 218 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 187, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 169 mm; move right 0 mm; move downward 125 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 181 mm; move right 1 mm; move downward 212 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,127], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,131], [220,142]\n", + "gripper_2d": [ + 223, + 128 + ], + "task_obj_bbox": [ + 213, + 127, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 131, + 220, + 142 + ] + ], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + -0.005000000353902578, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1689285784959793, + 0.0, + -0.12464284896850586, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4855550940707771, + 0.1488261973783429, + -0.5851197125880914, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 169 mm; move right 0 mm; move downward 125 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 181 mm; move right 1 mm; move downward 212 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 188, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 160 mm; move right 0 mm; move downward 130 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 168 mm; move right 1 mm; move downward 207 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,127], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,130], [219,142]\n", + "gripper_2d": [ + 223, + 128 + ], + "task_obj_bbox": [ + 213, + 127, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 130, + 219, + 142 + ] + ], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + -0.004642857238650322, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.15964286029338837, + 0.0, + -0.13035713136196136, + 0.0, + 0.0014285714132711291, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4855550940707771, + 0.1488261973783429, + -0.5712903594565614, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 160 mm; move right 0 mm; move downward 130 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 168 mm; move right 1 mm; move downward 207 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 189, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 149 mm; move right 0 mm; move downward 136 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 156 mm; move right 1 mm; move downward 202 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,130], [219,142]\n", + "gripper_2d": [ + 222, + 127 + ], + "task_obj_bbox": [ + 213, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 130, + 219, + 142 + ] + ], + "delta_full_state": [ + 0.012142857536673546, + 0.0, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1492857187986374, + 0.0, + -0.13571427762508392, + 0.0, + 0.0057142856530845165, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4459825259844401, + 0.1488261973783429, + -0.5574610243564426, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 149 mm; move right 0 mm; move downward 136 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 156 mm; move right 1 mm; move downward 202 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 190, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 137 mm; move right 0 mm; move downward 142 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 144 mm; move right 1 mm; move downward 198 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,130], [219,142]\n", + "gripper_2d": [ + 222, + 127 + ], + "task_obj_bbox": [ + 213, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 130, + 219, + 142 + ] + ], + "delta_full_state": [ + 0.011785714887082577, + 0.0, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.13749998807907104, + 0.0, + -0.14178572595119476, + 0.0, + 0.009999999776482582, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4064099578981031, + 0.1488261973783429, + -0.5574610243564426, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 137 mm; move right 0 mm; move downward 142 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 144 mm; move right 1 mm; move downward 198 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 191, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 126 mm; move right 0 mm; move downward 148 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 132 mm; move right 1 mm; move downward 194 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [220,140]\ndistr_counter: [14,114], [219,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 222, + 127 + ], + "task_obj_bbox": [ + 213, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 219, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1257142871618271, + 0.0, + -0.14750000834465027, + 0.0, + 0.011428571306169033, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3668372866181935, + 0.1488261973783429, + -0.5574610243564426, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 126 mm; move right 0 mm; move downward 148 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 132 mm; move right 1 mm; move downward 194 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 192, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 115 mm; move right 0 mm; move downward 151 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 120 mm; move right 1 mm; move downward 190 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [220,140]\ndistr_counter: [14,114], [219,135]\ndistr_sink: [144,129], [218,142]\n", + "gripper_2d": [ + 221, + 127 + ], + "task_obj_bbox": [ + 213, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 219, + 135 + ], + [ + 144, + 129, + 218, + 142 + ] + ], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.11464285850524902, + 0.0, + -0.1510714292526245, + 0.0, + 0.014285714365541935, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3668372866181935, + 0.1488261973783429, + -0.5574610243564426, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 115 mm; move right 0 mm; move downward 151 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 120 mm; move right 1 mm; move downward 190 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 193, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 104 mm; move right 0 mm; move downward 155 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 109 mm; move right 1 mm; move downward 185 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,129], [218,142]\n", + "gripper_2d": [ + 221, + 127 + ], + "task_obj_bbox": [ + 213, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 129, + 218, + 142 + ] + ], + "delta_full_state": [ + 0.010357143357396126, + 0.0, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1039285808801651, + 0.0, + -0.15464286506175995, + 0.0, + 0.017142856493592262, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.2481195823591824, + 0.1488261973783429, + -0.5574610243564426, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 104 mm; move right 0 mm; move downward 155 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 109 mm; move right 1 mm; move downward 185 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 194, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 95 mm; move right 0 mm; move downward 158 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 99 mm; move right 1 mm; move downward 181 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [220,140]\ndistr_counter: [14,114], [218,135]\ndistr_sink: [144,129], [219,142]\n", + "gripper_2d": [ + 221, + 127 + ], + "task_obj_bbox": [ + 213, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 218, + 135 + ], + [ + 144, + 129, + 219, + 142 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + 0.0, + -0.0039285714738070965, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.09464287012815475, + 0.0, + -0.1575000137090683, + 0.0, + 0.024285713210701942, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.2085470142728454, + 0.1488261973783429, + -0.5436316712249126, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 95 mm; move right 0 mm; move downward 158 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 99 mm; move right 1 mm; move downward 181 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 195, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 86 mm; move right 0 mm; move downward 160 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 89 mm; move right 1 mm; move downward 177 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [220,140]\ndistr_counter: [14,114], [218,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 220, + 127 + ], + "task_obj_bbox": [ + 213, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 218, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + 0.0, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.08571430295705795, + 0.0, + -0.16035714745521545, + 0.0, + 0.034285712987184525, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.12940177490659854, + 0.1488261973783429, + -0.5574610243564426, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 86 mm; move right 0 mm; move downward 160 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 89 mm; move right 1 mm; move downward 177 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 196, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 78 mm; move right 0 mm; move downward 163 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 79 mm; move right 1 mm; move downward 173 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [220,140]\ndistr_counter: [14,114], [218,135]\ndistr_sink: [144,128], [217,142]\n", + "gripper_2d": [ + 220, + 127 + ], + "task_obj_bbox": [ + 213, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 218, + 135 + ], + [ + 144, + 128, + 217, + 142 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + 0.0, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.07785715907812119, + 0.0, + -0.16250000894069672, + 0.0, + 0.04571428522467613, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.0502566387339245, + 0.1488261973783429, + -0.5574610243564426, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 78 mm; move right 0 mm; move downward 163 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 79 mm; move right 1 mm; move downward 173 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 197, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 70 mm; move right 0 mm; move downward 164 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 71 mm; move right 1 mm; move downward 169 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,125], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,128], [217,142]\n", + "gripper_2d": [ + 220, + 126 + ], + "task_obj_bbox": [ + 213, + 125, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 128, + 217, + 142 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + 0.0, + -0.005000000353902578, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.07000001519918442, + 0.0, + -0.16428571939468384, + 0.0, + 0.051428571343421936, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.0502566387339245, + 0.1488261973783429, + -0.5851197125880914, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 70 mm; move right 0 mm; move downward 164 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 71 mm; move right 1 mm; move downward 169 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 198, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 62 mm; move right 0 mm; move downward 164 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 62 mm; move right 1 mm; move downward 164 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,125], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,128], [217,142]\n", + "gripper_2d": [ + 220, + 126 + ], + "task_obj_bbox": [ + 213, + 125, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 128, + 217, + 142 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + 0.0, + -0.0057142856530845165, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.06214286759495735, + 0.0, + -0.16357144713401794, + 0.0, + 0.05428571254014969, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.028888600632322348, + 0.1488261973783429, + -0.6127783827883289, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 62 mm; move right 0 mm; move downward 164 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 62 mm; move right 1 mm; move downward 164 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 199, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 54 mm; move right 0 mm; move downward 158 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 54 mm; move right 1 mm; move downward 158 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,125], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,128], [217,142]\n", + "gripper_2d": [ + 219, + 126 + ], + "task_obj_bbox": [ + 213, + 125, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 128, + 217, + 142 + ] + ], + "delta_full_state": [ + 0.007500000298023224, + 0.0, + -0.006428571883589029, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.05428571626543999, + 0.0, + -0.15785716474056244, + 0.0, + 0.05428571254014969, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.06846116871865937, + 0.1488261973783429, + -0.6404370890513889, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 54 mm; move right 0 mm; move downward 158 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 54 mm; move right 1 mm; move downward 158 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 200, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 47 mm; move right 1 mm; move downward 151 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 47 mm; move right 1 mm; move downward 151 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,125], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,128], [217,142]\n", + "gripper_2d": [ + 219, + 126 + ], + "task_obj_bbox": [ + 213, + 125, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 128, + 217, + 142 + ] + ], + "delta_full_state": [ + 0.006785714533179998, + 0.0, + -0.006428571883589029, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.04678572341799736, + -0.0010714286472648382, + -0.15142858028411865, + 0.0, + 0.05428571254014969, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.1476063564881197, + 0.1488261973783429, + -0.6404370890513889, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 47 mm; move right 1 mm; move downward 151 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 47 mm; move right 1 mm; move downward 151 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 201, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 40 mm; move right 1 mm; move downward 145 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 40 mm; move right 1 mm; move downward 145 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,125], [220,140]\ndistr_counter: [14,114], [217,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 219, + 126 + ], + "task_obj_bbox": [ + 213, + 125, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 217, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.006071428768336773, + 0.0, + -0.006785714533179998, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.04000000283122063, + -0.0010714286472648382, + -0.14500001072883606, + 0.0, + 0.05428571254014969, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.22675154425758004, + 0.1488261973783429, + -0.6542664241515076, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 40 mm; move right 1 mm; move downward 145 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 40 mm; move right 1 mm; move downward 145 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 202, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 34 mm; move right 1 mm; move downward 138 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 34 mm; move right 1 mm; move downward 138 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,125], [220,140]\ndistr_counter: [14,114], [217,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 218, + 126 + ], + "task_obj_bbox": [ + 213, + 125, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 217, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.006071428768336773, + 0.0, + -0.009285714477300644, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.03392857685685158, + -0.0010714286472648382, + -0.13821429014205933, + 0.0, + 0.05428571254014969, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.22675154425758004, + 0.1488261973783429, + -0.7510718239465726, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 34 mm; move right 1 mm; move downward 138 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 34 mm; move right 1 mm; move downward 138 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 203, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 28 mm; move right 1 mm; move downward 129 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 28 mm; move right 1 mm; move downward 129 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,125], [220,140]\ndistr_counter: [14,114], [217,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 218, + 127 + ], + "task_obj_bbox": [ + 213, + 125, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 217, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.005000000353902578, + 0.0, + -0.010714286006987095, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.02785714901983738, + -0.0010714286472648382, + -0.12892858684062958, + 0.0, + 0.05428571254014969, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.3454693001133775, + 0.1488261973783429, + -0.80638920040987, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 28 mm; move right 1 mm; move downward 129 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 28 mm; move right 1 mm; move downward 129 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 204, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 23 mm; move right 1 mm; move downward 118 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 23 mm; move right 1 mm; move downward 118 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,128], [217,142]\n", + "gripper_2d": [ + 218, + 127 + ], + "task_obj_bbox": [ + 213, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 128, + 217, + 142 + ] + ], + "delta_full_state": [ + 0.004285714589059353, + 0.0, + -0.010000000707805157, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.022857146337628365, + -0.0010714286472648382, + -0.11821430176496506, + 0.0, + 0.05428571254014969, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.42461448788283795, + 0.1488261973783429, + -0.7787305302096326, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 23 mm; move right 1 mm; move downward 118 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 23 mm; move right 1 mm; move downward 118 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 205, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 19 mm; move right 1 mm; move downward 108 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 19 mm; move right 1 mm; move downward 108 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 218, + 127 + ], + "task_obj_bbox": [ + 213, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0035714288242161274, + 0.0, + -0.010357143357396126, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.018571432679891586, + -0.0010714286472648382, + -0.10821429640054703, + 0.0, + 0.05428571254014969, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.5037596756522984, + 0.1488261973783429, + -0.7925598653097513, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 19 mm; move right 1 mm; move downward 108 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 19 mm; move right 1 mm; move downward 108 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 206, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 15 mm; move right 1 mm; move downward 98 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 15 mm; move right 1 mm; move downward 98 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [220,140]\ndistr_counter: [14,114], [217,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 218, + 127 + ], + "task_obj_bbox": [ + 213, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 217, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0032142859417945147, + 0.0, + -0.010357143357396126, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.015000000596046448, + -0.0010714286472648382, + -0.09785715490579605, + 0.0, + 0.05428571254014969, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.5433322695370286, + 0.1488261973783429, + -0.7925598653097513, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 15 mm; move right 1 mm; move downward 98 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 15 mm; move right 1 mm; move downward 98 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 207, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 12 mm; move right 1 mm; move downward 88 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 12 mm; move right 1 mm; move downward 88 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,126], [220,140]\ndistr_counter: [14,114], [216,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 217, + 127 + ], + "task_obj_bbox": [ + 213, + 126, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 216, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0032142859417945147, + 0.0, + -0.010714286006987095, + 0.0, + 0.0014285714132711291, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.011785714887082577, + -0.0010714286472648382, + -0.08750000596046448, + 0.0, + 0.05428571254014969, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.5433322695370286, + 0.1488261973783429, + -0.80638920040987, + -1.0, + 0.3524848120206694, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 12 mm; move right 1 mm; move downward 88 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 12 mm; move right 1 mm; move downward 88 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 208, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 9 mm; move right 1 mm; move downward 77 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 9 mm; move right 1 mm; move downward 77 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,127], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 217, + 127 + ], + "task_obj_bbox": [ + 213, + 127, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0021428572945296764, + 0.0, + -0.010000000707805157, + 0.0, + 0.004285714123398066, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.008571429178118706, + -0.0010714286472648382, + -0.07678572088479996, + 0.0, + 0.05285714194178581, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.6620500511912193, + 0.1488261973783429, + -0.7787305302096326, + -1.0, + 0.4099395566253303, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 9 mm; move right 1 mm; move downward 77 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 9 mm; move right 1 mm; move downward 77 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 209, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 6 mm; move right 1 mm; move downward 67 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 6 mm; move right 1 mm; move downward 67 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,127], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 217, + 128 + ], + "task_obj_bbox": [ + 213, + 127, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0003571428533177823, + 0.0, + -0.010357143357396126, + 0.0, + 0.004285714123398066, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.006428571883589029, + -0.0010714286472648382, + -0.06678571552038193, + 0.0, + 0.048571426421403885, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8599130238396695, + 0.1488261973783429, + -0.7925598653097513, + -1.0, + 0.4099395566253303, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 6 mm; move right 1 mm; move downward 67 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 6 mm; move right 1 mm; move downward 67 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 210, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 6 mm; move right 1 mm; move downward 56 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 6 mm; move right 1 mm; move downward 56 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,127], [220,140]\ndistr_counter: [14,114], [217,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 217, + 128 + ], + "task_obj_bbox": [ + 213, + 127, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 217, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.010000000707805157, + 0.0, + 0.0014285714132711291, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.006071428768336773, + -0.0010714286472648382, + -0.05642857775092125, + 0.0, + 0.04428571090102196, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.7787305302096326, + -1.0, + 0.3524848120206694, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 6 mm; move right 1 mm; move downward 56 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 6 mm; move right 1 mm; move downward 56 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 211, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 0 mm; move right 0 mm; move downward 8 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 6 mm; move right 1 mm; move downward 46 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 6 mm; move right 1 mm; move downward 46 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,127], [220,140]\ndistr_counter: [14,114], [217,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 217, + 128 + ], + "task_obj_bbox": [ + 213, + 127, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 217, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0003571428533177823, + 0.0, + -0.007857142947614193, + 0.0, + 0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.006071428768336773, + -0.0010714286472648382, + -0.04642857238650322, + 0.0, + 0.04285714030265808, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8599130238396695, + 0.1488261973783429, + -0.6957544474832751, + -1.0, + 0.3812121854935071, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 0 mm; move right 0 mm; move downward 8 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 6 mm; move right 1 mm; move downward 46 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 6 mm; move right 1 mm; move downward 46 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 212, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 8 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 6 mm; move right 1 mm; move downward 39 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 6 mm; move right 1 mm; move downward 39 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,128], [220,140]\ndistr_counter: [14,114], [215,135]\ndistr_sink: [144,128], [217,142]\n", + "gripper_2d": [ + 217, + 129 + ], + "task_obj_bbox": [ + 213, + 128, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 215, + 135 + ], + [ + 144, + 128, + 217, + 142 + ] + ], + "delta_full_state": [ + 0.0007142857066355646, + 0.0, + -0.007857142947614193, + 0.0, + 0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0057142856530845165, + -0.0010714286472648382, + -0.03857142850756645, + 0.0, + 0.03999999910593033, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8203404331797384, + 0.1488261973783429, + -0.6957544474832751, + -1.0, + 0.3812121854935071, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 8 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 6 mm; move right 1 mm; move downward 39 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 6 mm; move right 1 mm; move downward 39 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 213, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 5 mm; move right 1 mm; move downward 31 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 5 mm; move right 1 mm; move downward 31 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,128], [220,140]\ndistr_counter: [14,114], [216,135]\ndistr_sink: [144,128], [217,142]\n", + "gripper_2d": [ + 216, + 129 + ], + "task_obj_bbox": [ + 213, + 128, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 216, + 135 + ], + [ + 144, + 128, + 217, + 142 + ] + ], + "delta_full_state": [ + 0.0010714286472648382, + 0.0, + -0.007142857648432255, + 0.0, + 0.0071428571827709675, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.005000000353902578, + -0.0010714286472648382, + -0.030714286491274834, + 0.0, + 0.03714285418391228, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.7807678328454098, + 0.1488261973783429, + -0.6680957772830376, + -1.0, + 0.46739430825303496, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 5 mm; move right 1 mm; move downward 31 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 5 mm; move right 1 mm; move downward 31 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 214, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 4 mm; move right 1 mm; move downward 24 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 4 mm; move right 1 mm; move downward 24 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,128], [220,140]\ndistr_counter: [14,114], [216,135]\ndistr_sink: [144,128], [217,142]\n", + "gripper_2d": [ + 216, + 129 + ], + "task_obj_bbox": [ + 213, + 128, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 216, + 135 + ], + [ + 144, + 128, + 217, + 142 + ] + ], + "delta_full_state": [ + 0.0010714286472648382, + 0.0, + -0.006785714533179998, + 0.0, + 0.009999999776482582, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0039285714738070965, + -0.0010714286472648382, + -0.023571429774165154, + 0.0, + 0.029999999329447746, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.7807678328454098, + 0.1488261973783429, + -0.6542664241515076, + -1.0, + 0.5248490505166814, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 4 mm; move right 1 mm; move downward 24 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 4 mm; move right 1 mm; move downward 24 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 215, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 3 mm; move right 1 mm; move downward 17 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 3 mm; move right 1 mm; move downward 17 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,128], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 129 + ], + "task_obj_bbox": [ + 213, + 128, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0014285714132711291, + 0.0, + -0.006428571883589029, + 0.0, + 0.011428571306169033, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0028571428265422583, + -0.0010714286472648382, + -0.016785714775323868, + 0.0, + 0.019999999552965164, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.7411952518598763, + 0.1488261973783429, + -0.6404370890513889, + -1.0, + 0.5535764263305336, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 3 mm; move right 1 mm; move downward 17 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 3 mm; move right 1 mm; move downward 17 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 216, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 1 mm; move right 1 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1 mm; move right 1 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 129 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0007142857066355646, + 0.0, + -0.006071428768336773, + 0.0, + 0.0057142856530845165, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0014285714132711291, + -0.0010714286472648382, + -0.010357143357396126, + 0.0, + 0.008571428246796131, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8203404331797384, + 0.1488261973783429, + -0.6266077359198589, + -1.0, + 0.43866693243918276, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 1 mm; move right 1 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1 mm; move right 1 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 217, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 1 mm; move right 1 mm; move downward 4 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1 mm; move right 1 mm; move downward 4 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0007142857066355646, + 0.0, + -0.004285714589059353, + 0.0, + 0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0007142857066355646, + -0.0010714286472648382, + -0.004285714589059353, + 0.0, + 0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8203404331797384, + 0.1488261973783429, + -0.5574610243564426, + -1.0, + 0.3812121854935071, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 1 mm; move right 1 mm; move downward 4 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1 mm; move right 1 mm; move downward 4 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 218, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.0010714286472648382, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 219, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.0010714286472648382, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.0010714286472648382, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.11013649472684284, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 220, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 221, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 222, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 223, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [214,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 214, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 224, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 225, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 226, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [217,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 217, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 227, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 228, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 229, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 230, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 231, + "segment_id": 50150, + "subtask": "move to the sink", + "reason": "The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving from the right side of the frame towards the sink area, positioning itself over the basin in preparation for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.0028571428265422583, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 232, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.008214286528527737, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 233, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 16 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.01607142947614193, + 0.0021428572945296764, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 16 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 234, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 25 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.025357145816087723, + 0.005714286118745804, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 25 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 235, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 36 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.03642857447266579, + 0.011071428656578064, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 36 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 236, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 48 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.04750000312924385, + 0.01714285835623741, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 48 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 237, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 60 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.05964285880327225, + 0.023928573355078697, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 60 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 238, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 73 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.07250000536441803, + 0.031071430072188377, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 73 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 239, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 87 mm; move upward 39 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.08678571879863739, + 0.038928575813770294, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 87 mm; move upward 39 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 240, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 101 mm; move upward 48 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.1014285683631897, + 0.04821429029107094, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 101 mm; move upward 48 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 241, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 2 mm; move left 117 mm; move upward 57 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0017857144121080637, + 0.11749999970197678, + 0.05714286118745804, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 2 mm; move left 117 mm; move upward 57 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 242, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 4 mm; move left 133 mm; move upward 66 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0039285714738070965, + 0.13321428000926971, + 0.06607143580913544, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 4 mm; move left 133 mm; move upward 66 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 243, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 6 mm; move left 148 mm; move upward 75 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.005714286118745804, + 0.14821428060531616, + 0.07535714656114578, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 6 mm; move left 148 mm; move upward 75 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 244, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 6 mm; move left 164 mm; move upward 84 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.005714286118745804, + 0.1639285683631897, + 0.0835714340209961, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 6 mm; move left 164 mm; move upward 84 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 245, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 6 mm; move left 180 mm; move upward 90 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.005714286118745804, + 0.18035714328289032, + 0.09035714715719223, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 6 mm; move left 180 mm; move upward 90 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 246, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 6 mm; move left 196 mm; move upward 98 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.005714286118745804, + 0.19607143104076385, + 0.09785714745521545, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 6 mm; move left 196 mm; move upward 98 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 247, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 6 mm; move left 212 mm; move upward 104 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.00607142923399806, + 0.2117857187986374, + 0.1039285808801651, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 6 mm; move left 212 mm; move upward 104 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 248, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 6 mm; move left 228 mm; move upward 110 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.00607142923399806, + 0.22785715758800507, + 0.11000000685453415, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 6 mm; move left 228 mm; move upward 110 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 249, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 8 mm; move left 244 mm; move upward 118 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.007500000298023224, + 0.2442857325077057, + 0.11750000715255737, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1617227638778922, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 8 mm; move left 244 mm; move upward 118 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 250, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 10 mm; move left 261 mm; move upward 125 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.002500000176951289, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.010000000707805157, + 0.261428564786911, + 0.12535715103149414, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.23910217023184277, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 10 mm; move left 261 mm; move upward 125 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 483 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 251, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 11 mm; move left 278 mm; move upward 134 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 480 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0053571430034935474, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.010714286006987095, + 0.2778571546077728, + 0.133928582072258, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.3422747022282384, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 11 mm; move left 278 mm; move upward 134 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 480 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 252, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 8 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 12 mm; move left 293 mm; move upward 143 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 475 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.007857142947614193, + 0.0021428572945296764, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.011785714887082577, + 0.2928571403026581, + 0.142857164144516, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.4325506666741339, + -0.30853283027160394, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 8 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 12 mm; move left 293 mm; move upward 143 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 475 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 253, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 9 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 15 mm; move left 306 mm; move upward 149 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 467 mm; move upward 212 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.009285714477300644, + 0.0035714288242161274, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.015357143245637417, + 0.30571430921554565, + 0.14928573369979858, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.4841369368761339, + -0.25321545380830646, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 9 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 15 mm; move left 306 mm; move upward 149 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 467 mm; move upward 212 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 254, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 11 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 19 mm; move left 318 mm; move upward 155 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 458 mm; move upward 208 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,129], [220,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 213, + 129, + 220, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.011071428656578064, + 0.0053571430034935474, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.018928570672869682, + 0.31785711646080017, + 0.15464287996292114, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.5486197662210293, + -0.18406874224489023, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 11 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 19 mm; move left 318 mm; move upward 155 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 458 mm; move upward 208 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 255, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 11 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 22 mm; move left 329 mm; move upward 157 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 446 mm; move upward 203 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,129], [219,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 216, + 130 + ], + "task_obj_bbox": [ + 212, + 129, + 219, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.011071428656578064, + 0.006071428768336773, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.022142857313156128, + 0.32892856001853943, + 0.15714287757873535, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.5486197662210293, + -0.15641005401324148, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 11 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 22 mm; move left 329 mm; move upward 157 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 446 mm; move upward 203 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 256, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 12 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 29 mm; move left 341 mm; move upward 159 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 435 mm; move upward 197 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,129], [219,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 215, + 129 + ], + "task_obj_bbox": [ + 212, + 129, + 219, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.012142857536673546, + 0.006785714533179998, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.029285714030265808, + 0.3410714566707611, + 0.1592857390642166, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.5873094772801339, + -0.12875136578159274, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 12 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 29 mm; move left 341 mm; move upward 159 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 435 mm; move upward 197 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 257, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 13 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 38 mm; move left 352 mm; move upward 160 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 423 mm; move upward 190 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,128], [219,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 215, + 129 + ], + "task_obj_bbox": [ + 212, + 128, + 219, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.012857143767178059, + 0.007142857648432255, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.037857141345739365, + 0.35249999165534973, + 0.16035716235637665, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.6131026291963431, + -0.11492201265006274, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 13 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 38 mm; move left 352 mm; move upward 160 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 423 mm; move upward 190 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 258, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 14 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 45 mm; move left 363 mm; move upward 163 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 410 mm; move upward 183 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [212,128], [219,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 215, + 129 + ], + "task_obj_bbox": [ + 212, + 128, + 219, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.01428571529686451, + 0.007857142947614193, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0446428582072258, + 0.36321428418159485, + 0.16285715997219086, + 0.0, + 0.0, + 0.0028571428265422583, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.6646888993983431, + -0.08726334244982525, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 14 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 45 mm; move left 363 mm; move upward 163 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 410 mm; move upward 183 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 259, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 15 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 51 mm; move left 373 mm; move upward 165 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 396 mm; move upward 175 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [211,128], [219,139]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 215, + 129 + ], + "task_obj_bbox": [ + 211, + 128, + 219, + 139 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.014642857015132904, + 0.009285714477300644, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05071428418159485, + 0.37285712361335754, + 0.16464288532733917, + 0.0, + 0.0, + 0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.6775854249108202, + -0.03194596598652777, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 15 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 51 mm; move left 373 mm; move upward 165 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 396 mm; move upward 175 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 260, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move left 16 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 57 mm; move left 381 mm; move upward 166 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 381 mm; move upward 166 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [211,128], [218,139]\ndistr_counter: [14,114], [213,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 214, + 129 + ], + "task_obj_bbox": [ + 211, + 128, + 218, + 139 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 213, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0017857144121080637, + 0.01607142947614193, + 0.008928571827709675, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.056785713881254196, + 0.3814285695552826, + 0.1657143086194992, + 0.0, + 0.0, + 0.011428571306169033, + 1.0 + ], + "delta_full_state_norm": [ + -0.7016226450759495, + 0.7291717287432384, + -0.045775301086646514, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 2 mm; move left 16 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 57 mm; move left 381 mm; move upward 166 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 381 mm; move upward 166 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 261, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move left 16 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 59 mm; move left 389 mm; move upward 168 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 55 mm; move left 365 mm; move upward 157 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [211,128], [218,139]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 214, + 129 + ], + "task_obj_bbox": [ + 211, + 128, + 218, + 139 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0021428572945296764, + 0.015714285895228386, + 0.008928571827709675, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.059285718947649, + 0.38857147097587585, + 0.16821430623531342, + 0.0, + 0.0, + 0.019999999552965164, + 1.0 + ], + "delta_full_state_norm": [ + -0.6620500511912193, + 0.7162751359699249, + -0.045775301086646514, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 2 mm; move left 16 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 59 mm; move left 389 mm; move upward 168 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 55 mm; move left 365 mm; move upward 157 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 262, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move left 15 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 58 mm; move left 395 mm; move upward 172 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move forward 53 mm; move left 350 mm; move upward 148 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [210,127], [218,139]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 214, + 128 + ], + "task_obj_bbox": [ + 210, + 127, + 218, + 139 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0017857144121080637, + 0.015000000596046448, + 0.009285714477300644, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05785714462399483, + 0.3946428596973419, + 0.17178571224212646, + 0.0, + 0.0, + 0.02857142686843872, + 1.0 + ], + "delta_full_state_norm": [ + -0.7016226450759495, + 0.690482017684134, + -0.03194596598652777, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 2 mm; move left 15 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 58 mm; move left 395 mm; move upward 172 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 53 mm; move left 350 mm; move upward 148 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 263, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 16 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 56 mm; move left 401 mm; move upward 175 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move forward 51 mm; move left 335 mm; move upward 139 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [210,127], [217,139]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 213, + 128 + ], + "task_obj_bbox": [ + 210, + 127, + 217, + 139 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.015714285895228386, + 0.008214286528527737, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05607143044471741, + 0.40071430802345276, + 0.17499999701976776, + 0.0, + 0.0, + 0.03714285418391228, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.7162751359699249, + -0.073433971286884, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 16 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 56 mm; move left 401 mm; move upward 175 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 51 mm; move left 335 mm; move upward 139 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 264, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 16 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 56 mm; move left 406 mm; move upward 179 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 51 mm; move left 319 mm; move upward 130 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [210,127], [217,138]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 213, + 128 + ], + "task_obj_bbox": [ + 210, + 127, + 217, + 138 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.016428573057055473, + 0.006785714533179998, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05607143044471741, + 0.40642857551574707, + 0.17928571999073029, + 0.0, + 0.0, + 0.04428571090102196, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.7420683215165522, + -0.12875136578159274, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 16 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 56 mm; move left 406 mm; move upward 179 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 51 mm; move left 319 mm; move upward 130 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 265, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 16 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 56 mm; move left 412 mm; move upward 185 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 51 mm; move left 303 mm; move upward 124 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [209,127], [216,138]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 212, + 128 + ], + "task_obj_bbox": [ + 209, + 127, + 216, + 138 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.015714285895228386, + 0.007500000298023224, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05607143044471741, + 0.411785751581192, + 0.18464288115501404, + 0.0, + 0.0, + 0.04999999701976776, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.7162751359699249, + -0.101092677549944, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 16 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 56 mm; move left 412 mm; move upward 185 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 51 mm; move left 303 mm; move upward 124 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 266, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 0 mm; move left 16 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 56 mm; move left 418 mm; move upward 189 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 51 mm; move left 287 mm; move upward 116 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [209,127], [216,138]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 212, + 128 + ], + "task_obj_bbox": [ + 209, + 127, + 216, + 138 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0003571428533177823, + 0.015714285895228386, + 0.006071428768336773, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05607143044471741, + 0.4178571403026581, + 0.18892857432365417, + 0.0, + 0.0, + 0.05428571254014969, + 1.0 + ], + "delta_full_state_norm": [ + -0.8599130238396695, + 0.7162751359699249, + -0.15641005401324148, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 0 mm; move left 16 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 56 mm; move left 418 mm; move upward 189 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 51 mm; move left 287 mm; move upward 116 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 267, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 16 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 56 mm; move left 425 mm; move upward 194 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 51 mm; move left 271 mm; move upward 110 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [208,126], [216,138]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 211, + 127 + ], + "task_obj_bbox": [ + 208, + 126, + 216, + 138 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.01607142947614193, + 0.006071428768336773, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.055714286863803864, + 0.42500001192092896, + 0.19357143342494965, + 0.0, + 0.0, + 0.05428571254014969, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.7291717287432384, + -0.15641005401324148, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 16 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 56 mm; move left 425 mm; move upward 194 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 51 mm; move left 271 mm; move upward 110 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 268, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move left 16 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 56 mm; move left 434 mm; move upward 197 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 51 mm; move left 255 mm; move upward 104 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [208,126], [215,138]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 211, + 127 + ], + "task_obj_bbox": [ + 208, + 126, + 215, + 138 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0014285714132711291, + 0.016428573057055473, + 0.007500000298023224, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.055714286863803864, + 0.43392857909202576, + 0.19678571820259094, + 0.0, + 0.0, + 0.05428571254014969, + 1.0 + ], + "delta_full_state_norm": [ + -0.7411952518598763, + 0.7420683215165522, + -0.101092677549944, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 1 mm; move left 16 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 56 mm; move left 434 mm; move upward 197 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 51 mm; move left 255 mm; move upward 104 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 269, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move left 18 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 54 mm; move left 443 mm; move upward 200 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 49 mm; move left 239 mm; move upward 96 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [207,126], [215,138]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 211, + 127 + ], + "task_obj_bbox": [ + 207, + 126, + 215, + 138 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.002500000176951289, + 0.017500000074505806, + 0.007857142947614193, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05428571254014969, + 0.4432143270969391, + 0.19999998807907104, + 0.0, + 0.0, + 0.05428571254014969, + 1.0 + ], + "delta_full_state_norm": [ + -0.6224774573064891, + 0.7807579653148202, + -0.08726334244982525, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 3 mm; move left 18 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 54 mm; move left 443 mm; move upward 200 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 49 mm; move left 239 mm; move upward 96 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 270, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move left 19 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 52 mm; move left 450 mm; move upward 200 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 47 mm; move left 221 mm; move upward 89 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [207,126], [214,138]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 210, + 127 + ], + "task_obj_bbox": [ + 207, + 126, + 214, + 138 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0007142857066355646, + 0.018928570672869682, + 0.008571429178118706, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05178571492433548, + 0.4503571689128876, + 0.200357124209404, + 0.0, + 0.0, + 0.05428571254014969, + 1.0 + ], + "delta_full_state_norm": [ + -0.8203404331797384, + 0.8323442018864022, + -0.05960463618676526, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 1 mm; move left 19 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 52 mm; move left 450 mm; move upward 200 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 47 mm; move left 221 mm; move upward 89 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 271, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move left 20 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 51 mm; move left 454 mm; move upward 199 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move left 202 mm; move upward 80 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [206,126], [214,137]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 210, + 127 + ], + "task_obj_bbox": [ + 206, + 126, + 214, + 137 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0010714286472648382, + 0.020357143133878708, + 0.008928571827709675, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05107143148779869, + 0.45428571105003357, + 0.19928570091724396, + 0.0, + 0.0, + 0.05428571254014969, + 1.0 + ], + "delta_full_state_norm": [ + -0.7807678328454098, + 0.8839305057188205, + -0.045775301086646514, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 1 mm; move left 20 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 51 mm; move left 454 mm; move upward 199 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move left 202 mm; move upward 80 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 272, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move left 21 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 50 mm; move left 456 mm; move upward 197 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 45 mm; move left 182 mm; move upward 71 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [206,126], [213,137]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 209, + 127 + ], + "task_obj_bbox": [ + 206, + 126, + 213, + 137 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0035714288242161274, + 0.02071428671479225, + 0.008571429178118706, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05000000074505806, + 0.45642852783203125, + 0.1971428543329239, + 0.0, + 0.0, + 0.05428571254014969, + 1.0 + ], + "delta_full_state_norm": [ + -0.5037596756522984, + 0.896827098492134, + -0.05960463618676526, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move left 21 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 50 mm; move left 456 mm; move upward 197 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 45 mm; move left 182 mm; move upward 71 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 273, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move left 21 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 46 mm; move left 456 mm; move upward 192 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 41 mm; move left 161 mm; move upward 62 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [205,126], [212,137]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 208, + 126 + ], + "task_obj_bbox": [ + 205, + 126, + 212, + 137 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0035714288242161274, + 0.02142857201397419, + 0.008928571827709675, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.04642857238650322, + 0.4560713768005371, + 0.19249998033046722, + 0.0, + 0.0, + 0.05428571254014969, + 1.0 + ], + "delta_full_state_norm": [ + -0.5037596756522984, + 0.9226202167779249, + -0.045775301086646514, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move left 21 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 46 mm; move left 456 mm; move upward 192 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 41 mm; move left 161 mm; move upward 62 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 274, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move left 22 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 43 mm; move left 451 mm; move upward 185 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 38 mm; move left 140 mm; move upward 54 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [205,125], [212,137]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 208, + 126 + ], + "task_obj_bbox": [ + 205, + 125, + 212, + 137 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0032142859417945147, + 0.022142857313156128, + 0.007857142947614193, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.04285714402794838, + 0.45142850279808044, + 0.1849999874830246, + 0.0, + 0.0, + 0.055714283138513565, + 1.0 + ], + "delta_full_state_norm": [ + -0.5433322695370286, + 0.9484133350637158, + -0.08726334244982525, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 3 mm; move left 22 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 43 mm; move left 451 mm; move upward 185 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 38 mm; move left 140 mm; move upward 54 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 275, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move left 23 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 40 mm; move left 445 mm; move upward 177 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 35 mm; move left 117 mm; move upward 46 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [204,126], [211,136]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 207, + 126 + ], + "task_obj_bbox": [ + 204, + 126, + 211, + 136 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.007142857648432255, + 0.02321428619325161, + 0.008214286528527737, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.03964285925030708, + 0.44499993324279785, + 0.17714284360408783, + 0.0, + 0.0, + 0.05857142433524132, + 1.0 + ], + "delta_full_state_norm": [ + -0.1080337368049964, + 0.9871030461228205, + -0.073433971286884, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move left 23 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 40 mm; move left 445 mm; move upward 177 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 35 mm; move left 117 mm; move upward 46 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 276, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 24 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 33 mm; move left 437 mm; move upward 169 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move forward 28 mm; move left 94 mm; move upward 38 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [204,126], [210,136]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 206, + 126 + ], + "task_obj_bbox": [ + 204, + 126, + 210, + 136 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + 0.023571429774165154, + 0.007857142947614193, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0325000025331974, + 0.43749991059303284, + 0.16892854869365692, + 0.0, + 0.0, + 0.06142856553196907, + 1.0 + ], + "delta_full_state_norm": [ + 0.0502566387339245, + 0.9999996388961341, + -0.08726334244982525, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move left 24 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 33 mm; move left 437 mm; move upward 169 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 28 mm; move left 94 mm; move upward 38 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 277, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move left 24 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 24 mm; move left 431 mm; move upward 161 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move forward 19 mm; move left 71 mm; move upward 30 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [203,127], [210,136]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 205, + 125 + ], + "task_obj_bbox": [ + 203, + 127, + 210, + 136 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.006785714533179998, + 0.023571429774165154, + 0.009642857126891613, + 0.0, + 0.0, + 0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.023928573355078697, + 0.43142858147621155, + 0.16107140481472015, + 0.0, + 0.0, + 0.06428571045398712, + 1.0 + ], + "delta_full_state_norm": [ + -0.1476063564881197, + 0.9999996388961341, + -0.018116630886409024, + -1.0, + 0.3237574385478317, + 0.2592590846199758, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move left 24 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 24 mm; move left 431 mm; move upward 161 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 19 mm; move left 71 mm; move upward 30 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 278, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move left 24 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 17 mm; move left 425 mm; move upward 151 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move forward 12 mm; move left 47 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [202,127], [209,136]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 205, + 125 + ], + "task_obj_bbox": [ + 202, + 127, + 209, + 136 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.006071428768336773, + 0.023928571492433548, + 0.009642857126891613, + 0.0, + 0.0, + 0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.01714285835623741, + 0.42500001192092896, + 0.15142856538295746, + 0.0, + 0.0, + 0.06428571045398712, + 1.0 + ], + "delta_full_state_norm": [ + -0.22675154425758004, + 1.0, + -0.018116630886409024, + -1.0, + 0.3237574385478317, + 0.2592590846199758, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move left 24 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 17 mm; move left 425 mm; move upward 151 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 12 mm; move left 47 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 279, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move left 23 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 11 mm; move left 418 mm; move upward 142 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move forward 6 mm; move left 23 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [202,128], [208,135]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 204, + 125 + ], + "task_obj_bbox": [ + 202, + 128, + 208, + 135 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.006071428768336773, + 0.02321428619325161, + 0.010357143357396126, + 0.0, + 0.0, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.011071428656578064, + 0.4178571403026581, + 0.14178571105003357, + 0.0, + 0.0, + 0.06428570300340652, + 1.0 + ], + "delta_full_state_norm": [ + -0.22675154425758004, + 0.9871030461228205, + 0.00954207537665086, + -1.0, + 0.3237574385478317, + 0.3333331484211508, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move left 23 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 11 mm; move left 418 mm; move upward 142 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 6 mm; move left 23 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 280, + "segment_id": 50332, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned directly over the sink area, with its end-effector hovering near the faucet and the object in the basin. The camera angle has shifted to focus on the sink, indicating the robot has completed its approach and is now positioning itself for the next interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move left 23 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 5 mm; move left 411 mm; move upward 131 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [201,129], [207,135]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 203, + 124 + ], + "task_obj_bbox": [ + 201, + 129, + 207, + 135 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.004285714589059353, + 0.02321428619325161, + 0.011428571306169033, + 0.0, + 0.0, + 0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + 0.005000000353902578, + 0.4114285409450531, + 0.1314285695552826, + 0.0, + 0.0, + 0.06142856180667877, + 1.0 + ], + "delta_full_state_norm": [ + -0.42461448788283795, + 0.9871030461228205, + 0.051030080677007206, + -1.0, + 0.3237574385478317, + 0.4074072061859766, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move left 23 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 5 mm; move left 411 mm; move upward 131 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 281, + "segment_id": 60332, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move left 22 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 1 mm; move left 405 mm; move upward 120 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 1 mm; move left 272 mm; move upward 119 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [201,129], [206,135]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 202, + 124 + ], + "task_obj_bbox": [ + 201, + 129, + 206, + 135 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0007142857066355646, + 0.021785713732242584, + 0.012500000186264515, + 0.0, + 0.0, + 0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + 0.0007142857066355646, + 0.40464287996292114, + 0.11999999731779099, + 0.0, + 0.0, + 0.05571427196264267, + 1.0 + ], + "delta_full_state_norm": [ + -0.8203404331797384, + 0.9355167422904023, + 0.09251812204018584, + -1.0, + 0.3237574385478317, + 0.4074072061859766, + 0.9999999900000001 + ], + "movement_text": "move forward 1 mm; move left 22 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 1 mm; move left 405 mm; move upward 120 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 1 mm; move left 272 mm; move upward 119 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 282, + "segment_id": 60332, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 21 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 398 mm; move upward 107 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 250 mm; move upward 106 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [200,130], [205,134]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 201, + 124 + ], + "task_obj_bbox": [ + 200, + 130, + 205, + 134 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.021071428433060646, + 0.012500000186264515, + 0.0, + 0.0, + 0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.39821431040763855, + 0.10749999433755875, + 0.0, + 0.0, + 0.049999989569187164, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.9097236240046114, + 0.09251812204018584, + -1.0, + 0.3237574385478317, + 0.4074072061859766, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 21 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 398 mm; move upward 107 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 250 mm; move upward 106 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 283, + "segment_id": 60332, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 21 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 392 mm; move upward 95 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 229 mm; move upward 94 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [203,131], [204,134]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 201, + 123 + ], + "task_obj_bbox": [ + 203, + 131, + 204, + 134 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.02142857201397419, + 0.012500000186264515, + 0.0, + 0.0, + 0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.3921428620815277, + 0.0949999988079071, + 0.0, + 0.0, + 0.04285713657736778, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.9226202167779249, + 0.09251812204018584, + -1.0, + 0.3237574385478317, + 0.3703701833399131, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 21 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 392 mm; move upward 95 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 229 mm; move upward 94 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 284, + "segment_id": 60332, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 22 mm; move upward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 386 mm; move upward 83 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 208 mm; move upward 81 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [202,131], [203,134]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 200, + 123 + ], + "task_obj_bbox": [ + 202, + 131, + 203, + 134 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.021785713732242584, + 0.012142857536673546, + 0.0, + 0.0, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.3857143223285675, + 0.08250000327825546, + 0.0, + 0.0, + 0.03714285418391228, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.9355167422904023, + 0.0786887869400672, + -1.0, + 0.3237574385478317, + 0.3333331484211508, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 22 mm; move upward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 386 mm; move upward 83 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 208 mm; move upward 81 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 285, + "segment_id": 60332, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 22 mm; move upward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 379 mm; move upward 70 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 186 mm; move upward 69 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [202,132], [203,133]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 199, + 123 + ], + "task_obj_bbox": [ + 202, + 132, + 203, + 133 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.021785713732242584, + 0.011785714887082577, + 0.0, + 0.0, + 0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.3792857527732849, + 0.07035715132951736, + 0.0, + 0.0, + 0.03285714238882065, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.9355167422904023, + 0.06485945183994835, + -1.0, + 0.3237574385478317, + 0.2962961135023887, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 22 mm; move upward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 379 mm; move upward 70 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 186 mm; move upward 69 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 286, + "segment_id": 60332, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 23 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 373 mm; move upward 59 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 164 mm; move upward 57 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [201,132], [202,133]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 199, + 123 + ], + "task_obj_bbox": [ + 201, + 132, + 202, + 133 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.022857142612338066, + 0.010714286006987095, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.37321433424949646, + 0.05857143551111221, + 0.0, + 0.0, + 0.02857142686843872, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.9742064533495067, + 0.023371410476769716, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 23 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 373 mm; move upward 59 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 164 mm; move upward 57 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 287, + "segment_id": 60332, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 25 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 366 mm; move upward 48 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 141 mm; move upward 46 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [201,133], [202,133]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 198, + 122 + ], + "task_obj_bbox": [ + 201, + 133, + 202, + 133 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.02500000037252903, + 0.009285714477300644, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.3660714626312256, + 0.047857146710157394, + 0.0, + 0.0, + 0.02857142686843872, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 1.0, + -0.03194596598652777, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 25 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 366 mm; move upward 48 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 141 mm; move upward 46 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 288, + "segment_id": 60332, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 26 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 358 mm; move upward 39 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 116 mm; move upward 37 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 197, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.025714287534356117, + 0.010714286006987095, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.35750001668930054, + 0.03857143223285675, + 0.0, + 0.0, + 0.02857142686843872, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 1.0, + 0.023371410476769716, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 26 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 358 mm; move upward 39 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 116 mm; move upward 37 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 289, + "segment_id": 60332, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 25 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 350 mm; move upward 28 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 90 mm; move upward 26 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 197, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.024642856791615486, + 0.008214286528527737, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.3496428430080414, + 0.027857143431901932, + 0.0, + 0.0, + 0.02857142686843872, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 1.0, + -0.073433971286884, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 25 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 350 mm; move upward 28 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 90 mm; move upward 26 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 290, + "segment_id": 60332, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 23 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 343 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 66 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 196, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.022857142612338066, + 0.007500000298023224, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.3428571820259094, + 0.01964285783469677, + 0.0, + 0.0, + 0.02857142686843872, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.9742064533495067, + -0.101092677549944, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 23 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 343 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 66 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 291, + "segment_id": 60332, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 22 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 338 mm; move upward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 43 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 195, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.022499999031424522, + 0.006785714533179998, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.3378571569919586, + 0.01214285846799612, + 0.0, + 0.0, + 0.02857142686843872, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.9613098605761932, + -0.12875136578159274, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 22 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 338 mm; move upward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 43 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 292, + "segment_id": 60332, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 20 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 333 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 20 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 194, + 121 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.020357143133878708, + 0.0039285714738070965, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.3328571319580078, + 0.0053571430034935474, + 0.0, + 0.0, + 0.02857142686843872, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.8839305057188205, + -0.2393861187081877, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 20 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 333 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 20 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 293, + "segment_id": 60332, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin and remains relatively static, indicating a holding or hovering state rather than active manipulation of an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 17 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 331 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 194, + 121 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.016785714775323868, + 0.0014285714132711291, + 0.0, + 0.0, + 0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.33071428537368774, + 0.0014285714132711291, + 0.0, + 0.0, + 0.029999997466802597, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.7549648470290293, + -0.33619152301110555, + -1.0, + 0.3237574385478317, + 0.22222205271938833, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 17 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 331 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 294, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 16 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 334 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 461 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 193, + 121 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.015714285895228386, + 0.0, + 0.0, + 0.0, + 0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.33392855525016785, + 0.0, + 0.0, + 0.0, + 0.029999995604157448, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.7162751359699249, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.2592590846199758, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 16 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 334 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 461 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 295, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 16 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 338 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 445 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 192, + 121 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.015714285895228386, + 0.0, + 0.0, + 0.0, + 0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.3378571569919586, + -0.0003571428533177823, + 0.0, + 0.0028571428265422583, + 0.029999995604157448, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.7162751359699249, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.2592590846199758, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 16 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 338 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 445 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 296, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 339 mm; move downward 3 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 430 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 192, + 121 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.017500000074505806, + 0.0, + 0.0, + 0.0, + 0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.3385713994503021, + -0.002500000176951289, + 0.0, + 0.011428571306169033, + 0.027142852544784546, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.7807579653148202, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.2592590846199758, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 339 mm; move downward 3 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 430 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 297, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 17 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 337 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 412 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 191, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.01714285835623741, + 0.0, + 0.0, + 0.0, + 0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.3367857336997986, + -0.006428571883589029, + 0.0, + 0.018571428954601288, + 0.024285711348056793, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.7678614398023431, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.2592590846199758, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 17 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 337 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 412 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 298, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 17 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 333 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 395 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 190, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.016785714775323868, + 0.0, + 0.0, + 0.0, + 0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.33321428298950195, + -0.013571429066359997, + 0.0, + 0.03999999910593033, + 0.02142857015132904, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.7549648470290293, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.2592590846199758, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 17 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 333 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 395 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 299, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 17 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 328 mm; move downward 23 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 378 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 190, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.016785714775323868, + 0.0, + 0.0, + 0.0, + 0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.3278571367263794, + -0.02321428619325161, + 0.0, + 0.06142856925725937, + 0.018571428954601288, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.7549648470290293, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.2592590846199758, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 17 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 328 mm; move downward 23 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 378 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 300, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 16 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 322 mm; move downward 33 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 361 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 189, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.016428573057055473, + 0.0, + 0.0, + 0.0, + 0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.3221428394317627, + -0.03285714611411095, + 0.0, + 0.07857142388820648, + 0.015714285895228386, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.7420683215165522, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.2592590846199758, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 16 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 322 mm; move downward 33 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 361 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 301, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 15 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 316 mm; move downward 44 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 345 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 188, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.015357143245637417, + 0.0, + 0.0, + 0.0, + 0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.3157142698764801, + -0.04357143118977547, + 0.0, + 0.0957142785191536, + 0.012857142835855484, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.7033785768270293, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.2592590846199758, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 15 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 316 mm; move downward 44 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 345 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 302, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 15 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 309 mm; move downward 55 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 330 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 188, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.015000000596046448, + 0.0, + 0.0, + 0.0, + 0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.30892857909202576, + -0.055000003427267075, + 0.0, + 0.12142856419086456, + 0.009999999776482582, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.690482017684134, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.22222205271938833, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 15 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 309 mm; move downward 55 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 330 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 303, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 15 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 301 mm; move downward 68 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 315 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 187, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.015000000596046448, + 0.0, + 0.0, + 0.0, + 0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.30071431398391724, + -0.06750000268220901, + 0.0, + 0.15285713970661163, + 0.008571428246796131, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.690482017684134, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.22222205271938833, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 15 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 301 mm; move downward 68 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 315 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 304, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 15 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 292 mm; move downward 80 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 300 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 186, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.015357143245637417, + 0.0, + 0.0, + 0.0, + 0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.29178571701049805, + -0.08000000566244125, + 0.0, + 0.18285714089870453, + 0.00714285671710968, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.7033785768270293, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.22222205271938833, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 15 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 292 mm; move downward 80 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 300 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 305, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 16 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 282 mm; move downward 93 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 284 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 186, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.015714285895228386, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.2817856967449188, + -0.0925000011920929, + 0.0, + 0.21571427583694458, + 0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.7162751359699249, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 16 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 282 mm; move downward 93 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 284 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 306, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 16 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 2 mm; move left 269 mm; move downward 105 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 269 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 185, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.015714285895228386, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0017857144121080637, + 0.2685714662075043, + -0.10464286059141159, + 0.0, + 0.25428569316864014, + 0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.7162751359699249, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 16 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 2 mm; move left 269 mm; move downward 105 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 269 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 307, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 16 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 6 mm; move left 253 mm; move downward 114 mm; roll downward 0 degrees; pitch upward 17 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 253 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 185, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.016428573057055473, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.00607142923399806, + 0.25285714864730835, + -0.11392857134342194, + 0.0, + 0.29428568482398987, + 0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.7420683215165522, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 16 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 6 mm; move left 253 mm; move downward 114 mm; roll downward 0 degrees; pitch upward 17 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 253 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 308, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 13 mm; move left 236 mm; move downward 123 mm; roll downward 0 degrees; pitch upward 19 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 236 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 184, + 123 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.01785714365541935, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.012857143767178059, + 0.23642857372760773, + -0.12321428209543228, + 0.0, + 0.33714282512664795, + 0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.793654558088134, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 13 mm; move left 236 mm; move downward 123 mm; roll downward 0 degrees; pitch upward 19 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 236 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 309, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 20 mm; move left 219 mm; move downward 133 mm; roll downward 0 degrees; pitch upward 22 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 219 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 184, + 123 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.01785714365541935, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.020357144996523857, + 0.21857145428657532, + -0.13285712897777557, + 0.0, + 0.3757142424583435, + 0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.793654558088134, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 20 mm; move left 219 mm; move downward 133 mm; roll downward 0 degrees; pitch upward 22 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 219 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 310, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 28 mm; move left 201 mm; move downward 143 mm; roll downward 0 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 201 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 183, + 123 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.01785714365541935, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.027857143431901932, + 0.20071430504322052, + -0.14321427047252655, + 0.0, + 0.4042856693267822, + 0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.793654558088134, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 28 mm; move left 201 mm; move downward 143 mm; roll downward 0 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 201 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 311, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 38 mm; move left 183 mm; move downward 154 mm; roll downward 0 degrees; pitch upward 25 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 183 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 182, + 123 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.017500000074505806, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.03750000149011612, + 0.18285714089870453, + -0.15392856299877167, + 0.0, + 0.4342856705188751, + 0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.7807579653148202, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 38 mm; move left 183 mm; move downward 154 mm; roll downward 0 degrees; pitch upward 25 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 183 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 312, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 49 mm; move left 165 mm; move downward 165 mm; roll downward 0 degrees; pitch upward 27 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 165 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 182, + 123 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.018214285373687744, + 0.0, + 0.0, + 0.0, + 0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.04892857000231743, + 0.16535715758800507, + -0.16499999165534973, + 0.0, + 0.4657142460346222, + 0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.8065510836006113, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.22222205271938833, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 49 mm; move left 165 mm; move downward 165 mm; roll downward 0 degrees; pitch upward 27 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 165 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 313, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 62 mm; move left 147 mm; move downward 177 mm; roll downward 0 degrees; pitch upward 29 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 147 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 181, + 123 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.020000001415610313, + 0.0, + 0.0, + 0.0, + 0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.0625, + 0.14714287221431732, + -0.1767856925725937, + 0.0, + 0.4999999701976776, + 0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.8710339802063432, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.22222205271938833, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 62 mm; move left 147 mm; move downward 177 mm; roll downward 0 degrees; pitch upward 29 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 147 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 314, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 20 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 77 mm; move left 127 mm; move downward 187 mm; roll downward 0 degrees; pitch upward 30 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 127 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 180, + 123 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.01964285783469677, + -0.0003571428533177823, + 0.0, + 0.0028571428265422583, + 0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.07678571343421936, + 0.12714286148548126, + -0.18678569793701172, + 0.0, + 0.5271428227424622, + 0.0028571428265422583, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.8581373874330294, + -0.40533823795541135, + -1.0, + 0.3812121854935071, + 0.2592590846199758, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 20 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 77 mm; move left 127 mm; move downward 187 mm; roll downward 0 degrees; pitch upward 30 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 127 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 315, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 16 mm; move downward 2 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 91 mm; move left 108 mm; move downward 196 mm; roll downward 0 degrees; pitch upward 32 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 108 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 180, + 123 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.016428573057055473, + -0.0021428572945296764, + 0.0, + 0.008571428246796131, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.09071429073810577, + 0.10750000923871994, + -0.196428582072258, + 0.0, + 0.5514285564422607, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.7420683215165522, + -0.4744849596614964, + -1.0, + 0.4961216747028292, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 16 mm; move downward 2 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 91 mm; move left 108 mm; move downward 196 mm; roll downward 0 degrees; pitch upward 32 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 108 mm; move downward 229 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 316, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 16 mm; move downward 4 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 107 mm; move left 91 mm; move downward 205 mm; roll downward 0 degrees; pitch upward 33 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 91 mm; move downward 226 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 179, + 123 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.015714285895228386, + -0.0039285714738070965, + 0.0, + 0.0071428571827709675, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.10678571462631226, + 0.09107143431901932, + -0.20499999821186066, + 0.0, + 0.5685714483261108, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.7162751359699249, + -0.5436316712249126, + -1.0, + 0.46739430825303496, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 16 mm; move downward 4 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 107 mm; move left 91 mm; move downward 205 mm; roll downward 0 degrees; pitch upward 33 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 91 mm; move downward 226 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 317, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 14 mm; move downward 7 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 124 mm; move left 75 mm; move downward 212 mm; roll downward 0 degrees; pitch upward 33 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 75 mm; move downward 223 mm; roll downward 0 degrees; pitch upward 34 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 178, + 123 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.013571429066359997, + -0.007142857648432255, + 0.0, + 0.02142857201397419, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.12392856925725937, + 0.07535713911056519, + -0.2117857187986374, + 0.0, + 0.581428587436676, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.638895747482134, + -0.6680957772830376, + -1.0, + 0.7546680570274997, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 14 mm; move downward 7 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 124 mm; move left 75 mm; move downward 212 mm; roll downward 0 degrees; pitch upward 33 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 75 mm; move downward 223 mm; roll downward 0 degrees; pitch upward 34 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 318, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 11 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 141 mm; move left 62 mm; move downward 215 mm; roll downward 0 degrees; pitch upward 33 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 62 mm; move downward 215 mm; roll downward 0 degrees; pitch upward 33 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 178, + 124 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.011428571306169033, + -0.009642857126891613, + 0.0, + 0.02142857201397419, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.14142857491970062, + 0.061785709112882614, + -0.21535713970661163, + 0.0, + 0.5785714387893677, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.5615163253639248, + -0.7649011590466913, + -1.0, + 0.7546680570274997, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 11 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 141 mm; move left 62 mm; move downward 215 mm; roll downward 0 degrees; pitch upward 33 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 62 mm; move downward 215 mm; roll downward 0 degrees; pitch upward 33 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 319, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 11 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 160 mm; move left 50 mm; move downward 216 mm; roll downward 0 degrees; pitch upward 33 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 50 mm; move downward 206 mm; roll downward 0 degrees; pitch upward 32 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 177, + 124 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.011071428656578064, + -0.009642857126891613, + 0.0, + 0.017142856493592262, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.15964286029338837, + 0.050357140600681305, + -0.21607141196727753, + 0.0, + 0.572857141494751, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.5486197662210293, + -0.7649011590466913, + -1.0, + 0.6684859108578267, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 11 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 160 mm; move left 50 mm; move downward 216 mm; roll downward 0 degrees; pitch upward 33 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 50 mm; move downward 206 mm; roll downward 0 degrees; pitch upward 32 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 320, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 10 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 178 mm; move left 39 mm; move downward 216 mm; roll downward 0 degrees; pitch upward 32 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 39 mm; move downward 196 mm; roll downward 0 degrees; pitch upward 31 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 177, + 125 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.010000000707805157, + -0.010714286006987095, + 0.0, + 0.017142856493592262, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17821428179740906, + 0.03928571566939354, + -0.21642854809761047, + 0.0, + 0.5657142996788025, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.509930088792343, + -0.80638920040987, + -1.0, + 0.6684859108578267, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 10 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 178 mm; move left 39 mm; move downward 216 mm; roll downward 0 degrees; pitch upward 32 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 39 mm; move downward 196 mm; roll downward 0 degrees; pitch upward 31 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 321, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 9 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 195 mm; move left 29 mm; move downward 216 mm; roll downward 0 degrees; pitch upward 32 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 29 mm; move downward 185 mm; roll downward 0 degrees; pitch upward 30 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 176, + 125 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.008571429178118706, + -0.011428571306169033, + 0.0, + 0.025714285671710968, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.19535712897777557, + 0.029285714030265808, + -0.21642854809761047, + 0.0, + 0.5528571009635925, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.458343818590343, + -0.8340478706101075, + -1.0, + 0.8408501657409404, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 9 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 195 mm; move left 29 mm; move downward 216 mm; roll downward 0 degrees; pitch upward 32 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 29 mm; move downward 185 mm; roll downward 0 degrees; pitch upward 30 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 322, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 7 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 213 mm; move left 21 mm; move downward 217 mm; roll downward 0 degrees; pitch upward 30 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 21 mm; move downward 174 mm; roll downward 0 degrees; pitch upward 28 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 176, + 125 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.006785714533179998, + -0.012500000186264515, + 0.0, + 0.03142857179045677, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21250000596046448, + 0.0207142885774374, + -0.2167857140302658, + 0.0, + 0.528571367263794, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.39386097243023843, + -0.8755359119732863, + -1.0, + 0.9557596689963495, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 7 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 213 mm; move left 21 mm; move downward 217 mm; roll downward 0 degrees; pitch upward 30 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 21 mm; move downward 174 mm; roll downward 0 degrees; pitch upward 28 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 323, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 6 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 231 mm; move left 14 mm; move downward 216 mm; roll downward 0 degrees; pitch upward 28 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 14 mm; move downward 161 mm; roll downward 0 degrees; pitch upward 27 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 175, + 126 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.006071428768336773, + -0.012500000186264515, + 0.0, + 0.029999999329447746, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23071427643299103, + 0.013928571715950966, + -0.21607141196727753, + 0.0, + 0.49714288115501404, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.3680678373292383, + -0.8755359119732863, + -1.0, + 0.9270322744543811, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 6 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 231 mm; move left 14 mm; move downward 216 mm; roll downward 0 degrees; pitch upward 28 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 14 mm; move downward 161 mm; roll downward 0 degrees; pitch upward 27 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 324, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 5 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 246 mm; move left 8 mm; move downward 215 mm; roll downward 0 degrees; pitch upward 27 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 8 mm; move downward 149 mm; roll downward 0 degrees; pitch upward 25 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 175, + 127 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0053571430034935474, + -0.012500000186264515, + 0.0, + 0.03285714238882065, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.24642856419086456, + 0.007857142947614193, + -0.2149999886751175, + 0.0, + 0.46714287996292114, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.3422747022282384, + -0.8755359119732863, + -1.0, + 0.9844870260820855, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 5 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 246 mm; move left 8 mm; move downward 215 mm; roll downward 0 degrees; pitch upward 27 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 8 mm; move downward 149 mm; roll downward 0 degrees; pitch upward 25 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 325, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move left 3 mm; move downward 12 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 262 mm; move left 3 mm; move downward 214 mm; roll downward 0 degrees; pitch upward 25 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move left 3 mm; move downward 136 mm; roll downward 0 degrees; pitch upward 23 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 174, + 127 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0017857144121080637, + 0.002500000176951289, + -0.012142857536673546, + 0.0, + 0.03857142850756645, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2621428668498993, + 0.002500000176951289, + -0.2142857164144516, + 0.0, + 0.4342857301235199, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.7016226450759495, + 0.23910217023184277, + -0.8617065768731675, + -1.0, + 1.0, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 2 mm; move left 3 mm; move downward 12 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 262 mm; move left 3 mm; move downward 214 mm; roll downward 0 degrees; pitch upward 25 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move left 3 mm; move downward 136 mm; roll downward 0 degrees; pitch upward 23 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 326, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 276 mm; move right 0 mm; move downward 214 mm; roll downward 0 degrees; pitch upward 23 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 140 mm; move right 0 mm; move downward 124 mm; roll downward 0 degrees; pitch upward 21 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 174, + 128 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.004285714589059353, + 0.0, + -0.009285714477300644, + 0.0, + 0.03999999910593033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2760714292526245, + 0.0, + -0.2142856866121292, + 0.0, + 0.39571431279182434, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.42461448788283795, + 0.1488261973783429, + -0.7510718239465726, + -1.0, + 1.0, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 276 mm; move right 0 mm; move downward 214 mm; roll downward 0 degrees; pitch upward 23 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 140 mm; move right 0 mm; move downward 124 mm; roll downward 0 degrees; pitch upward 21 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 327, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 288 mm; move right 0 mm; move downward 218 mm; roll downward 0 degrees; pitch upward 20 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 135 mm; move right 0 mm; move downward 115 mm; roll downward 0 degrees; pitch upward 19 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 174, + 128 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.006785714533179998, + 0.0, + -0.009285714477300644, + 0.0, + 0.04285714402794838, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28785714507102966, + 0.0, + -0.2182142585515976, + 0.0, + 0.3557142913341522, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.1476063564881197, + 0.1488261973783429, + -0.7510718239465726, + -1.0, + 1.0, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 288 mm; move right 0 mm; move downward 218 mm; roll downward 0 degrees; pitch upward 20 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 135 mm; move right 0 mm; move downward 115 mm; roll downward 0 degrees; pitch upward 19 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 328, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 296 mm; move right 0 mm; move downward 222 mm; roll downward 0 degrees; pitch upward 18 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 129 mm; move right 0 mm; move downward 106 mm; roll downward 0 degrees; pitch upward 16 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 174, + 128 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.007500000298023224, + 0.0, + -0.009642857126891613, + 0.0, + 0.03857142850756645, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.29607143998146057, + 0.0, + -0.22214284539222717, + 0.0, + 0.3142857253551483, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.06846116871865937, + 0.1488261973783429, + -0.7649011590466913, + -1.0, + 1.0, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 296 mm; move right 0 mm; move downward 222 mm; roll downward 0 degrees; pitch upward 18 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 129 mm; move right 0 mm; move downward 106 mm; roll downward 0 degrees; pitch upward 16 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 329, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 302 mm; move right 0 mm; move downward 226 mm; roll downward 0 degrees; pitch upward 16 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 121 mm; move right 0 mm; move downward 96 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 173, + 129 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.007500000298023224, + 0.0, + -0.010357143357396126, + 0.0, + 0.02857142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.30178573727607727, + 0.0, + -0.2257142812013626, + 0.0, + 0.28142857551574707, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.06846116871865937, + 0.1488261973783429, + -0.7925598653097513, + -1.0, + 0.898304917368645, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 302 mm; move right 0 mm; move downward 226 mm; roll downward 0 degrees; pitch upward 16 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 121 mm; move right 0 mm; move downward 96 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 330, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 307 mm; move right 0 mm; move downward 228 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 114 mm; move right 0 mm; move downward 86 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 173, + 129 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + 0.0, + -0.010714286006987095, + 0.0, + 0.029999999329447746, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3067857027053833, + 0.0, + -0.22821426391601562, + 0.0, + 0.2571428716182709, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.16897434299293557, + 0.1488261973783429, + -0.80638920040987, + -1.0, + 0.9270322744543811, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 307 mm; move right 0 mm; move downward 228 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 114 mm; move right 0 mm; move downward 86 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 331, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 310 mm; move right 0 mm; move downward 230 mm; roll downward 0 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 104 mm; move right 0 mm; move downward 75 mm; roll downward 0 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 173, + 129 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + -0.011071428656578064, + 0.0, + 0.03142857179045677, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.30964288115501404, + 0.0, + -0.23035715520381927, + 0.0, + 0.23142854869365692, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3668372866181935, + 0.1488261973783429, + -0.8202185355099888, + -1.0, + 0.9557596689963495, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 310 mm; move right 0 mm; move downward 230 mm; roll downward 0 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 104 mm; move right 0 mm; move downward 75 mm; roll downward 0 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 332, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 309 mm; move right 0 mm; move downward 233 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 93 mm; move right 0 mm; move downward 64 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 172, + 129 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.013571429066359997, + 0.0, + -0.011785714887082577, + 0.0, + 0.034285712987184525, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3085714280605316, + 0.0, + -0.23285715281963348, + 0.0, + 0.2014285773038864, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.604272901523361, + 0.1488261973783429, + -0.8478772417730488, + -1.0, + 1.0, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 309 mm; move right 0 mm; move downward 233 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 93 mm; move right 0 mm; move downward 64 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 333, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 304 mm; move right 0 mm; move downward 235 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 79 mm; move right 0 mm; move downward 52 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 172, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.01428571529686451, + 0.0, + -0.010000000707805157, + 0.0, + 0.027142856270074844, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3042857348918915, + 0.0, + -0.2353571504354477, + 0.0, + 0.16857141256332397, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6834181408896078, + 0.1488261973783429, + -0.7787305302096326, + -1.0, + 0.8695775228266764, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 304 mm; move right 0 mm; move downward 235 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 79 mm; move right 0 mm; move downward 52 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 334, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 299 mm; move right 0 mm; move downward 239 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 65 mm; move right 0 mm; move downward 42 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 172, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.013928571715950966, + 0.0, + -0.010000000707805157, + 0.0, + 0.027142856270074844, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2985714375972748, + 0.0, + -0.23928573727607727, + 0.0, + 0.14142857491970062, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.643845469609698, + 0.1488261973783429, + -0.7787305302096326, + -1.0, + 0.8695775228266764, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 299 mm; move right 0 mm; move downward 239 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 65 mm; move right 0 mm; move downward 42 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 335, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 291 mm; move right 0 mm; move downward 243 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 51 mm; move right 0 mm; move downward 32 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 171, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.01607142947614193, + 0.0, + -0.010714286006987095, + 0.0, + 0.025714285671710968, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.29107144474983215, + 0.0, + -0.24321432411670685, + 0.0, + 0.11714286357164383, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8812810845148658, + 0.1488261973783429, + -0.80638920040987, + -1.0, + 0.8408501657409404, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 291 mm; move right 0 mm; move downward 243 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 51 mm; move right 0 mm; move downward 32 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 336, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 17 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 277 mm; move right 0 mm; move downward 246 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 35 mm; move right 0 mm; move downward 21 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 171, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.01714285835623741, + 0.0, + -0.010714286006987095, + 0.0, + 0.019999999552965164, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2767857015132904, + 0.0, + -0.24642860889434814, + 0.0, + 0.10571429133415222, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9999988919674494, + 0.1488261973783429, + -0.80638920040987, + -1.0, + 0.7259406624855311, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 17 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 277 mm; move right 0 mm; move downward 246 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 35 mm; move right 0 mm; move downward 21 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 337, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 260 mm; move right 0 mm; move downward 250 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 18 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 171, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.017500000074505806, + 0.0, + -0.010714286006987095, + 0.0, + 0.018571428954601288, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2596428692340851, + 0.0, + -0.25035718083381653, + 0.0, + 0.10857143253087997, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.1488261973783429, + -0.80638920040987, + -1.0, + 0.6972133053997951, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 18 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 260 mm; move right 0 mm; move downward 250 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 18 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 338, + "segment_id": 70332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the left sink basin. In the final frames, the gripper releases its hold on the black object (rolling pin), allowing it to drop into the sink, completing the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 242 mm; move right 0 mm; move downward 254 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 170, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.018214285373687744, + 0.0, + -0.010357143357396126, + 0.0, + 0.015714285895228386, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.24214284121990204, + 0.0, + -0.2542857527732849, + 0.0, + 0.11714285612106323, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.1488261973783429, + -0.7925598653097513, + -1.0, + 0.6397585537720905, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 18 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 242 mm; move right 0 mm; move downward 254 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 339, + "segment_id": 80332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding a cylindrical object consistent with the rolling pin. The hand is oriented downwards, indicating the action of releasing or placing the object into the water.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding a cylindrical object consistent with the rolling pin. The hand is oriented downwards, indicating the action of releasing or placing the object into the water.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 224 mm; move right 0 mm; move downward 259 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 163 mm; move right 0 mm; move downward 119 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 170, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.018571428954601288, + 0.0, + -0.010000000707805157, + 0.0, + 0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2239285707473755, + 0.0, + -0.25857144594192505, + 0.0, + 0.12714284658432007, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.1488261973783429, + -0.7787305302096326, + -1.0, + 0.5248490505166814, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 19 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 224 mm; move right 0 mm; move downward 259 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 163 mm; move right 0 mm; move downward 119 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 340, + "segment_id": 80332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding a cylindrical object consistent with the rolling pin. The hand is oriented downwards, indicating the action of releasing or placing the object into the water.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding a cylindrical object consistent with the rolling pin. The hand is oriented downwards, indicating the action of releasing or placing the object into the water.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 17 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 205 mm; move right 0 mm; move downward 264 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 144 mm; move right 0 mm; move downward 109 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 169, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.01714285835623741, + 0.0, + -0.010714286006987095, + 0.0, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2053571492433548, + 0.0, + -0.2639285624027252, + 0.0, + 0.1428571343421936, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9999988919674494, + 0.1488261973783429, + -0.80638920040987, + -1.0, + 0.4099395566253303, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 17 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 205 mm; move right 0 mm; move downward 264 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 144 mm; move right 0 mm; move downward 109 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 341, + "segment_id": 80332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding a cylindrical object consistent with the rolling pin. The hand is oriented downwards, indicating the action of releasing or placing the object into the water.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding a cylindrical object consistent with the rolling pin. The hand is oriented downwards, indicating the action of releasing or placing the object into the water.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 17 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 188 mm; move right 0 mm; move downward 268 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 127 mm; move right 0 mm; move downward 99 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 169, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.01714285835623741, + 0.0, + -0.011785714887082577, + 0.0, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18821430206298828, + 0.0, + -0.26821428537368774, + 0.0, + 0.1614285707473755, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9999988919674494, + 0.1488261973783429, + -0.8478772417730488, + -1.0, + 0.3524848120206694, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 17 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 188 mm; move right 0 mm; move downward 268 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 127 mm; move right 0 mm; move downward 99 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 342, + "segment_id": 80332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding a cylindrical object consistent with the rolling pin. The hand is oriented downwards, indicating the action of releasing or placing the object into the water.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding a cylindrical object consistent with the rolling pin. The hand is oriented downwards, indicating the action of releasing or placing the object into the water.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 171 mm; move right 0 mm; move downward 271 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 110 mm; move right 0 mm; move downward 87 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 168, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.018214285373687744, + 0.0, + -0.011785714887082577, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17107145488262177, + 0.0, + -0.27142858505249023, + 0.0, + 0.18142856657505035, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.1488261973783429, + -0.8478772417730488, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 18 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 171 mm; move right 0 mm; move downward 271 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 110 mm; move right 0 mm; move downward 87 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 343, + "segment_id": 80332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding a cylindrical object consistent with the rolling pin. The hand is oriented downwards, indicating the action of releasing or placing the object into the water.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding a cylindrical object consistent with the rolling pin. The hand is oriented downwards, indicating the action of releasing or placing the object into the water.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 153 mm; move right 0 mm; move downward 275 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 91 mm; move right 0 mm; move downward 75 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 168, + 129 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.015714285895228386, + 0.0, + -0.011428571306169033, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.15285715460777283, + 0.0, + -0.2746428847312927, + 0.0, + 0.20142856240272522, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8417084132349559, + 0.1488261973783429, + -0.8340478706101075, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 153 mm; move right 0 mm; move downward 275 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 91 mm; move right 0 mm; move downward 75 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 344, + "segment_id": 80332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding a cylindrical object consistent with the rolling pin. The hand is oriented downwards, indicating the action of releasing or placing the object into the water.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding a cylindrical object consistent with the rolling pin. The hand is oriented downwards, indicating the action of releasing or placing the object into the water.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 137 mm; move right 0 mm; move downward 278 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 76 mm; move right 0 mm; move downward 64 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 168, + 129 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.015714285895228386, + 0.0, + -0.011785714887082577, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1371428668498993, + 0.0, + -0.2778571546077728, + 0.0, + 0.21714285016059875, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8417084132349559, + 0.1488261973783429, + -0.8478772417730488, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 137 mm; move right 0 mm; move downward 278 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 76 mm; move right 0 mm; move downward 64 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 345, + "segment_id": 80332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding a cylindrical object consistent with the rolling pin. The hand is oriented downwards, indicating the action of releasing or placing the object into the water.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding a cylindrical object consistent with the rolling pin. The hand is oriented downwards, indicating the action of releasing or placing the object into the water.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 121 mm; move right 0 mm; move downward 280 mm; roll downward 0 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 60 mm; move right 0 mm; move downward 52 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 167, + 129 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.015714285895228386, + 0.0, + -0.012142857536673546, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.12142858654260635, + 0.0, + -0.2803571820259094, + 0.0, + 0.22999998927116394, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8417084132349559, + 0.1488261973783429, + -0.8617065768731675, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 121 mm; move right 0 mm; move downward 280 mm; roll downward 0 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 60 mm; move right 0 mm; move downward 52 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 346, + "segment_id": 80332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding a cylindrical object consistent with the rolling pin. The hand is oriented downwards, indicating the action of releasing or placing the object into the water.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding a cylindrical object consistent with the rolling pin. The hand is oriented downwards, indicating the action of releasing or placing the object into the water.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 106 mm; move right 0 mm; move downward 283 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 44 mm; move right 0 mm; move downward 40 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 167, + 129 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.01607142947614193, + 0.0, + -0.013214285485446453, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.10607142746448517, + 0.0, + -0.2825000286102295, + 0.0, + 0.24142855405807495, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8812810845148658, + 0.1488261973783429, + -0.9031945821735238, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 106 mm; move right 0 mm; move downward 283 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 44 mm; move right 0 mm; move downward 40 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 347, + "segment_id": 80332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding a cylindrical object consistent with the rolling pin. The hand is oriented downwards, indicating the action of releasing or placing the object into the water.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding a cylindrical object consistent with the rolling pin. The hand is oriented downwards, indicating the action of releasing or placing the object into the water.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 91 mm; move right 0 mm; move downward 284 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 28 mm; move right 0 mm; move downward 26 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 167, + 129 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + -0.013214285485446453, + 0.0, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.09071428328752518, + 0.0, + -0.2839285731315613, + 0.0, + 0.25428569316864014, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7625632770622819, + 0.1488261973783429, + -0.9031945821735238, + -1.0, + 0.3524848120206694, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 91 mm; move right 0 mm; move downward 284 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 28 mm; move right 0 mm; move downward 26 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 348, + "segment_id": 80332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding a cylindrical object consistent with the rolling pin. The hand is oriented downwards, indicating the action of releasing or placing the object into the water.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding a cylindrical object consistent with the rolling pin. The hand is oriented downwards, indicating the action of releasing or placing the object into the water.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 78 mm; move right 0 mm; move downward 286 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 13 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 166, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + -0.013214285485446453, + 0.0, + 0.0057142856530845165, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.07821428030729294, + 0.0, + -0.2864285707473755, + 0.0, + 0.25857141613960266, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5647002302434512, + 0.1488261973783429, + -0.9031945821735238, + -1.0, + 0.43866693243918276, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 78 mm; move right 0 mm; move downward 286 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 13 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 349, + "segment_id": 80332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding a cylindrical object consistent with the rolling pin. The hand is oriented downwards, indicating the action of releasing or placing the object into the water.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding a cylindrical object consistent with the rolling pin. The hand is oriented downwards, indicating the action of releasing or placing the object into the water.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 69 mm; move right 0 mm; move downward 289 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 166, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + -0.012857143767178059, + 0.0, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.06892856955528259, + 0.0, + -0.2889285683631897, + 0.0, + 0.25285711884498596, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4855550940707771, + 0.1488261973783429, + -0.8893652831362275, + -1.0, + 0.4099395566253303, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 69 mm; move right 0 mm; move downward 289 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 350, + "segment_id": 90332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 62 mm; move right 0 mm; move downward 291 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 95 mm; move right 0 mm; move downward 353 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 166, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + -0.012857143767178059, + 0.0, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.062142856419086456, + 0.0, + -0.2907142639160156, + 0.0, + 0.24857141077518463, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4855550940707771, + 0.1488261973783429, + -0.8893652831362275, + -1.0, + 0.4099395566253303, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 62 mm; move right 0 mm; move downward 291 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 95 mm; move right 0 mm; move downward 353 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 351, + "segment_id": 90332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 57 mm; move right 0 mm; move downward 294 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 83 mm; move right 0 mm; move downward 340 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 165, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.010357143357396126, + 0.0, + -0.013571429066359997, + 0.0, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05714286118745804, + 0.0, + -0.29357144236564636, + 0.0, + 0.2442856878042221, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.2481195823591824, + 0.1488261973783429, + -0.917023953336465, + -1.0, + 0.3524848120206694, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 57 mm; move right 0 mm; move downward 294 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 83 mm; move right 0 mm; move downward 340 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 352, + "segment_id": 90332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 54 mm; move right 0 mm; move downward 296 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 72 mm; move right 0 mm; move downward 326 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 165, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + 0.0, + -0.01428571529686451, + 0.0, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05428571626543999, + 0.0, + -0.29607143998146057, + 0.0, + 0.24285712838172913, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.12940177490659854, + 0.1488261973783429, + -0.944682659599525, + -1.0, + 0.3524848120206694, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 54 mm; move right 0 mm; move downward 296 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 72 mm; move right 0 mm; move downward 326 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 353, + "segment_id": 90332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 54 mm; move right 0 mm; move downward 297 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 63 mm; move right 0 mm; move downward 312 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 165, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + 0.0, + -0.013928571715950966, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05392858013510704, + 0.0, + -0.29678574204444885, + 0.0, + 0.24142855405807495, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.0502566387339245, + 0.1488261973783429, + -0.9308532884365838, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 54 mm; move right 0 mm; move downward 297 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 63 mm; move right 0 mm; move downward 312 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 354, + "segment_id": 90332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 54 mm; move right 0 mm; move downward 298 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 54 mm; move right 0 mm; move downward 298 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 165, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.006428571883589029, + 0.0, + -0.013928571715950966, + 0.0, + 0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05428571626543999, + 0.0, + -0.2978571951389313, + 0.0, + 0.24142855405807495, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.18717892457445673, + 0.1488261973783429, + -0.9308532884365838, + -1.0, + 0.3812121854935071, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 54 mm; move right 0 mm; move downward 298 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 54 mm; move right 0 mm; move downward 298 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 355, + "segment_id": 90332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 57 mm; move right 0 mm; move downward 300 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 48 mm; move right 0 mm; move downward 284 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 164, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0017857144121080637, + 0.0, + -0.013928571715950966, + 0.0, + 0.014285714365541935, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05678572133183479, + 0.0, + -0.3003571927547455, + 0.0, + 0.2385714054107666, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.7016226450759495, + 0.1488261973783429, + -0.9308532884365838, + -1.0, + 0.6110311779582382, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 2 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 57 mm; move right 0 mm; move downward 300 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 48 mm; move right 0 mm; move downward 284 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 356, + "segment_id": 90332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 64 mm; move right 0 mm; move downward 303 mm; roll downward 0 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 0 mm; move downward 270 mm; roll downward 0 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 164, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.014642857015132904, + 0.0, + 0.022857142612338066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.06392858177423477, + 0.0, + -0.3028571605682373, + 0.0, + 0.22428569197654724, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.9585119586368213, + -1.0, + 0.7833954141132358, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 64 mm; move right 0 mm; move downward 303 mm; roll downward 0 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 0 mm; move downward 270 mm; roll downward 0 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 357, + "segment_id": 90332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 73 mm; move right 0 mm; move downward 304 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 0 mm; move downward 255 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 164, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.014642857015132904, + 0.0, + 0.027142856270074844, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.07285715639591217, + 0.0, + -0.3035714626312256, + 0.0, + 0.20142854750156403, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.9585119586368213, + -1.0, + 0.8695775228266764, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 73 mm; move right 0 mm; move downward 304 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 0 mm; move downward 255 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 358, + "segment_id": 90332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 83 mm; move right 0 mm; move downward 304 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 0 mm; move downward 241 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 164, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.014642857015132904, + 0.0, + 0.025714285671710968, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0828571543097496, + 0.0, + -0.3042857348918915, + 0.0, + 0.17428569495677948, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.9585119586368213, + -1.0, + 0.8408501657409404, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 83 mm; move right 0 mm; move downward 304 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 0 mm; move downward 241 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 359, + "segment_id": 90332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 94 mm; move right 0 mm; move downward 305 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 0 mm; move downward 226 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 164, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.015357143245637417, + 0.0, + 0.025714285671710968, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.09357144683599472, + 0.0, + -0.3053571581840515, + 0.0, + 0.1485714167356491, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.9861706648998813, + -1.0, + 0.8408501657409404, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 94 mm; move right 0 mm; move downward 305 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 0 mm; move downward 226 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 360, + "segment_id": 90332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 104 mm; move right 0 mm; move downward 304 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 0 mm; move downward 211 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 164, + 133 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.015000000596046448, + 0.0, + 0.022857142612338066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.10357143729925156, + 0.0, + -0.30392858386039734, + 0.0, + 0.12285713851451874, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.9723413297997625, + -1.0, + 0.7833954141132358, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 104 mm; move right 0 mm; move downward 304 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 0 mm; move downward 211 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 361, + "segment_id": 90332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 114 mm; move right 0 mm; move downward 302 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 0 mm; move downward 196 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 164, + 133 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.015000000596046448, + 0.0, + 0.02142857201397419, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.11357144266366959, + 0.0, + -0.3017857074737549, + 0.0, + 0.10000000894069672, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.9723413297997625, + -1.0, + 0.7546680570274997, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 114 mm; move right 0 mm; move downward 302 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 0 mm; move downward 196 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 362, + "segment_id": 90332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 124 mm; move right 0 mm; move downward 300 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 0 mm; move downward 181 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 164, + 134 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.015000000596046448, + 0.0, + 0.019999999552965164, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.12357144802808762, + 0.0, + -0.2996428906917572, + 0.0, + 0.07857142388820648, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.9723413297997625, + -1.0, + 0.7259406624855311, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 124 mm; move right 0 mm; move downward 300 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 0 mm; move downward 181 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 363, + "segment_id": 90332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 134 mm; move right 0 mm; move downward 297 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 0 mm; move downward 166 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 164, + 134 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.014642857015132904, + 0.0, + 0.015714285895228386, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.13357144594192505, + 0.0, + -0.29678571224212646, + 0.0, + 0.058571428060531616, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.9585119586368213, + -1.0, + 0.6397585537720905, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 134 mm; move right 0 mm; move downward 297 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 0 mm; move downward 166 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 364, + "segment_id": 90332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 144 mm; move right 0 mm; move downward 293 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 0 mm; move downward 151 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 164, + 135 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.01428571529686451, + 0.0, + 0.012857142835855484, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.14357145130634308, + 0.0, + -0.2928571403026581, + 0.0, + 0.04285714402794838, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.944682659599525, + -1.0, + 0.582303802144386, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 144 mm; move right 0 mm; move downward 293 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 0 mm; move downward 151 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 365, + "segment_id": 90332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 0 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 154 mm; move right 0 mm; move downward 289 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 0 mm; move downward 137 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 164, + 135 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0003571428533177823, + 0.0, + -0.01428571529686451, + 0.0, + 0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.15392859280109406, + 0.0, + -0.2889285981655121, + 0.0, + 0.030000001192092896, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8599130238396695, + 0.1488261973783429, + -0.944682659599525, + -1.0, + 0.5535764263305336, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 0 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 154 mm; move right 0 mm; move downward 289 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 0 mm; move downward 137 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 366, + "segment_id": 90332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 164 mm; move right 0 mm; move downward 286 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 0 mm; move downward 123 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 164, + 135 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0007142857066355646, + 0.0, + -0.014642857015132904, + 0.0, + 0.012857142835855484, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.16357146203517914, + 0.0, + -0.2857142984867096, + 0.0, + 0.018571428954601288, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8203404331797384, + 0.1488261973783429, + -0.9585119586368213, + -1.0, + 0.582303802144386, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 164 mm; move right 0 mm; move downward 286 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 0 mm; move downward 123 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 367, + "segment_id": 90332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 171 mm; move right 0 mm; move downward 282 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 45 mm; move right 0 mm; move downward 108 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 163, + 136 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.002500000176951289, + 0.0, + -0.015714285895228386, + 0.0, + 0.0057142856530845165, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1714286059141159, + 0.0, + -0.28214284777641296, + 0.0, + 0.0057142856530845165, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.6224774573064891, + 0.1488261973783429, + -1.0, + -1.0, + 0.43866693243918276, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 3 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 171 mm; move right 0 mm; move downward 282 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 45 mm; move right 0 mm; move downward 108 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 368, + "segment_id": 90332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 176 mm; move right 0 mm; move downward 277 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 43 mm; move right 0 mm; move downward 92 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 163, + 136 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0039285714738070965, + 0.0, + -0.015714285895228386, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17642860114574432, + 0.0, + -0.2774999737739563, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.4641871075659614, + 0.1488261973783429, + -1.0, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 176 mm; move right 0 mm; move downward 277 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 43 mm; move right 0 mm; move downward 92 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 369, + "segment_id": 90332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 179 mm; move right 0 mm; move downward 272 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 39 mm; move right 0 mm; move downward 76 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 163, + 136 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0057142856530845165, + 0.0, + -0.014642857015132904, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17892859876155853, + 0.0, + -0.2724999785423279, + 0.0, + 0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.26632416394070346, + 0.1488261973783429, + -0.9585119586368213, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 179 mm; move right 0 mm; move downward 272 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 39 mm; move right 0 mm; move downward 76 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 370, + "segment_id": 90332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 180 mm; move right 0 mm; move downward 269 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 33 mm; move right 0 mm; move downward 62 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 163, + 137 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.007500000298023224, + 0.0, + -0.015714285895228386, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17964290082454681, + 0.0, + -0.2692857086658478, + 0.0, + 0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.06846116871865937, + 0.1488261973783429, + -1.0, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 180 mm; move right 0 mm; move downward 269 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 33 mm; move right 0 mm; move downward 62 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 371, + "segment_id": 90332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 178 mm; move right 0 mm; move downward 265 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 25 mm; move right 0 mm; move downward 46 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 163, + 137 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.007500000298023224, + 0.0, + -0.01607142947614193, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17821432650089264, + 0.0, + -0.26499998569488525, + 0.0, + 0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.06846116871865937, + 0.1488261973783429, + -1.0, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 178 mm; move right 0 mm; move downward 265 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 25 mm; move right 0 mm; move downward 46 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 372, + "segment_id": 90332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 176 mm; move right 0 mm; move downward 259 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 18 mm; move right 0 mm; move downward 30 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 163, + 137 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + 0.0, + -0.015000000596046448, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17571431398391724, + 0.0, + -0.2589285373687744, + 0.0, + 0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.08982920682026152, + 0.1488261973783429, + -0.9723413297997625, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 176 mm; move right 0 mm; move downward 259 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 18 mm; move right 0 mm; move downward 30 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 373, + "segment_id": 90332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 172 mm; move right 0 mm; move downward 254 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 9 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 162, + 138 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + 0.0, + -0.015000000596046448, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17178572714328766, + 0.0, + -0.25357145071029663, + 0.0, + 0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.08982920682026152, + 0.1488261973783429, + -0.9723413297997625, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 172 mm; move right 0 mm; move downward 254 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 9 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 374, + "segment_id": 90332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, holding the orange rolling pin directly above the drain. The object remains stationary relative to the hand while hovering over the target location, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 168 mm; move right 0 mm; move downward 247 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [152,142]\n", + "gripper_2d": [ + 162, + 138 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 152, + 142 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + 0.0, + -0.016428573057055473, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.16750001907348633, + 0.0, + -0.2474999874830246, + 0.0, + 0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.08982920682026152, + 0.1488261973783429, + -1.0, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 168 mm; move right 0 mm; move downward 247 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 375, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 163 mm; move right 0 mm; move downward 238 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 182 mm; move right 0 mm; move downward 262 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [152,142]\n", + "gripper_2d": [ + 162, + 138 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 152, + 142 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + 0.0, + -0.016428573057055473, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.16285715997219086, + 0.0, + -0.2378571480512619, + 0.0, + 0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.08982920682026152, + 0.1488261973783429, + -1.0, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 163 mm; move right 0 mm; move downward 238 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 182 mm; move right 0 mm; move downward 262 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 376, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 158 mm; move right 0 mm; move downward 228 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 174 mm; move right 0 mm; move downward 245 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [152,142]\n", + "gripper_2d": [ + 162, + 138 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 152, + 142 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + 0.0, + -0.015357143245637417, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.15785714983940125, + 0.0, + -0.22785715758800507, + 0.0, + 0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.08982920682026152, + 0.1488261973783429, + -0.9861706648998813, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 158 mm; move right 0 mm; move downward 228 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 174 mm; move right 0 mm; move downward 245 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 377, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 153 mm; move right 0 mm; move downward 220 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 165 mm; move right 0 mm; move downward 230 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [152,142]\n", + "gripper_2d": [ + 161, + 139 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 152, + 142 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + 0.0, + -0.015357143245637417, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.15285713970661163, + 0.0, + -0.21964287757873535, + 0.0, + 0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.2085470142728454, + 0.1488261973783429, + -0.9861706648998813, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 153 mm; move right 0 mm; move downward 220 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 165 mm; move right 0 mm; move downward 230 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 378, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 146 mm; move right 0 mm; move downward 210 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 155 mm; move right 0 mm; move downward 215 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [152,142]\n", + "gripper_2d": [ + 161, + 139 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 152, + 142 + ] + ], + "delta_full_state": [ + 0.010714286006987095, + 0.0, + -0.015714285895228386, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.14642855525016785, + 0.0, + -0.21035714447498322, + 0.0, + 0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.28769215044551943, + 0.1488261973783429, + -1.0, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 146 mm; move right 0 mm; move downward 210 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 155 mm; move right 0 mm; move downward 215 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 379, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 137 mm; move right 0 mm; move downward 198 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 144 mm; move right 0 mm; move downward 199 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [152,142]\n", + "gripper_2d": [ + 161, + 139 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 152, + 142 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + 0.0, + -0.013928571715950966, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.13749997317790985, + 0.0, + -0.19785714149475098, + 0.0, + 0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.2085470142728454, + 0.1488261973783429, + -0.9308532884365838, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 137 mm; move right 0 mm; move downward 198 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 144 mm; move right 0 mm; move downward 199 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 380, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 128 mm; move right 0 mm; move downward 185 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 134 mm; move right 0 mm; move downward 185 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [152,142]\n", + "gripper_2d": [ + 161, + 139 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 152, + 142 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + 0.0, + -0.012857143767178059, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.12785713374614716, + 0.0, + -0.18500001728534698, + 0.0, + 0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.2085470142728454, + 0.1488261973783429, + -0.8893652831362275, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 128 mm; move right 0 mm; move downward 185 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 134 mm; move right 0 mm; move downward 185 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 381, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 118 mm; move right 0 mm; move downward 172 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 124 mm; move right 0 mm; move downward 172 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [152,142]\n", + "gripper_2d": [ + 160, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 152, + 142 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + 0.0, + -0.012857143767178059, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.11785713583230972, + 0.0, + -0.1721428632736206, + 0.0, + 0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.2085470142728454, + 0.1488261973783429, + -0.8893652831362275, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 118 mm; move right 0 mm; move downward 172 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 124 mm; move right 0 mm; move downward 172 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 382, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 108 mm; move right 0 mm; move downward 159 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 114 mm; move right 0 mm; move downward 159 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [152,142]\n", + "gripper_2d": [ + 160, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 152, + 142 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + 0.0, + -0.012142857536673546, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.10785714536905289, + 0.0, + -0.1592857390642166, + 0.0, + 0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.2085470142728454, + 0.1488261973783429, + -0.8617065768731675, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 108 mm; move right 0 mm; move downward 159 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 114 mm; move right 0 mm; move downward 159 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 383, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 98 mm; move right 0 mm; move downward 147 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 104 mm; move right 0 mm; move downward 147 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [151,142]\n", + "gripper_2d": [ + 160, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 151, + 142 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + 0.0, + -0.010714286006987095, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.09785714745521545, + 0.0, + -0.14714287221431732, + 0.0, + 0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.2085470142728454, + 0.1488261973783429, + -0.80638920040987, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 98 mm; move right 0 mm; move downward 147 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 104 mm; move right 0 mm; move downward 147 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 384, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 89 mm; move right 0 mm; move downward 136 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 94 mm; move right 0 mm; move downward 136 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [151,142]\n", + "gripper_2d": [ + 160, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 151, + 142 + ] + ], + "delta_full_state": [ + 0.010357143357396126, + 0.0, + -0.010357143357396126, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.08857143670320511, + 0.0, + -0.1364285796880722, + 0.0, + 0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.2481195823591824, + 0.1488261973783429, + -0.7925598653097513, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 89 mm; move right 0 mm; move downward 136 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 94 mm; move right 0 mm; move downward 136 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 385, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 80 mm; move right 0 mm; move downward 126 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 84 mm; move right 0 mm; move downward 126 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [151,142]\n", + "gripper_2d": [ + 160, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 151, + 142 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + 0.0, + -0.011071428656578064, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.07964286208152771, + 0.0, + -0.12607143819332123, + 0.0, + 0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.2085470142728454, + 0.1488261973783429, + -0.8202185355099888, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 80 mm; move right 0 mm; move downward 126 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 84 mm; move right 0 mm; move downward 126 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 386, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 71 mm; move right 0 mm; move downward 115 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 74 mm; move right 0 mm; move downward 115 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [151,142]\n", + "gripper_2d": [ + 159, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 151, + 142 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + 0.0, + -0.011071428656578064, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.07107143849134445, + 0.0, + -0.11500000208616257, + 0.0, + 0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.0502566387339245, + 0.1488261973783429, + -0.8202185355099888, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 71 mm; move right 0 mm; move downward 115 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 74 mm; move right 0 mm; move downward 115 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 387, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 65 mm; move right 0 mm; move downward 104 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 65 mm; move right 0 mm; move downward 104 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [151,142]\n", + "gripper_2d": [ + 159, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 151, + 142 + ] + ], + "delta_full_state": [ + 0.007500000298023224, + 0.0, + -0.011071428656578064, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0650000050663948, + 0.0, + -0.1039285808801651, + 0.0, + 0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.06846116871865937, + 0.1488261973783429, + -0.8202185355099888, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 65 mm; move right 0 mm; move downward 104 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 65 mm; move right 0 mm; move downward 104 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 388, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 60 mm; move right 0 mm; move downward 93 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 58 mm; move right 0 mm; move downward 93 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [151,142]\n", + "gripper_2d": [ + 159, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 151, + 142 + ] + ], + "delta_full_state": [ + 0.006428571883589029, + 0.0, + -0.010714286006987095, + 0.0, + 0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.059642862528562546, + 0.0, + -0.09285715222358704, + 0.0, + 0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.18717892457445673, + 0.1488261973783429, + -0.80638920040987, + -1.0, + 0.3812121854935071, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 60 mm; move right 0 mm; move downward 93 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 58 mm; move right 0 mm; move downward 93 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 389, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 56 mm; move right 0 mm; move downward 82 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 51 mm; move right 0 mm; move downward 82 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [151,142]\n", + "gripper_2d": [ + 159, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 151, + 142 + ] + ], + "delta_full_state": [ + 0.006428571883589029, + 0.0, + -0.011428571306169033, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05607143044471741, + 0.0, + -0.08214286714792252, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.18717892457445673, + 0.1488261973783429, + -0.8340478706101075, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 56 mm; move right 0 mm; move downward 82 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 51 mm; move right 0 mm; move downward 82 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 390, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 54 mm; move right 0 mm; move downward 71 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 45 mm; move right 0 mm; move downward 71 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [151,142]\n", + "gripper_2d": [ + 159, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 151, + 142 + ] + ], + "delta_full_state": [ + 0.006071428768336773, + 0.0, + -0.011428571306169033, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0535714328289032, + 0.0, + -0.07071429491043091, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.22675154425758004, + 0.1488261973783429, + -0.8340478706101075, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 54 mm; move right 0 mm; move downward 71 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 45 mm; move right 0 mm; move downward 71 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 391, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 52 mm; move right 0 mm; move downward 59 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 39 mm; move right 0 mm; move downward 59 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [150,142]\n", + "gripper_2d": [ + 159, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.005000000353902578, + 0.0, + -0.010000000707805157, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05178571864962578, + 0.0, + -0.059285718947649, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.3454693001133775, + 0.1488261973783429, + -0.7787305302096326, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 52 mm; move right 0 mm; move downward 59 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 39 mm; move right 0 mm; move downward 59 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 392, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 51 mm; move right 0 mm; move downward 49 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 34 mm; move right 0 mm; move downward 49 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [150,142]\n", + "gripper_2d": [ + 159, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.005000000353902578, + 0.0, + -0.009642857126891613, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05107143521308899, + 0.0, + -0.04928571730852127, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.3454693001133775, + 0.1488261973783429, + -0.7649011590466913, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 51 mm; move right 0 mm; move downward 49 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 34 mm; move right 0 mm; move downward 49 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 393, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 50 mm; move right 0 mm; move downward 40 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 29 mm; move right 0 mm; move downward 40 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [150,142]\n", + "gripper_2d": [ + 158, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.004642857238650322, + 0.0, + -0.008928571827709675, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05000000819563866, + 0.0, + -0.039642855525016785, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.38504191979650093, + 0.1488261973783429, + -0.7372424888464538, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 50 mm; move right 0 mm; move downward 40 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 29 mm; move right 0 mm; move downward 40 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 394, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 49 mm; move right 0 mm; move downward 31 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 24 mm; move right 0 mm; move downward 31 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [150,142]\n", + "gripper_2d": [ + 158, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.004285714589059353, + 0.0, + -0.006785714533179998, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.048928577452898026, + 0.0, + -0.030714286491274834, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.42461448788283795, + 0.1488261973783429, + -0.6542664241515076, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 49 mm; move right 0 mm; move downward 31 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 24 mm; move right 0 mm; move downward 31 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 395, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 46 mm; move right 0 mm; move downward 24 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 20 mm; move right 0 mm; move downward 24 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [150,142]\n", + "gripper_2d": [ + 158, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.0039285714738070965, + 0.0, + -0.006428571883589029, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.04642857238650322, + 0.0, + -0.023928573355078697, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.4641871075659614, + 0.1488261973783429, + -0.6404370890513889, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 46 mm; move right 0 mm; move downward 24 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 20 mm; move right 0 mm; move downward 24 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 396, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 43 mm; move right 1 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 16 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [150,142]\n", + "gripper_2d": [ + 158, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.0039285714738070965, + 0.0, + -0.007142857648432255, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.042500000447034836, + -0.0014285714132711291, + -0.015000000596046448, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.4641871075659614, + 0.1488261973783429, + -0.6680957772830376, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 43 mm; move right 1 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 16 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 397, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 39 mm; move right 3 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 12 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [150,142]\n", + "gripper_2d": [ + 158, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.0035714288242161274, + 0.0, + -0.006071428768336773, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.03857142850756645, + -0.0032142859417945147, + 0.0007142857066355646, + 0.0, + -0.008571428246796131, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.5037596756522984, + 0.1488261973783429, + -0.6266077359198589, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 39 mm; move right 3 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 12 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 398, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 0 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 35 mm; move right 4 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 8 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [150,142]\n", + "gripper_2d": [ + 158, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.0017857144121080637, + 0.0, + -0.0032142859417945147, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.03500000387430191, + -0.0035714288242161274, + 0.018214285373687744, + 0.0, + -0.02142857015132904, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.7016226450759495, + 0.1488261973783429, + -0.5159729920089695, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 0 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 35 mm; move right 4 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 8 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 399, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 0 mm; move right 0 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 33 mm; move right 4 mm; move upward 39 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 6 mm; move right 0 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [150,142]\n", + "gripper_2d": [ + 158, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.0003571428533177823, + 0.0, + -0.0010714286472648382, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.03321428596973419, + -0.0039285714738070965, + 0.03928571566939354, + 0.0, + -0.038571424782276154, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8599130238396695, + 0.1488261973783429, + -0.4329969273140233, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 0 mm; move right 0 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 33 mm; move right 4 mm; move upward 39 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 6 mm; move right 0 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 400, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 33 mm; move right 4 mm; move upward 62 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [150,142]\n", + "gripper_2d": [ + 158, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.03285714611411095, + -0.0039285714738070965, + 0.062142856419086456, + 0.0, + -0.06428571045398712, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 33 mm; move right 4 mm; move upward 62 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 401, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 33 mm; move right 4 mm; move upward 86 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [150,142]\n", + "gripper_2d": [ + 158, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.03285714611411095, + -0.0039285714738070965, + 0.08571428060531616, + 0.0, + -0.09999999403953552, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 33 mm; move right 4 mm; move upward 86 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 402, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 33 mm; move right 4 mm; move upward 111 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [150,142]\n", + "gripper_2d": [ + 158, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.03285714611411095, + -0.0039285714738070965, + 0.11142857372760773, + 0.0, + -0.13571427762508392, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 33 mm; move right 4 mm; move upward 111 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 403, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 33 mm; move right 4 mm; move upward 138 mm; roll downward 0 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [150,142]\n", + "gripper_2d": [ + 158, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.0007142857066355646, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.03285714611411095, + -0.0039285714738070965, + 0.13821427524089813, + 0.0, + -0.1728571355342865, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8203404331797384, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 33 mm; move right 4 mm; move upward 138 mm; roll downward 0 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 404, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 32 mm; move right 4 mm; move upward 165 mm; roll downward 0 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [150,142]\n", + "gripper_2d": [ + 158, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.0014285714132711291, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.03214285895228386, + -0.0039285714738070965, + 0.16464285552501678, + 0.0, + -0.21571427583694458, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.7411952518598763, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 32 mm; move right 4 mm; move upward 165 mm; roll downward 0 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 405, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 31 mm; move right 4 mm; move upward 192 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [150,142]\n", + "gripper_2d": [ + 158, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.0014285714132711291, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.030714286491274834, + -0.0039285714738070965, + 0.19214284420013428, + 0.0, + -0.26571428775787354, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.7411952518598763, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 31 mm; move right 4 mm; move upward 192 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 406, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 29 mm; move right 4 mm; move upward 220 mm; roll downward 0 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 3 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [150,142]\n", + "gripper_2d": [ + 158, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.002500000176951289, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.029285714030265808, + -0.0039285714738070965, + 0.21964286267757416, + 0.0, + -0.3100000023841858, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.6224774573064891, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 29 mm; move right 4 mm; move upward 220 mm; roll downward 0 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 3 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 407, + "segment_id": 100332, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector holding the orange rolling pin, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 27 mm; move right 4 mm; move upward 246 mm; roll downward 0 degrees; pitch downward 20 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [150,142]\n", + "gripper_2d": [ + 158, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.0021428572945296764, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.02678571455180645, + -0.0039285714738070965, + 0.24642856419086456, + 0.0, + -0.3557142913341522, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.6620500511912193, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 27 mm; move right 4 mm; move upward 246 mm; roll downward 0 degrees; pitch downward 20 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 408, + "segment_id": 100508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 25 mm; move right 4 mm; move upward 273 mm; roll downward 0 degrees; pitch downward 23 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 25 mm; move right 4 mm; move upward 192 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [150,142]\n", + "gripper_2d": [ + 158, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.0028571428265422583, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.024642858654260635, + -0.0039285714738070965, + 0.2728571593761444, + 0.0, + -0.4028571546077728, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.582904889220152, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 25 mm; move right 4 mm; move upward 273 mm; roll downward 0 degrees; pitch downward 23 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 25 mm; move right 4 mm; move upward 192 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 409, + "segment_id": 100508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 22 mm; move right 4 mm; move upward 300 mm; roll downward 0 degrees; pitch downward 26 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 22 mm; move right 4 mm; move upward 192 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [150,142]\n", + "gripper_2d": [ + 158, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.0039285714738070965, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.021785715594887733, + -0.0039285714738070965, + 0.3003571629524231, + 0.0, + -0.4528571665287018, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.4641871075659614, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 22 mm; move right 4 mm; move upward 300 mm; roll downward 0 degrees; pitch downward 26 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 22 mm; move right 4 mm; move upward 192 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 410, + "segment_id": 100508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 18 mm; move right 4 mm; move upward 329 mm; roll downward 0 degrees; pitch downward 29 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 18 mm; move right 4 mm; move upward 192 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [150,142]\n", + "gripper_2d": [ + 158, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.004285714589059353, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.01785714365541935, + -0.0039285714738070965, + 0.3289285898208618, + 0.0, + -0.5071429014205933, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.42461448788283795, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 18 mm; move right 4 mm; move upward 329 mm; roll downward 0 degrees; pitch downward 29 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 18 mm; move right 4 mm; move upward 192 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 411, + "segment_id": 100508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 14 mm; move right 4 mm; move upward 358 mm; roll downward 0 degrees; pitch downward 33 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 14 mm; move right 4 mm; move upward 192 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,137], [150,142]\n", + "gripper_2d": [ + 158, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 137, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.004285714589059353, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.013571429066359997, + -0.0039285714738070965, + 0.3582143187522888, + 0.0, + -0.5685714483261108, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.42461448788283795, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 14 mm; move right 4 mm; move upward 358 mm; roll downward 0 degrees; pitch downward 33 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 14 mm; move right 4 mm; move upward 192 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 412, + "segment_id": 100508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 9 mm; move right 4 mm; move upward 389 mm; roll downward 0 degrees; pitch downward 37 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 9 mm; move right 4 mm; move upward 192 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,137], [149,142]\n", + "gripper_2d": [ + 158, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 137, + 149, + 142 + ] + ], + "delta_full_state": [ + 0.0039285714738070965, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.009285714477300644, + -0.0039285714738070965, + 0.38892862200737, + 0.0, + -0.6371428966522217, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.4641871075659614, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 9 mm; move right 4 mm; move upward 389 mm; roll downward 0 degrees; pitch downward 37 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 9 mm; move right 4 mm; move upward 192 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 413, + "segment_id": 100508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 5 mm; move right 4 mm; move upward 420 mm; roll downward 0 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 5 mm; move right 4 mm; move upward 192 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,137], [149,142]\n", + "gripper_2d": [ + 158, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 137, + 149, + 142 + ] + ], + "delta_full_state": [ + 0.0035714288242161274, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.005357143469154835, + -0.0039285714738070965, + 0.4196428954601288, + 0.0, + -0.704285740852356, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.5037596756522984, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 5 mm; move right 4 mm; move upward 420 mm; roll downward 0 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 5 mm; move right 4 mm; move upward 192 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 414, + "segment_id": 100508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 2 mm; move right 4 mm; move upward 450 mm; roll downward 0 degrees; pitch downward 44 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 2 mm; move right 4 mm; move upward 192 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,137], [149,142]\n", + "gripper_2d": [ + 158, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 137, + 149, + 142 + ] + ], + "delta_full_state": [ + 0.0017857144121080637, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0017857144121080637, + -0.0039285714738070965, + 0.45000001788139343, + 0.0, + -0.7685714364051819, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.7016226450759495, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 2 mm; move right 4 mm; move upward 450 mm; roll downward 0 degrees; pitch downward 44 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 2 mm; move right 4 mm; move upward 192 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 415, + "segment_id": 100508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 1 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 4 mm; move upward 481 mm; roll downward 0 degrees; pitch downward 48 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 4 mm; move upward 192 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,137], [149,142]\n", + "gripper_2d": [ + 158, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 137, + 149, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.0014285714132711291, + 0.002500000176951289, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.0039285714738070965, + 0.4814285933971405, + 0.0, + -0.8357142806053162, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.09723993138014508, + -0.29470348615577957, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 1 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 4 mm; move upward 481 mm; roll downward 0 degrees; pitch downward 48 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 4 mm; move upward 192 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 416, + "segment_id": 100508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 2 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 3 mm; move upward 510 mm; roll downward 0 degrees; pitch downward 52 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 3 mm; move upward 190 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,137], [149,142]\n", + "gripper_2d": [ + 158, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 137, + 149, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.0017857144121080637, + 0.008571429178118706, + 0.0, + -0.008571428246796131, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.002500000176951289, + 0.510357141494751, + 0.0, + -0.9028571248054504, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.08434335962584272, + -0.05960463618676526, + -1.0, + 0.15139320239283416, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 2 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 3 mm; move upward 510 mm; roll downward 0 degrees; pitch downward 52 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 3 mm; move upward 190 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 417, + "segment_id": 100508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 1 mm; move upward 535 mm; roll downward 0 degrees; pitch downward 55 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 1 mm; move upward 181 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,137], [150,142]\n", + "gripper_2d": [ + 158, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 137, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.0003571428533177823, + 0.011428571306169033, + 0.0, + -0.012857142835855484, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.0007142857066355646, + 0.5353571772575378, + 0.0, + -0.9585713744163513, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1359296308787934, + 0.051030080677007206, + -1.0, + 0.06521107495127731, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 1 mm; move upward 535 mm; roll downward 0 degrees; pitch downward 55 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 1 mm; move upward 181 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 418, + "segment_id": 100508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move upward 558 mm; roll downward 0 degrees; pitch downward 58 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 170 mm; roll downward 0 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [150,142]\n", + "gripper_2d": [ + 158, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.0003571428533177823, + 0.01785714365541935, + 0.0, + -0.017142856493592262, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.0003571428533177823, + 0.5578572154045105, + 0.0, + -1.0057141780853271, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1359296308787934, + 0.29995829279325714, + -1.0, + -0.02097103376216336, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move upward 558 mm; roll downward 0 degrees; pitch downward 58 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 170 mm; roll downward 0 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 419, + "segment_id": 100508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move upward 575 mm; roll downward 0 degrees; pitch downward 60 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 152 mm; roll downward 0 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [150,142]\n", + "gripper_2d": [ + 158, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.021785713732242584, + 0.0, + -0.025714285671710968, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + 0.5753571391105652, + 0.0, + -1.0514285564422607, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + 0.45208101495738573, + -1.0, + -0.19333528864527716, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move upward 575 mm; roll downward 0 degrees; pitch downward 60 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 152 mm; roll downward 0 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 420, + "segment_id": 100508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move upward 590 mm; roll downward 0 degrees; pitch downward 63 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 130 mm; roll downward 0 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [150,142]\n", + "gripper_2d": [ + 158, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.023571429774165154, + 0.0, + -0.0357142873108387, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + 0.5903571844100952, + 0.0, + -1.0942856073379517, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + 0.5212277986464471, + -1.0, + -0.39442693807035933, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move upward 590 mm; roll downward 0 degrees; pitch downward 63 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 130 mm; roll downward 0 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 421, + "segment_id": 100508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 26 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move upward 605 mm; roll downward 0 degrees; pitch downward 64 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 106 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [150,142]\n", + "gripper_2d": [ + 158, + 139 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.025714287534356117, + 0.0, + -0.0357142873108387, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + 0.6046428084373474, + 0.0, + -1.1228570938110352, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + 0.6042038813728046, + -1.0, + -0.39442693807035933, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 26 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move upward 605 mm; roll downward 0 degrees; pitch downward 64 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 106 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 422, + "segment_id": 100508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 27 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move right 0 mm; move upward 616 mm; roll downward 0 degrees; pitch downward 66 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 81 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [150,142]\n", + "gripper_2d": [ + 158, + 138 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 150, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.02678571455180645, + 0.0, + -0.037142857909202576, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.0007142857066355646, + 0.0, + 0.6160714030265808, + 0.0, + -1.147142767906189, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + 0.6456918506103382, + -1.0, + -0.4231542951560954, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 27 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move right 0 mm; move upward 616 mm; roll downward 0 degrees; pitch downward 66 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 81 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 423, + "segment_id": 100508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 26 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 3 mm; move right 0 mm; move upward 626 mm; roll downward 0 degrees; pitch downward 67 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 54 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,136], [151,142]\n", + "gripper_2d": [ + 159, + 138 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 136, + 151, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.026428570970892906, + 0.0, + -0.04285714402794838, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.002500000176951289, + 0.0, + 0.6257142424583435, + 0.0, + -1.1671427488327026, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + 0.631862479447397, + -1.0, + -0.5380637984115045, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 26 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 3 mm; move right 0 mm; move upward 626 mm; roll downward 0 degrees; pitch downward 67 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 54 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 424, + "segment_id": 100508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 28 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 6 mm; move right 0 mm; move upward 636 mm; roll downward 0 degrees; pitch downward 68 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 28 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [152,142]\n", + "gripper_2d": [ + 159, + 137 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 152, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.027500001713633537, + 0.0, + -0.05000000074505806, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.00607142923399806, + 0.0, + 0.6357142329216003, + 0.0, + -1.1828570365905762, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + 0.6733505929362207, + -1.0, + -0.6817006587526497, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 28 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 6 mm; move right 0 mm; move upward 636 mm; roll downward 0 degrees; pitch downward 68 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 28 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 425, + "segment_id": 100508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the orange rolling pin held firmly. The object is being moved into the basin, consistent with the final placement action of the sequence.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 28 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 10 mm; move right 0 mm; move upward 643 mm; roll downward 0 degrees; pitch downward 68 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [152,142]\n", + "gripper_2d": [ + 159, + 136 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 152, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.027500001713633537, + 0.0, + -0.044285714626312256, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.010000000707805157, + 0.0, + 0.6425000429153442, + 0.0, + -1.1857142448425293, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + 0.6733505929362207, + -1.0, + -0.5667911554972407, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 28 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 10 mm; move right 0 mm; move upward 643 mm; roll downward 0 degrees; pitch downward 68 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 426, + "segment_id": 40508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the rolling pin held directly above it, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the rolling pin held directly above it, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 27 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 15 mm; move right 0 mm; move upward 649 mm; roll downward 0 degrees; pitch downward 68 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 262 mm; roll downward 0 degrees; pitch downward 30 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [152,142]\n", + "gripper_2d": [ + 159, + 135 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 152, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.02678571455180645, + 0.0, + -0.04571428522467613, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.015000000596046448, + 0.0, + 0.6489285826683044, + 0.0, + -1.1928571462631226, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + 0.6456918506103382, + -1.0, + -0.5955185125829767, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 27 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 15 mm; move right 0 mm; move upward 649 mm; roll downward 0 degrees; pitch downward 68 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 262 mm; roll downward 0 degrees; pitch downward 30 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 427, + "segment_id": 40508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the rolling pin held directly above it, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the rolling pin held directly above it, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 26 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 22 mm; move right 0 mm; move upward 656 mm; roll downward 0 degrees; pitch downward 68 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 235 mm; roll downward 0 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [152,142]\n", + "gripper_2d": [ + 159, + 135 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 152, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.026428570970892906, + 0.0, + -0.04714285582304001, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.021785715594887733, + 0.0, + 0.6557143330574036, + 0.0, + -1.1942857503890991, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + 0.631862479447397, + -1.0, + -0.6242458696687128, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 26 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 22 mm; move right 0 mm; move upward 656 mm; roll downward 0 degrees; pitch downward 68 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 235 mm; roll downward 0 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 428, + "segment_id": 40508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the rolling pin held directly above it, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the rolling pin held directly above it, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 28 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 22 mm; move right 0 mm; move upward 629 mm; roll downward 0 degrees; pitch downward 66 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 209 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [152,142]\n", + "gripper_2d": [ + 159, + 134 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 152, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.027500001713633537, + 0.0, + -0.05000000074505806, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.021785715594887733, + 0.0, + 0.6292857527732849, + 0.0, + -1.1471428871154785, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + 0.6733505929362207, + -1.0, + -0.6817006587526497, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 28 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 22 mm; move right 0 mm; move upward 629 mm; roll downward 0 degrees; pitch downward 66 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 209 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 429, + "segment_id": 40508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the rolling pin held directly above it, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the rolling pin held directly above it, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 29 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 22 mm; move right 0 mm; move upward 602 mm; roll downward 0 degrees; pitch downward 63 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 181 mm; roll downward 0 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [152,142]\n", + "gripper_2d": [ + 159, + 133 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 152, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.02857143059372902, + 0.0, + -0.05428571254014969, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.021785715594887733, + 0.0, + 0.6017857789993286, + 0.0, + -1.0971428155899048, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + 0.7148386342993995, + -1.0, + -0.7678827300098581, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 29 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 22 mm; move right 0 mm; move upward 602 mm; roll downward 0 degrees; pitch downward 63 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 181 mm; roll downward 0 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 430, + "segment_id": 40508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the rolling pin held directly above it, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the rolling pin held directly above it, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 29 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 22 mm; move right 0 mm; move upward 573 mm; roll downward 0 degrees; pitch downward 60 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 153 mm; roll downward 0 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [152,142]\n", + "gripper_2d": [ + 159, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 152, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.029285714030265808, + 0.0, + -0.06142857298254967, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.021785715594887733, + 0.0, + 0.5732143521308899, + 0.0, + -1.0428571701049805, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + 0.742497232373992, + -1.0, + -0.9115196652634681, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 29 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 22 mm; move right 0 mm; move upward 573 mm; roll downward 0 degrees; pitch downward 60 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 153 mm; roll downward 0 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 431, + "segment_id": 40508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the rolling pin held directly above it, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the rolling pin held directly above it, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 22 mm; move right 0 mm; move upward 544 mm; roll downward 0 degrees; pitch downward 56 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 123 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 159, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.030714286491274834, + 0.0, + -0.06857142597436905, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.021785715594887733, + 0.0, + 0.5439286231994629, + 0.0, + -0.9814286231994629, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + 0.797814644900112, + -1.0, + -1.0, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 22 mm; move right 0 mm; move upward 544 mm; roll downward 0 degrees; pitch downward 56 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 123 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 432, + "segment_id": 40508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the rolling pin held directly above it, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the rolling pin held directly above it, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 22 mm; move right 0 mm; move upward 513 mm; roll downward 0 degrees; pitch downward 52 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 93 mm; roll downward 0 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 159, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.030714286491274834, + 0.0, + -0.06714285910129547, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.021785715594887733, + 0.0, + 0.5132142901420593, + 0.0, + -0.912857174873352, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + 0.797814644900112, + -1.0, + -1.0, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 22 mm; move right 0 mm; move upward 513 mm; roll downward 0 degrees; pitch downward 52 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 93 mm; roll downward 0 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 433, + "segment_id": 40508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the rolling pin held directly above it, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the rolling pin held directly above it, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 30 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 22 mm; move right 0 mm; move upward 483 mm; roll downward 0 degrees; pitch downward 48 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 62 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [154,138], [154,138]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 159, + 129 + ], + "task_obj_bbox": [ + 154, + 138, + 154, + 138 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.03035714291036129, + 0.0, + -0.06428571790456772, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.021785715594887733, + 0.0, + 0.4825000464916229, + 0.0, + -0.8457143306732178, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + 0.7839852737371706, + -1.0, + -0.968974454347405, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 30 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 22 mm; move right 0 mm; move upward 483 mm; roll downward 0 degrees; pitch downward 48 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 62 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 434, + "segment_id": 40508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the rolling pin held directly above it, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the rolling pin held directly above it, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 22 mm; move right 0 mm; move upward 452 mm; roll downward 0 degrees; pitch downward 45 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [154,138], [154,138]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 160, + 129 + ], + "task_obj_bbox": [ + 154, + 138, + 154, + 138 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.03142857179045677, + 0.0, + -0.06714285910129547, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.021785715594887733, + 0.0, + 0.4521428644657135, + 0.0, + -0.7814285755157471, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + 0.8254733151003495, + -1.0, + -1.0, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 22 mm; move right 0 mm; move upward 452 mm; roll downward 0 degrees; pitch downward 45 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 435, + "segment_id": 40508, + "subtask": "place the rolling pin in the sink", + "reason": "The robot arm is positioned over the sink with the rolling pin held directly above it, indicating the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the rolling pin held directly above it, indicating the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 22 mm; move right 0 mm; move upward 421 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [154,138], [154,139]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 160, + 128 + ], + "task_obj_bbox": [ + 154, + 138, + 154, + 139 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.03142857179045677, + 0.0, + -0.06714285910129547, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.021785715594887733, + 0.0, + 0.42071422934532166, + 0.0, + -0.7142857313156128, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + 0.8254733151003495, + -1.0, + -1.0, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 22 mm; move right 0 mm; move upward 421 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 436, + "segment_id": 40608, + "subtask": "place the rolling pin in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding the rolling pin vertically with its handle oriented downwards, consistent with the action of placing or inserting the object into the sink.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding the rolling pin vertically with its handle oriented downwards, consistent with the action of placing or inserting the object into the sink.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 34 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 22 mm; move right 0 mm; move upward 389 mm; roll downward 0 degrees; pitch downward 37 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 140 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [154,138], [154,139]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 160, + 127 + ], + "task_obj_bbox": [ + 154, + 138, + 154, + 139 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.033571429550647736, + 0.0, + -0.06428571790456772, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.021785715594887733, + 0.0, + 0.389285683631897, + 0.0, + -0.6471428275108337, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + 0.908449397826707, + -1.0, + -0.968974454347405, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 34 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 22 mm; move right 0 mm; move upward 389 mm; roll downward 0 degrees; pitch downward 37 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 140 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 437, + "segment_id": 40608, + "subtask": "place the rolling pin in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding the rolling pin vertically with its handle oriented downwards, consistent with the action of placing or inserting the object into the sink.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding the rolling pin vertically with its handle oriented downwards, consistent with the action of placing or inserting the object into the sink.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 34 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 22 mm; move right 0 mm; move upward 356 mm; roll downward 0 degrees; pitch downward 33 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 106 mm; roll downward 0 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [154,138], [154,139]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 160, + 126 + ], + "task_obj_bbox": [ + 154, + 138, + 154, + 139 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.03392856940627098, + 0.0, + -0.05999999865889549, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.021785715594887733, + 0.0, + 0.3557142913341522, + 0.0, + -0.5828571319580078, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + 0.9222786247383583, + -1.0, + -0.8827922332652671, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 34 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 22 mm; move right 0 mm; move upward 356 mm; roll downward 0 degrees; pitch downward 33 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 106 mm; roll downward 0 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 438, + "segment_id": 40608, + "subtask": "place the rolling pin in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding the rolling pin vertically with its handle oriented downwards, consistent with the action of placing or inserting the object into the sink.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding the rolling pin vertically with its handle oriented downwards, consistent with the action of placing or inserting the object into the sink.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 35 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 22 mm; move right 0 mm; move upward 322 mm; roll downward 0 degrees; pitch downward 30 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 72 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [154,137], [154,139]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 160, + 125 + ], + "task_obj_bbox": [ + 154, + 137, + 154, + 139 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.035357143729925156, + 0.0, + -0.06285714358091354, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.021785715594887733, + 0.0, + 0.32178568840026855, + 0.0, + -0.522857129573822, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + 0.9775961093901231, + -1.0, + -0.9402470223492041, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 35 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 22 mm; move right 0 mm; move upward 322 mm; roll downward 0 degrees; pitch downward 30 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 72 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 439, + "segment_id": 40608, + "subtask": "place the rolling pin in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding the rolling pin vertically with its handle oriented downwards, consistent with the action of placing or inserting the object into the sink.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding the rolling pin vertically with its handle oriented downwards, consistent with the action of placing or inserting the object into the sink.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 37 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 22 mm; move right 0 mm; move upward 286 mm; roll downward 0 degrees; pitch downward 26 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 37 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [154,137], [154,139]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 160, + 124 + ], + "task_obj_bbox": [ + 154, + 137, + 154, + 139 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.03678571432828903, + 0.0, + -0.06857142597436905, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.021785715594887733, + 0.0, + 0.2864285707473755, + 0.0, + -0.4599999785423279, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + 1.0, + -1.0, + -1.0, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 37 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 22 mm; move right 0 mm; move upward 286 mm; roll downward 0 degrees; pitch downward 26 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 37 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 440, + "segment_id": 40608, + "subtask": "place the rolling pin in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding the rolling pin vertically with its handle oriented downwards, consistent with the action of placing or inserting the object into the sink.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding the rolling pin vertically with its handle oriented downwards, consistent with the action of placing or inserting the object into the sink.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 38 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 22 mm; move right 0 mm; move upward 250 mm; roll downward 0 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [154,137], [155,140]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 161, + 123 + ], + "task_obj_bbox": [ + 154, + 137, + 155, + 140 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.037857141345739365, + 0.0, + -0.06428571790456772, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.021785715594887733, + 0.0, + 0.24964284896850586, + 0.0, + -0.3914285898208618, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + 1.0, + -1.0, + -0.968974454347405, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 38 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 22 mm; move right 0 mm; move upward 250 mm; roll downward 0 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 441, + "segment_id": 608, + "subtask": "place the rolling pin in the sink", + "reason": "The robot's end-effector is positioned over the sink with the rolling pin held vertically, indicating it is being placed into the basin to complete the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink with the rolling pin held vertically, indicating it is being placed into the basin to complete the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move right 0 mm; move upward 37 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 22 mm; move right 0 mm; move upward 212 mm; roll downward 0 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [154,137], [155,141]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 161, + 122 + ], + "task_obj_bbox": [ + 154, + 137, + 155, + 141 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + -0.0007142857066355646, + 0.0, + 0.037142857909202576, + 0.0, + -0.05999999865889549, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.021785715594887733, + 0.0, + 0.2117857187986374, + 0.0, + -0.3271428644657135, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.9786307958194627, + 0.1488261973783429, + 1.0, + -1.0, + -0.8827922332652671, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 1 mm; move right 0 mm; move upward 37 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 22 mm; move right 0 mm; move upward 212 mm; roll downward 0 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 442, + "segment_id": 408, + "subtask": "place the rolling pin in the sink", + "reason": "The robot's end-effector is holding the rolling pin directly over the sink basin, indicating the action of placing it into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot's end-effector is holding the rolling pin directly over the sink basin, indicating the action of placing it into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 2 mm; move right 0 mm; move upward 36 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 21 mm; move right 0 mm; move upward 175 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 14 mm; move right 0 mm; move upward 141 mm; roll downward 0 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [154,137], [155,141]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 161, + 121 + ], + "task_obj_bbox": [ + 154, + 137, + 155, + 141 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + -0.0017857144121080637, + 0.0, + 0.03642857074737549, + 0.0, + -0.05714285746216774, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.021071430295705795, + 0.0, + 0.17464284598827362, + 0.0, + -0.2671428620815277, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.1488261973783429, + 1.0, + -1.0, + -0.825337519093795, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 2 mm; move right 0 mm; move upward 36 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 21 mm; move right 0 mm; move upward 175 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 14 mm; move right 0 mm; move upward 141 mm; roll downward 0 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 443, + "segment_id": 408, + "subtask": "place the rolling pin in the sink", + "reason": "The robot's end-effector is holding the rolling pin directly over the sink basin, indicating the action of placing it into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot's end-effector is holding the rolling pin directly over the sink basin, indicating the action of placing it into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 0 mm; move upward 36 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 19 mm; move right 0 mm; move upward 138 mm; roll downward 0 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 13 mm; move right 0 mm; move upward 105 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [154,137], [155,142]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 161, + 120 + ], + "task_obj_bbox": [ + 154, + 137, + 155, + 142 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + -0.0035714288242161274, + 0.0, + 0.03642857074737549, + 0.0, + -0.058571428060531616, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.019285714253783226, + 0.0, + 0.13821427524089813, + 0.0, + -0.21000000834465027, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.1488261973783429, + 1.0, + -1.0, + -0.8540648761795311, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 4 mm; move right 0 mm; move upward 36 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 19 mm; move right 0 mm; move upward 138 mm; roll downward 0 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 13 mm; move right 0 mm; move upward 105 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 444, + "segment_id": 408, + "subtask": "place the rolling pin in the sink", + "reason": "The robot's end-effector is holding the rolling pin directly over the sink basin, indicating the action of placing it into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot's end-effector is holding the rolling pin directly over the sink basin, indicating the action of placing it into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 0 mm; move upward 34 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 16 mm; move right 0 mm; move upward 102 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 9 mm; move right 0 mm; move upward 68 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [154,137], [155,143]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 161, + 119 + ], + "task_obj_bbox": [ + 154, + 137, + 155, + 143 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + -0.0039285714738070965, + 0.0, + 0.03428571671247482, + 0.0, + -0.05285714194178581, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.015714285895228386, + 0.0, + 0.10178571194410324, + 0.0, + -0.15142858028411865, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.1488261973783429, + 0.9361081401525893, + -1.0, + -0.7391553729241219, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 4 mm; move right 0 mm; move upward 34 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 16 mm; move right 0 mm; move upward 102 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 9 mm; move right 0 mm; move upward 68 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 445, + "segment_id": 408, + "subtask": "place the rolling pin in the sink", + "reason": "The robot's end-effector is holding the rolling pin directly over the sink basin, indicating the action of placing it into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot's end-effector is holding the rolling pin directly over the sink basin, indicating the action of placing it into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 0 mm; move upward 34 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 12 mm; move right 0 mm; move upward 67 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 5 mm; move right 0 mm; move upward 34 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [154,137], [155,143]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 162, + 118 + ], + "task_obj_bbox": [ + 154, + 137, + 155, + 143 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + -0.005000000353902578, + 0.0, + 0.03392856940627098, + 0.0, + -0.051428571343421936, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.011785714887082577, + 0.0, + 0.06749999523162842, + 0.0, + -0.09857142716646194, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.1488261973783429, + 0.9222786247383583, + -1.0, + -0.7104280158383858, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 5 mm; move right 0 mm; move upward 34 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 12 mm; move right 0 mm; move upward 67 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 5 mm; move right 0 mm; move upward 34 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 446, + "segment_id": 408, + "subtask": "place the rolling pin in the sink", + "reason": "The robot's end-effector is holding the rolling pin directly over the sink basin, indicating the action of placing it into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the rolling pin from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. move to the sink\n2. place the rolling pin in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the rolling pin in the sink\nSubtask Reasoning: The robot's end-effector is holding the rolling pin directly over the sink basin, indicating the action of placing it into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 7 mm; move right 0 mm; move upward 34 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [154,136], [156,144]\ndistr_counter: [14,114], [30,135]\ndistr_sink: [144,135], [153,142]\n", + "gripper_2d": [ + 162, + 117 + ], + "task_obj_bbox": [ + 154, + 136, + 156, + 144 + ], + "distractor_bboxes": [ + [ + 14, + 114, + 30, + 135 + ], + [ + 144, + 135, + 153, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.006785714533179998, + 0.0, + 0.033571429550647736, + 0.0, + -0.04714285582304001, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8994856144996005, + 0.1488261973783429, + -0.39150889496655017, + -1.0, + 0.3237574385478317, + 0.18518502081880084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 7 mm; move right 0 mm; move upward 34 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + } + ], + "all_object_names": [ + "obj", + "distr_counter", + "distr_sink" + ], + "obj_cat": "obj", + "distr_cats": [ + "distr_counter", + "distr_sink" + ], + "grounding_camera": "robot0_agentview_left", + "grounding_method": "self_render_selfconsistent" +} \ No newline at end of file diff --git a/grounding_cot/PnPCounterToSink/extras/episode_000005/cot_annotations.json b/grounding_cot/PnPCounterToSink/extras/episode_000005/cot_annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..b9b420f19a2311c1b48aa80c0a13a087c232be9b --- /dev/null +++ b/grounding_cot/PnPCounterToSink/extras/episode_000005/cot_annotations.json @@ -0,0 +1,18355 @@ +{ + "sample_key": "PnPCounterToSink|5", + "subtask_list": [ + "approach the apple", + "grasp the apple", + "lift the apple", + "move to the sink", + "place the apple in the sink" + ], + "segment_labels_raw": { + "1": [ + "approach the apple", + "The robot arm is positioned near the sink area, with its end-effector oriented toward the workspace where objects are located, indicating initial movement toward the target object." + ], + "2": [ + "move to the sink", + "The robot's arm is positioned over the sink basin with a stable posture, indicating it has arrived at the target location. The end-effector appears empty and is oriented towards the faucet area, consistent with approaching the placement zone." + ], + "3": [ + "move to the sink", + "The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped." + ], + "4": [ + "move to the sink", + "The robot's end-effector is positioned directly over the sink basin, indicating it has arrived at the target location for the next step. There is no visible contact with any object or motion of lifting a grasp." + ], + "5": [ + "move to the sink", + "The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object." + ], + "6": [ + "move to the sink", + "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting." + ], + "7": [ + "move to the sink", + "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action." + ], + "8": [ + "move to the sink", + "The robot arm is positioned directly over the sink basin with its end-effector oriented towards the interior, indicating it has arrived at the target location and is preparing for the next interaction step." + ], + "9": [ + "move to the sink", + "The robot arm is positioned directly over the sink basin, indicating arrival at the target location. The end-effector appears stationary or in a stable pose above the objects inside the sink, consistent with positioning for the next interaction step." + ], + "10": [ + "place the apple in the sink", + "The robot arm is positioned directly over the sink with the gripper open, indicating the completion of the placement action for the object." + ], + "11": [ + "place the apple in the sink", + "The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location." + ], + "12": [ + "place the apple in the sink", + "The robot's end-effector is positioned directly over the sink basin, and the white object (apple) is located inside the sink. This visual evidence confirms the completion of the placement action within the target area." + ], + "13": [ + "place the apple in the sink", + "The robot arm is positioned directly over the sink with its end-effector in contact with the apple, which has just been placed inside. The scene state shows the apple resting in the sink basin, consistent with the completion of the placement action." + ], + "14": [ + "place the apple in the sink", + "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action." + ], + "15": [ + "place the apple in the sink", + "The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item." + ], + "16": [ + "place the apple in the sink", + "The robot's end-effector is positioned over the sink with a yellow object (apple) inside, and there is no visible motion or grasp action occurring, indicating the completion of the placement action." + ], + "17": [ + "place the apple in the sink", + "The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action." + ], + "18": [ + "place the apple in the sink", + "The robot arm is positioned directly over the sink basin with its gripper making contact with the yellow object, indicating it is releasing or adjusting the object into the target location." + ], + "19": [ + "place the apple in the sink", + "The robot's end-effector is positioned directly over the sink basin with a white object (the apple) visible inside, indicating the final placement action. The arm maintains this static pose relative to the sink across all frames." + ] + }, + "instruction": "pick the apple from the counter and place it in the sink", + "suite": "PnPCounterToSink", + "num_frames": 306, + "segment_count": 19, + "movement_statistics": { + "mean": [ + 0.003461718075913286, + 0.003988095342898376, + -0.00370331471759272, + -0.007236227799082187, + -0.003048552789883627, + 0.01577497684447022, + -0.0718954248366013 + ], + "std": [ + 0.012208982927362135, + 0.023420940932555458, + 0.015616943582379897, + 0.015783037058176207, + 0.017535859836614535, + 0.03164475031261453, + 0.99741217552603 + ], + "Q1": [ + -0.026767857372760773, + -0.043910717405378816, + -0.023553572595119476, + -0.05428571254014969, + -0.05000000074505806, + -0.04557142816483974, + -1.0 + ], + "Q99": [ + 0.02678571455180645, + 0.042500000447034836, + 0.03498214296996593, + 0.01842857180163261, + 0.034285712987184525, + 0.07850000262260436, + 1.0 + ] + }, + "frames": [ + { + "frame_index": 0, + "segment_id": 600, + "subtask": "approach the apple", + "reason": "The robot arm is positioned near the sink area, with its end-effector oriented toward the workspace where objects are located, indicating initial movement toward the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot arm is positioned near the sink area, with its end-effector oriented toward the workspace where objects are located, indicating initial movement toward the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 154 mm; move right 780 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 28 degrees; close gripper;\nSubtask Movement: move backward 108 mm; move right 202 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 11 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [207,109], [210,112]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 207, + 109, + 210, + 112 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.0003571428533177823, + -0.002500000176951289, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.1542857140302658, + -0.7799999713897705, + 0.0, + 0.0, + -0.02142857201397419, + -0.49714288115501404, + -1.0 + ], + "delta_full_state_norm": [ + -0.0136714083235836, + -0.041537590120626855, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 154 mm; move right 780 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 28 degrees; close gripper;", + "subtask_movement_text": "move backward 108 mm; move right 202 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 11 degrees; close gripper;" + }, + { + "frame_index": 1, + "segment_id": 600, + "subtask": "approach the apple", + "reason": "The robot arm is positioned near the sink area, with its end-effector oriented toward the workspace where objects are located, indicating initial movement toward the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot arm is positioned near the sink area, with its end-effector oriented toward the workspace where objects are located, indicating initial movement toward the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 37 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 149 mm; move right 809 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 28 degrees; close gripper;\nSubtask Movement: move backward 107 mm; move right 200 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 11 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [207,109], [210,112]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 207, + 109, + 210, + 112 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.021785713732242584, + -0.03678571432828903, + 0.0, + 0.0, + -0.011428571306169033, + -0.02857142873108387, + -1.0 + ], + "delta_next_20": [ + -0.1485714167356491, + -0.8092856407165527, + -0.0003571428533177823, + 0.0, + -0.02142857201397419, + -0.49714288115501404, + -1.0 + ], + "delta_full_state_norm": [ + -0.8139379865370807, + -0.8350898492775335, + -0.1952411158231755, + 0.49312354693254923, + -0.08474584470741275, + -0.7259643423843232, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 37 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 149 mm; move right 809 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 28 degrees; close gripper;", + "subtask_movement_text": "move backward 107 mm; move right 200 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 11 degrees; close gripper;" + }, + { + "frame_index": 2, + "segment_id": 600, + "subtask": "approach the apple", + "reason": "The robot arm is positioned near the sink area, with its end-effector oriented toward the workspace where objects are located, indicating initial movement toward the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot arm is positioned near the sink area, with its end-effector oriented toward the workspace where objects are located, indicating initial movement toward the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 23 mm; move right 38 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 121 mm; move right 804 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 27 degrees; close gripper;\nSubtask Movement: move backward 85 mm; move right 163 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [208,109], [210,111]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 153, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 208, + 109, + 210, + 111 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.02321428619325161, + -0.037857141345739365, + 0.0, + 0.0, + -0.0071428571827709675, + -0.034285712987184525, + -1.0 + ], + "delta_next_20": [ + -0.12142856419086456, + -0.8042857050895691, + -0.0014285714132711291, + 0.0, + -0.009999999776482582, + -0.4685714542865753, + -1.0 + ], + "delta_full_state_norm": [ + -0.867289131676961, + -0.8598883215061274, + -0.1952411158231755, + 0.49312354693254923, + 0.016949055297547755, + -0.818077148036193, + -1.0 + ], + "movement_text": "move backward 23 mm; move right 38 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 121 mm; move right 804 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 27 degrees; close gripper;", + "subtask_movement_text": "move backward 85 mm; move right 163 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 9 degrees; close gripper;" + }, + { + "frame_index": 3, + "segment_id": 600, + "subtask": "approach the apple", + "reason": "The robot arm is positioned near the sink area, with its end-effector oriented toward the workspace where objects are located, indicating initial movement toward the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot arm is positioned near the sink area, with its end-effector oriented toward the workspace where objects are located, indicating initial movement toward the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 40 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 93 mm; move right 798 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 25 degrees; close gripper;\nSubtask Movement: move backward 62 mm; move right 125 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 155, + 103 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.022142857313156128, + -0.04000000283122063, + 0.0, + 0.0, + -0.0028571428265422583, + -0.03857142850756645, + -1.0 + ], + "delta_next_20": [ + -0.09321427345275879, + -0.7975000143051147, + -0.0028571428265422583, + 0.0, + -0.0028571428265422583, + -0.4342857301235199, + -1.0 + ], + "delta_full_state_norm": [ + -0.8272757902125323, + -0.9094854384090469, + -0.1952411158231755, + 0.49312354693254923, + 0.11864396082730244, + -0.8871617898068016, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 40 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 93 mm; move right 798 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 25 degrees; close gripper;", + "subtask_movement_text": "move backward 62 mm; move right 125 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; close gripper;" + }, + { + "frame_index": 4, + "segment_id": 600, + "subtask": "approach the apple", + "reason": "The robot arm is positioned near the sink area, with its end-effector oriented toward the workspace where objects are located, indicating initial movement toward the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot arm is positioned near the sink area, with its end-effector oriented toward the workspace where objects are located, indicating initial movement toward the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 41 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 66 mm; move right 787 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 23 degrees; close gripper;\nSubtask Movement: move backward 40 mm; move right 85 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 158, + 103 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.02071428671479225, + -0.04107142984867096, + 0.0, + 0.0, + 0.0, + -0.041428569704294205, + -1.0 + ], + "delta_next_20": [ + -0.06607142835855484, + -0.7871428728103638, + -0.0057142856530845165, + 0.0, + 0.0, + -0.39571431279182434, + -1.0 + ], + "delta_full_state_norm": [ + -0.773924714634578, + -0.9342839106376408, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.933218177620054, + -1.0 + ], + "movement_text": "move backward 21 mm; move right 41 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 66 mm; move right 787 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 23 degrees; close gripper;", + "subtask_movement_text": "move backward 40 mm; move right 85 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; close gripper;" + }, + { + "frame_index": 5, + "segment_id": 600, + "subtask": "approach the apple", + "reason": "The robot arm is positioned near the sink area, with its end-effector oriented toward the workspace where objects are located, indicating initial movement toward the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot arm is positioned near the sink area, with its end-effector oriented toward the workspace where objects are located, indicating initial movement toward the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 19 mm; move right 44 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 41 mm; move right 775 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 20 degrees; close gripper;\nSubtask Movement: move backward 19 mm; move right 44 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 160, + 103 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.019285714253783226, + -0.04392857477068901, + 0.0, + 0.0, + 0.0, + -0.04714285582304001, + -1.0 + ], + "delta_next_20": [ + -0.0414285734295845, + -0.775357186794281, + -0.009285714477300644, + 0.0, + 0.0, + -0.35428571701049805, + -1.0 + ], + "delta_full_state_norm": [ + -0.7205735694946978, + -1.0, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -1.0, + -1.0 + ], + "movement_text": "move backward 19 mm; move right 44 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 41 mm; move right 775 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 20 degrees; close gripper;", + "subtask_movement_text": "move backward 19 mm; move right 44 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;" + }, + { + "frame_index": 6, + "segment_id": 600, + "subtask": "approach the apple", + "reason": "The robot arm is positioned near the sink area, with its end-effector oriented toward the workspace where objects are located, indicating initial movement toward the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the apple\nSubtask Reasoning: The robot arm is positioned near the sink area, with its end-effector oriented toward the workspace where objects are located, indicating initial movement toward the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 44 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 18 mm; move right 760 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 18 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 163, + 103 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.015000000596046448, + -0.04392857477068901, + 0.0, + 0.0, + 0.0, + -0.04857143014669418, + -1.0 + ], + "delta_next_20": [ + -0.018214283511042595, + -0.7596428394317627, + -0.01428571529686451, + 0.0, + 0.0, + -0.30714285373687744, + -1.0 + ], + "delta_full_state_norm": [ + -0.560520273198909, + -1.0, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -1.0, + -1.0 + ], + "movement_text": "move backward 15 mm; move right 44 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 18 mm; move right 760 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 18 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 7, + "segment_id": 700, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink basin with a stable posture, indicating it has arrived at the target location. The end-effector appears empty and is oriented towards the faucet area, consistent with approaching the placement zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink basin with a stable posture, indicating it has arrived at the target location. The end-effector appears empty and is oriented towards the faucet area, consistent with approaching the placement zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 47 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move forward 1 mm; move right 743 mm; move downward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 15 degrees; close gripper;\nSubtask Movement: move backward 35 mm; move right 463 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 14 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 166, + 104 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.013214285485446453, + -0.04714285954833031, + 0.0, + 0.0, + 0.0, + -0.05285714194178581, + -1.0 + ], + "delta_next_20": [ + 0.0014285690849646926, + -0.7428571581840515, + -0.02142857387661934, + 0.0, + 0.0, + -0.25857141613960266, + -1.0 + ], + "delta_full_state_norm": [ + -0.49383135916454024, + -1.0, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -1.0, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 47 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move forward 1 mm; move right 743 mm; move downward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 15 degrees; close gripper;", + "subtask_movement_text": "move backward 35 mm; move right 463 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 14 degrees; close gripper;" + }, + { + "frame_index": 8, + "segment_id": 700, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink basin with a stable posture, indicating it has arrived at the target location. The end-effector appears empty and is oriented towards the faucet area, consistent with approaching the placement zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink basin with a stable posture, indicating it has arrived at the target location. The end-effector appears empty and is oriented towards the faucet area, consistent with approaching the placement zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 45 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move forward 21 mm; move right 721 mm; move downward 31 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; close gripper;\nSubtask Movement: move backward 22 mm; move right 416 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 11 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 168, + 104 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.009642857126891613, + -0.044999998062849045, + 0.0, + 0.0, + 0.0, + -0.04571428522467613, + -1.0 + ], + "delta_next_20": [ + 0.02142857201397419, + -0.7214285731315613, + -0.03142857179045677, + 0.0, + 0.0, + -0.20571428537368774, + -1.0 + ], + "delta_full_state_norm": [ + -0.3604536006577286, + -1.0, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -1.0, + -1.0 + ], + "movement_text": "move backward 10 mm; move right 45 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move forward 21 mm; move right 721 mm; move downward 31 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; close gripper;", + "subtask_movement_text": "move backward 22 mm; move right 416 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 11 degrees; close gripper;" + }, + { + "frame_index": 9, + "segment_id": 700, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink basin with a stable posture, indicating it has arrived at the target location. The end-effector appears empty and is oriented towards the faucet area, consistent with approaching the placement zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink basin with a stable posture, indicating it has arrived at the target location. The end-effector appears empty and is oriented towards the faucet area, consistent with approaching the placement zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 44 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 39 mm; move right 703 mm; move downward 43 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; close gripper;\nSubtask Movement: move backward 12 mm; move right 371 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 171, + 104 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.006071428768336773, + -0.04357142746448517, + 0.0, + 0.0, + 0.0, + -0.03142857179045677, + -1.0 + ], + "delta_next_20": [ + 0.03857142850756645, + -0.70250004529953, + -0.04285714402794838, + 0.0, + 0.0, + -0.1599999964237213, + -1.0 + ], + "delta_full_state_norm": [ + -0.22707584215091692, + -0.9921470412453153, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.7720207602229406, + -1.0 + ], + "movement_text": "move backward 6 mm; move right 44 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 39 mm; move right 703 mm; move downward 43 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; close gripper;", + "subtask_movement_text": "move backward 12 mm; move right 371 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; close gripper;" + }, + { + "frame_index": 10, + "segment_id": 700, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink basin with a stable posture, indicating it has arrived at the target location. The end-effector appears empty and is oriented towards the faucet area, consistent with approaching the placement zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink basin with a stable posture, indicating it has arrived at the target location. The end-effector appears empty and is oriented towards the faucet area, consistent with approaching the placement zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 41 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 53 mm; move right 686 mm; move downward 55 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; close gripper;\nSubtask Movement: move backward 6 mm; move right 328 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 173, + 104 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.002500000176951289, + -0.0414285734295845, + 0.0, + 0.0, + 0.0, + -0.019999999552965164, + -1.0 + ], + "delta_next_20": [ + 0.05285714939236641, + -0.6857143044471741, + -0.05535714700818062, + 0.0, + 0.0, + -0.12857142090797424, + -1.0 + ], + "delta_full_state_norm": [ + -0.09369807494886451, + -0.9425500967881274, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.5877950888684709, + -1.0 + ], + "movement_text": "move backward 3 mm; move right 41 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 53 mm; move right 686 mm; move downward 55 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; close gripper;", + "subtask_movement_text": "move backward 6 mm; move right 328 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; close gripper;" + }, + { + "frame_index": 11, + "segment_id": 700, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink basin with a stable posture, indicating it has arrived at the target location. The end-effector appears empty and is oriented towards the faucet area, consistent with approaching the placement zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink basin with a stable posture, indicating it has arrived at the target location. The end-effector appears empty and is oriented towards the faucet area, consistent with approaching the placement zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 42 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 65 mm; move right 671 mm; move downward 70 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; close gripper;\nSubtask Movement: move backward 4 mm; move right 286 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 176, + 105 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.002500000176951289, + -0.04214285686612129, + 0.0, + 0.0, + 0.0, + -0.018571428954601288, + -1.0 + ], + "delta_next_20": [ + 0.0650000050663948, + -0.671071469783783, + -0.07000000774860382, + 0.0, + 0.0, + -0.10857141762971878, + -1.0 + ], + "delta_full_state_norm": [ + -0.09369807494886451, + -0.9590823828662347, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.5647668949618447, + -1.0 + ], + "movement_text": "move backward 3 mm; move right 42 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 65 mm; move right 671 mm; move downward 70 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; close gripper;", + "subtask_movement_text": "move backward 4 mm; move right 286 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; close gripper;" + }, + { + "frame_index": 12, + "segment_id": 700, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink basin with a stable posture, indicating it has arrived at the target location. The end-effector appears empty and is oriented towards the faucet area, consistent with approaching the placement zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink basin with a stable posture, indicating it has arrived at the target location. The end-effector appears empty and is oriented towards the faucet area, consistent with approaching the placement zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move right 43 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 77 mm; move right 656 mm; move downward 85 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; close gripper;\nSubtask Movement: move backward 1 mm; move right 244 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 178, + 105 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.0010714286472648382, + -0.04285714402794838, + 0.0, + 0.0, + 0.0, + -0.017142856493592262, + -1.0 + ], + "delta_next_20": [ + 0.0771428570151329, + -0.6560714244842529, + -0.08535715192556381, + 0.0, + 0.0, + -0.08999999612569809, + -1.0 + ], + "delta_full_state_norm": [ + -0.04034696458994724, + -0.975614755167208, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.5417386710298535, + -1.0 + ], + "movement_text": "move backward 1 mm; move right 43 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 77 mm; move right 656 mm; move downward 85 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; close gripper;", + "subtask_movement_text": "move backward 1 mm; move right 244 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; close gripper;" + }, + { + "frame_index": 13, + "segment_id": 700, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink basin with a stable posture, indicating it has arrived at the target location. The end-effector appears empty and is oriented towards the faucet area, consistent with approaching the placement zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink basin with a stable posture, indicating it has arrived at the target location. The end-effector appears empty and is oriented towards the faucet area, consistent with approaching the placement zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 42 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 89 mm; move right 640 mm; move downward 103 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 201 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 180, + 105 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + -0.04178571328520775, + 0.0, + 0.0, + 0.0, + -0.014285714365541935, + -1.0 + ], + "delta_next_20": [ + 0.0892857238650322, + -0.6399999856948853, + -0.10285715013742447, + 0.0, + 0.0, + -0.07285714149475098, + -1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + -0.9508161967157481, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.4956822682039187, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 42 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 89 mm; move right 640 mm; move downward 103 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 201 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; close gripper;" + }, + { + "frame_index": 14, + "segment_id": 700, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink basin with a stable posture, indicating it has arrived at the target location. The end-effector appears empty and is oriented towards the faucet area, consistent with approaching the placement zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink basin with a stable posture, indicating it has arrived at the target location. The end-effector appears empty and is oriented towards the faucet area, consistent with approaching the placement zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 41 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 103 mm; move right 624 mm; move downward 122 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 159 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 182, + 105 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + -0.04107142984867096, + 0.0, + 0.0, + 0.0, + -0.014285714365541935, + -1.0 + ], + "delta_next_20": [ + 0.10250001400709152, + -0.6235713958740234, + -0.12214286625385284, + 0.0, + -0.008571428246796131, + -0.058571431785821915, + -1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + -0.9342839106376408, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.4956822682039187, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 41 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 103 mm; move right 624 mm; move downward 122 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 159 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;" + }, + { + "frame_index": 15, + "segment_id": 700, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink basin with a stable posture, indicating it has arrived at the target location. The end-effector appears empty and is oriented towards the faucet area, consistent with approaching the placement zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink basin with a stable posture, indicating it has arrived at the target location. The end-effector appears empty and is oriented towards the faucet area, consistent with approaching the placement zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 41 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 118 mm; move right 609 mm; move downward 141 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 3 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 118 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 184, + 105 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + -0.040714286267757416, + 0.0, + 0.0, + 0.0, + -0.014285714365541935, + -1.0 + ], + "delta_next_20": [ + 0.11785715073347092, + -0.608571469783783, + -0.14142857491970062, + 0.0, + -0.02142857015132904, + -0.04571428522467613, + -1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + -0.9260177244871542, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.4956822682039187, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 41 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 118 mm; move right 609 mm; move downward 141 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 3 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 118 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 16, + "segment_id": 700, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink basin with a stable posture, indicating it has arrived at the target location. The end-effector appears empty and is oriented towards the faucet area, consistent with approaching the placement zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink basin with a stable posture, indicating it has arrived at the target location. The end-effector appears empty and is oriented towards the faucet area, consistent with approaching the placement zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 40 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 134 mm; move right 593 mm; move downward 161 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 78 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 186, + 105 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + -0.04000000283122063, + 0.0, + 0.0, + 0.0, + -0.014285714365541935, + -1.0 + ], + "delta_next_20": [ + 0.133928582072258, + -0.5925000309944153, + -0.16107143461704254, + 0.0, + -0.03142856806516647, + -0.03857142850756645, + -1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + -0.9094854384090469, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.4956822682039187, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 40 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 134 mm; move right 593 mm; move downward 161 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 78 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;" + }, + { + "frame_index": 17, + "segment_id": 700, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink basin with a stable posture, indicating it has arrived at the target location. The end-effector appears empty and is oriented towards the faucet area, consistent with approaching the placement zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink basin with a stable posture, indicating it has arrived at the target location. The end-effector appears empty and is oriented towards the faucet area, consistent with approaching the placement zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 38 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 153 mm; move right 574 mm; move downward 183 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 38 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 188, + 105 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + -0.03750000149011612, + 0.0, + 0.0, + 0.0, + -0.009999999776482582, + -1.0 + ], + "delta_next_20": [ + 0.1525000035762787, + -0.5739285349845886, + -0.18250000476837158, + -0.0028571428265422583, + -0.038571424782276154, + -0.03857142850756645, + -1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + -0.8516222215785068, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.42659764144599255, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 38 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 153 mm; move right 574 mm; move downward 183 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 38 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;" + }, + { + "frame_index": 18, + "segment_id": 700, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink basin with a stable posture, indicating it has arrived at the target location. The end-effector appears empty and is oriented towards the faucet area, consistent with approaching the placement zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink basin with a stable posture, indicating it has arrived at the target location. The end-effector appears empty and is oriented towards the faucet area, consistent with approaching the placement zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 0 mm; move right 37 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 172 mm; move right 558 mm; move downward 204 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 3 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 190, + 105 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0003571428533177823, + -0.03678571432828903, + 0.0, + 0.0, + 0.0, + -0.0057142856530845165, + -1.0 + ], + "delta_next_20": [ + 0.17249999940395355, + -0.5582143068313599, + -0.20392857491970062, + -0.0028571428265422583, + -0.045714281499385834, + -0.04571428522467613, + -1.0 + ], + "delta_full_state_norm": [ + 0.013004144682064789, + -0.8350898492775335, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.3575130221944076, + -1.0 + ], + "movement_text": "move forward 0 mm; move right 37 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 172 mm; move right 558 mm; move downward 204 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 3 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 19, + "segment_id": 80700, + "subtask": "move to the sink", + "reason": "The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 34 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 192 mm; move right 545 mm; move downward 225 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 3 degrees; close gripper;\nSubtask Movement: move forward 280 mm; move right 639 mm; move downward 306 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 192, + 105 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0028571428265422583, + -0.03392856940627098, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.19214288890361786, + -0.5446428656578064, + -0.22500000894069672, + -0.0028571428265422583, + -0.05714285373687744, + -0.05999999865889549, + -1.0 + ], + "delta_full_state_norm": [ + 0.10636858020183437, + -0.7689604462965067, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 34 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 192 mm; move right 545 mm; move downward 225 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 3 degrees; close gripper;", + "subtask_movement_text": "move forward 280 mm; move right 639 mm; move downward 306 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;" + }, + { + "frame_index": 20, + "segment_id": 80700, + "subtask": "move to the sink", + "reason": "The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 32 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 210 mm; move right 534 mm; move downward 246 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 5 degrees; close gripper;\nSubtask Movement: move forward 277 mm; move right 605 mm; move downward 306 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 194, + 104 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0053571430034935474, + -0.031785715371370316, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.21035714447498322, + -0.5335714221000671, + -0.2460714429616928, + -0.0028571428265422583, + -0.06714285165071487, + -0.08142857253551483, + -1.0 + ], + "delta_full_state_norm": [ + 0.19973302332993947, + -0.7193635018393189, + -0.20744367587927925, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 32 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 210 mm; move right 534 mm; move downward 246 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 5 degrees; close gripper;", + "subtask_movement_text": "move forward 277 mm; move right 605 mm; move downward 306 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;" + }, + { + "frame_index": 21, + "segment_id": 80700, + "subtask": "move to the sink", + "reason": "The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 32 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 227 mm; move right 525 mm; move downward 266 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 6 degrees; close gripper;\nSubtask Movement: move forward 271 mm; move right 574 mm; move downward 306 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 195, + 104 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0053571430034935474, + -0.031785715371370316, + -0.0010714286472648382, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.22714285552501678, + -0.5246428847312927, + -0.26642856001853943, + -0.0028571428265422583, + -0.07999999821186066, + -0.10285714268684387, + -1.0 + ], + "delta_full_state_norm": [ + 0.19973302332993947, + -0.7193635018393189, + -0.23184879897467325, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 32 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 227 mm; move right 525 mm; move downward 266 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 6 degrees; close gripper;", + "subtask_movement_text": "move forward 271 mm; move right 574 mm; move downward 306 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;" + }, + { + "frame_index": 22, + "segment_id": 80700, + "subtask": "move to the sink", + "reason": "The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 31 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 245 mm; move right 516 mm; move downward 286 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 7 degrees; close gripper;\nSubtask Movement: move forward 266 mm; move right 542 mm; move downward 305 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 197, + 104 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.005000000353902578, + -0.031071428209543228, + -0.0014285714132711291, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.24464285373687744, + -0.5160714983940125, + -0.2857142686843872, + -0.0028571428265422583, + -0.09142857044935226, + -0.12428571283817291, + -1.0 + ], + "delta_full_state_norm": [ + 0.18639525443545102, + -0.7028311295383457, + -0.24405135604759065, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 31 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 245 mm; move right 516 mm; move downward 286 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 7 degrees; close gripper;", + "subtask_movement_text": "move forward 266 mm; move right 542 mm; move downward 305 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;" + }, + { + "frame_index": 23, + "segment_id": 80700, + "subtask": "move to the sink", + "reason": "The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 30 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 261 mm; move right 511 mm; move downward 304 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;\nSubtask Movement: move forward 261 mm; move right 511 mm; move downward 304 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,120], [199,122]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 198, + 104 + ], + "task_obj_bbox": [ + 198, + 120, + 199, + 122 + ], + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.005000000353902578, + -0.029642855748534203, + -0.0028571428265422583, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.26107141375541687, + -0.5107142925262451, + -0.3035714328289032, + -0.0028571428265422583, + -0.1071428582072258, + -0.15285713970661163, + -1.0 + ], + "delta_full_state_norm": [ + 0.18639525443545102, + -0.6697664280478323, + -0.2928615962720058, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 30 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 261 mm; move right 511 mm; move downward 304 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;", + "subtask_movement_text": "move forward 261 mm; move right 511 mm; move downward 304 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;" + }, + { + "frame_index": 24, + "segment_id": 80700, + "subtask": "move to the sink", + "reason": "The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 29 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 277 mm; move right 506 mm; move downward 320 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 11 degrees; close gripper;\nSubtask Movement: move forward 256 mm; move right 481 mm; move downward 301 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,117], [200,122]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 200, + 104 + ], + "task_obj_bbox": [ + 198, + 117, + 200, + 122 + ], + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0039285714738070965, + -0.029285714030265808, + -0.0035714288242161274, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.27714285254478455, + -0.506428599357605, + -0.3203571140766144, + -0.0028571428265422583, + -0.12428571283817291, + -0.1842857152223587, + -1.0 + ], + "delta_full_state_norm": [ + 0.14638191297102243, + -0.6615002850087786, + -0.3172667263281682, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 29 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 277 mm; move right 506 mm; move downward 320 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 11 degrees; close gripper;", + "subtask_movement_text": "move forward 256 mm; move right 481 mm; move downward 301 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;" + }, + { + "frame_index": 25, + "segment_id": 80700, + "subtask": "move to the sink", + "reason": "The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 28 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 293 mm; move right 503 mm; move downward 336 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 13 degrees; close gripper;\nSubtask Movement: move forward 252 mm; move right 452 mm; move downward 297 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,117], [201,122]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 201, + 104 + ], + "task_obj_bbox": [ + 198, + 117, + 201, + 122 + ], + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0039285714738070965, + -0.028214285150170326, + -0.005000000353902578, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.2932142913341522, + -0.502500057220459, + -0.3360714018344879, + -0.0028571428265422583, + -0.1428571343421936, + -0.21857142448425293, + -1.0 + ], + "delta_full_state_norm": [ + 0.14638191297102243, + -0.6367017696687518, + -0.3660769705301652, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 28 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 293 mm; move right 503 mm; move downward 336 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 13 degrees; close gripper;", + "subtask_movement_text": "move forward 252 mm; move right 452 mm; move downward 297 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;" + }, + { + "frame_index": 26, + "segment_id": 80700, + "subtask": "move to the sink", + "reason": "The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 27 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 309 mm; move right 500 mm; move downward 351 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw clockwise 15 degrees; close gripper;\nSubtask Movement: move forward 248 mm; move right 424 mm; move downward 292 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,116], [203,122]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 202, + 104 + ], + "task_obj_bbox": [ + 198, + 116, + 203, + 122 + ], + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.004642857238650322, + -0.027142858132719994, + -0.007142857648432255, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.3092857301235199, + -0.49964290857315063, + -0.3507142961025238, + -0.0028571428265422583, + -0.1614285707473755, + -0.2571428418159485, + -1.0 + ], + "delta_full_state_norm": [ + 0.17305746815048106, + -0.6119032974401579, + -0.4392923368331608, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 27 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 309 mm; move right 500 mm; move downward 351 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw clockwise 15 degrees; close gripper;", + "subtask_movement_text": "move forward 248 mm; move right 424 mm; move downward 292 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;" + }, + { + "frame_index": 27, + "segment_id": 80700, + "subtask": "move to the sink", + "reason": "The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 26 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 324 mm; move right 498 mm; move downward 363 mm; roll downward 0 degrees; pitch downward 10 degrees; yaw clockwise 17 degrees; close gripper;\nSubtask Movement: move forward 244 mm; move right 396 mm; move downward 285 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,116], [204,122]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 203, + 104 + ], + "task_obj_bbox": [ + 198, + 116, + 204, + 122 + ], + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.006785714533179998, + -0.025714287534356117, + -0.010000000707805157, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.3239285945892334, + -0.4982143044471741, + -0.3628571033477783, + -0.0028571428265422583, + -0.18285714089870453, + -0.2971428334712982, + -1.0 + ], + "delta_full_state_norm": [ + 0.25308413368885674, + -0.5788386390610774, + -0.536912825237155, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 26 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 324 mm; move right 498 mm; move downward 363 mm; roll downward 0 degrees; pitch downward 10 degrees; yaw clockwise 17 degrees; close gripper;", + "subtask_movement_text": "move forward 244 mm; move right 396 mm; move downward 285 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;" + }, + { + "frame_index": 28, + "segment_id": 80700, + "subtask": "move to the sink", + "reason": "The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 26 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 338 mm; move right 498 mm; move downward 372 mm; roll downward 0 degrees; pitch downward 12 degrees; yaw clockwise 19 degrees; close gripper;\nSubtask Movement: move forward 237 mm; move right 371 mm; move downward 275 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,116], [205,122]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 204, + 104 + ], + "task_obj_bbox": [ + 198, + 116, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.007500000298023224, + -0.02607142925262451, + -0.011428571306169033, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.3378571569919586, + -0.4978571832180023, + -0.3724999725818634, + -0.0028571428265422583, + -0.20142856240272522, + -0.3399999737739563, + -1.0 + ], + "delta_full_state_norm": [ + 0.27975968886831537, + -0.5871047821001311, + -0.5857230376184968, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 26 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 338 mm; move right 498 mm; move downward 372 mm; roll downward 0 degrees; pitch downward 12 degrees; yaw clockwise 19 degrees; close gripper;", + "subtask_movement_text": "move forward 237 mm; move right 371 mm; move downward 275 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;" + }, + { + "frame_index": 29, + "segment_id": 80700, + "subtask": "move to the sink", + "reason": "The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 27 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 351 mm; move right 498 mm; move downward 381 mm; roll downward 0 degrees; pitch downward 13 degrees; yaw clockwise 22 degrees; close gripper;\nSubtask Movement: move forward 229 mm; move right 345 mm; move downward 264 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,116], [205,122]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 205, + 104 + ], + "task_obj_bbox": [ + 198, + 116, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.008214286528527737, + -0.02678571455180645, + -0.012500000186264515, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.35107144713401794, + -0.4975000321865082, + -0.3807142376899719, + -0.0028571428265422583, + -0.22142855823040009, + -0.3828571140766144, + -1.0 + ], + "delta_full_state_norm": [ + 0.3064352614382555, + -0.6036371112896712, + -0.6223307287251584, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 27 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 351 mm; move right 498 mm; move downward 381 mm; roll downward 0 degrees; pitch downward 13 degrees; yaw clockwise 22 degrees; close gripper;", + "subtask_movement_text": "move forward 229 mm; move right 345 mm; move downward 264 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;" + }, + { + "frame_index": 30, + "segment_id": 80700, + "subtask": "move to the sink", + "reason": "The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 27 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 364 mm; move right 496 mm; move downward 387 mm; roll downward 0 degrees; pitch downward 14 degrees; yaw clockwise 24 degrees; close gripper;\nSubtask Movement: move forward 221 mm; move right 318 mm; move downward 251 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,116], [205,122]\ndistr_counter: [203,113], [203,114]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 206, + 104 + ], + "task_obj_bbox": [ + 198, + 116, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 203, + 113, + 203, + 114 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + -0.02678571455180645, + -0.014642857015132904, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.3639286160469055, + -0.49642863869667053, + -0.38749995827674866, + -0.0028571428265422583, + -0.24142855405807495, + -0.42571425437927246, + -1.0 + ], + "delta_full_state_norm": [ + 0.35978633701620977, + -0.6036371112896712, + -0.6955460791178263, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 27 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 364 mm; move right 496 mm; move downward 387 mm; roll downward 0 degrees; pitch downward 14 degrees; yaw clockwise 24 degrees; close gripper;", + "subtask_movement_text": "move forward 221 mm; move right 318 mm; move downward 251 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;" + }, + { + "frame_index": 31, + "segment_id": 80700, + "subtask": "move to the sink", + "reason": "The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 27 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 376 mm; move right 495 mm; move downward 392 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 27 degrees; close gripper;\nSubtask Movement: move forward 211 mm; move right 291 mm; move downward 236 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,116], [205,122]\ndistr_counter: [203,111], [204,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 105 + ], + "task_obj_bbox": [ + 198, + 116, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 203, + 111, + 204, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + -0.027142858132719994, + -0.015357143245637417, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.37607142329216003, + -0.49500009417533875, + -0.3917856812477112, + -0.0028571428265422583, + -0.261428564786911, + -0.46857139468193054, + -1.0 + ], + "delta_full_state_norm": [ + 0.35978633701620977, + -0.6119032974401579, + -0.7199512171291524, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 27 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 376 mm; move right 495 mm; move downward 392 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 27 degrees; close gripper;", + "subtask_movement_text": "move forward 211 mm; move right 291 mm; move downward 236 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;" + }, + { + "frame_index": 32, + "segment_id": 80700, + "subtask": "move to the sink", + "reason": "The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 27 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 388 mm; move right 493 mm; move downward 395 mm; roll downward 0 degrees; pitch downward 16 degrees; yaw clockwise 29 degrees; close gripper;\nSubtask Movement: move forward 202 mm; move right 264 mm; move downward 221 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,116], [205,122]\ndistr_counter: [203,112], [205,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 105 + ], + "task_obj_bbox": [ + 198, + 116, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 203, + 112, + 205, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.011071428656578064, + -0.02678571455180645, + -0.017500000074505806, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.3882143199443817, + -0.4928572177886963, + -0.3953571319580078, + -0.0028571428265422583, + -0.2800000011920929, + -0.5099999904632568, + -1.0 + ], + "delta_full_state_norm": [ + 0.41313744737512703, + -0.6036371112896712, + -0.7931665675218205, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 27 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 388 mm; move right 493 mm; move downward 395 mm; roll downward 0 degrees; pitch downward 16 degrees; yaw clockwise 29 degrees; close gripper;", + "subtask_movement_text": "move forward 202 mm; move right 264 mm; move downward 221 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;" + }, + { + "frame_index": 33, + "segment_id": 80700, + "subtask": "move to the sink", + "reason": "The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 25 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 401 mm; move right 490 mm; move downward 396 mm; roll downward 0 degrees; pitch downward 17 degrees; yaw clockwise 31 degrees; close gripper;\nSubtask Movement: move forward 191 mm; move right 237 mm; move downward 204 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,116], [205,122]\ndistr_counter: [203,113], [206,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 208, + 105 + ], + "task_obj_bbox": [ + 198, + 116, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 203, + 113, + 206, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.013214285485446453, + -0.025357142090797424, + -0.019285714253783226, + 0.0, + -0.008571428246796131, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.40071430802345276, + -0.4896429181098938, + -0.39642858505249023, + -0.0028571428265422583, + -0.2971428632736206, + -0.545714259147644, + -1.0 + ], + "delta_full_state_norm": [ + 0.49316409552302143, + -0.5705724097991578, + -0.8541793648191529, + 0.49312354693254923, + -0.016949237337713363, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 25 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 401 mm; move right 490 mm; move downward 396 mm; roll downward 0 degrees; pitch downward 17 degrees; yaw clockwise 31 degrees; close gripper;", + "subtask_movement_text": "move forward 191 mm; move right 237 mm; move downward 204 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;" + }, + { + "frame_index": 34, + "segment_id": 80700, + "subtask": "move to the sink", + "reason": "The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 26 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 412 mm; move right 487 mm; move downward 396 mm; roll downward 0 degrees; pitch downward 18 degrees; yaw clockwise 33 degrees; close gripper;\nSubtask Movement: move forward 177 mm; move right 212 mm; move downward 184 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,116], [205,122]\ndistr_counter: [203,109], [206,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 209, + 106 + ], + "task_obj_bbox": [ + 198, + 116, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 206, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.015357143245637417, + -0.02607142925262451, + -0.019285714253783226, + 0.0, + -0.012857142835855484, + -0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + 0.41178569197654724, + -0.4871428608894348, + -0.39571428298950195, + -0.0028571428265422583, + -0.30571430921554565, + -0.5785713791847229, + -1.0 + ], + "delta_full_state_norm": [ + 0.5731907784518788, + -0.5871047821001311, + -0.8541793648191529, + 0.49312354693254923, + -0.11864414839226245, + -0.28842840106623746, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 26 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 412 mm; move right 487 mm; move downward 396 mm; roll downward 0 degrees; pitch downward 18 degrees; yaw clockwise 33 degrees; close gripper;", + "subtask_movement_text": "move forward 177 mm; move right 212 mm; move downward 184 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; close gripper;" + }, + { + "frame_index": 35, + "segment_id": 80700, + "subtask": "move to the sink", + "reason": "The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 25 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 423 mm; move right 483 mm; move downward 394 mm; roll downward 0 degrees; pitch downward 18 degrees; yaw clockwise 35 degrees; close gripper;\nSubtask Movement: move forward 162 mm; move right 186 mm; move downward 165 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,116], [205,122]\ndistr_counter: [203,109], [207,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 209, + 106 + ], + "task_obj_bbox": [ + 198, + 116, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 207, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.01607142947614193, + -0.024642856791615486, + -0.01964285783469677, + 0.0, + -0.009999999776482582, + -0.0071428571827709675, + -1.0 + ], + "delta_next_20": [ + 0.42250004410743713, + -0.48285719752311707, + -0.3942857086658478, + -0.0028571428265422583, + -0.30714282393455505, + -0.6042856574058533, + -1.0 + ], + "delta_full_state_norm": [ + 0.599866351021819, + -0.5540400806096176, + -0.8663819497351437, + 0.49312354693254923, + -0.05084754102256306, + -0.3805412311137164, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 25 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 423 mm; move right 483 mm; move downward 394 mm; roll downward 0 degrees; pitch downward 18 degrees; yaw clockwise 35 degrees; close gripper;", + "subtask_movement_text": "move forward 162 mm; move right 186 mm; move downward 165 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 9 degrees; close gripper;" + }, + { + "frame_index": 36, + "segment_id": 80700, + "subtask": "move to the sink", + "reason": "The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 21 mm; move downward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 435 mm; move right 477 mm; move downward 391 mm; roll downward 0 degrees; pitch downward 18 degrees; yaw clockwise 35 degrees; close gripper;\nSubtask Movement: move forward 146 mm; move right 161 mm; move downward 145 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 8 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,116], [205,122]\ndistr_counter: [203,109], [207,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 210, + 106 + ], + "task_obj_bbox": [ + 198, + 116, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 207, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.018571428954601288, + -0.02142857201397419, + -0.02142857201397419, + -0.0028571428265422583, + -0.0071428571827709675, + -0.014285714365541935, + -1.0 + ], + "delta_next_20": [ + 0.4346427917480469, + -0.4767857491970062, + -0.3910714387893677, + -0.0028571428265422583, + -0.3114285469055176, + -0.6085714101791382, + -1.0 + ], + "delta_full_state_norm": [ + 0.6932307680642018, + -0.47964457770097, + -0.9273947470324763, + 0.41453809540873476, + 0.016949055297547755, + -0.4956822682039187, + -1.0 + ], + "movement_text": "move forward 19 mm; move right 21 mm; move downward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 435 mm; move right 477 mm; move downward 391 mm; roll downward 0 degrees; pitch downward 18 degrees; yaw clockwise 35 degrees; close gripper;", + "subtask_movement_text": "move forward 146 mm; move right 161 mm; move downward 145 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 8 degrees; close gripper;" + }, + { + "frame_index": 37, + "segment_id": 80700, + "subtask": "move to the sink", + "reason": "The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 22 mm; move downward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 444 mm; move right 473 mm; move downward 386 mm; roll upward 1 degrees; pitch downward 17 degrees; yaw clockwise 34 degrees; close gripper;\nSubtask Movement: move forward 128 mm; move right 140 mm; move downward 124 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 7 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,116], [205,122]\ndistr_counter: [203,109], [208,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 210, + 107 + ], + "task_obj_bbox": [ + 198, + 116, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 208, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.020000001415610313, + -0.021785713732242584, + -0.02142857201397419, + 0.0, + -0.0071428571827709675, + -0.017142856493592262, + -1.0 + ], + "delta_next_20": [ + 0.44428572058677673, + -0.4732142984867096, + -0.38607141375541687, + 0.009999999776482582, + -0.3042857050895691, + -0.5942857265472412, + -1.0 + ], + "delta_full_state_norm": [ + 0.7465819132040821, + -0.48791072074002373, + -0.9273947470324763, + 0.49312354693254923, + 0.016949055297547755, + -0.5417386710298535, + -1.0 + ], + "movement_text": "move forward 20 mm; move right 22 mm; move downward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 444 mm; move right 473 mm; move downward 386 mm; roll upward 1 degrees; pitch downward 17 degrees; yaw clockwise 34 degrees; close gripper;", + "subtask_movement_text": "move forward 128 mm; move right 140 mm; move downward 124 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 7 degrees; close gripper;" + }, + { + "frame_index": 38, + "segment_id": 80700, + "subtask": "move to the sink", + "reason": "The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 23 mm; move downward 21 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 451 mm; move right 470 mm; move downward 381 mm; roll upward 1 degrees; pitch downward 17 degrees; yaw clockwise 33 degrees; close gripper;\nSubtask Movement: move forward 107 mm; move right 118 mm; move downward 102 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 6 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,116], [205,122]\ndistr_counter: [203,109], [208,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 210, + 107 + ], + "task_obj_bbox": [ + 198, + 116, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 208, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.020000001415610313, + -0.02321428619325161, + -0.021071428433060646, + 0.0, + -0.011428571306169033, + -0.019999999552965164, + -1.0 + ], + "delta_next_20": [ + 0.4510714113712311, + -0.47035714983940125, + -0.38107141852378845, + 0.02428571507334709, + -0.2971428334712982, + -0.5771428346633911, + -1.0 + ], + "delta_full_state_norm": [ + 0.7465819132040821, + -0.5209754222305372, + -0.9151921621164855, + 0.49312354693254923, + -0.08474584470741275, + -0.5877950888684709, + -1.0 + ], + "movement_text": "move forward 20 mm; move right 23 mm; move downward 21 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 451 mm; move right 470 mm; move downward 381 mm; roll upward 1 degrees; pitch downward 17 degrees; yaw clockwise 33 degrees; close gripper;", + "subtask_movement_text": "move forward 107 mm; move right 118 mm; move downward 102 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 6 degrees; close gripper;" + }, + { + "frame_index": 39, + "segment_id": 80700, + "subtask": "move to the sink", + "reason": "The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 21 mm; move right 23 mm; move downward 21 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 458 mm; move right 465 mm; move downward 377 mm; roll upward 2 degrees; pitch downward 16 degrees; yaw clockwise 32 degrees; close gripper;\nSubtask Movement: move forward 87 mm; move right 95 mm; move downward 81 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 5 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,116], [205,122]\ndistr_counter: [203,109], [208,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 210, + 107 + ], + "task_obj_bbox": [ + 198, + 116, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 208, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.021071428433060646, + -0.022857142612338066, + -0.021071428433060646, + 0.0, + -0.009999999776482582, + -0.02142857201397419, + -1.0 + ], + "delta_next_20": [ + 0.4578571319580078, + -0.46535712480545044, + -0.3767856955528259, + 0.03285714238882065, + -0.2857142686843872, + -0.5571429133415222, + -1.0 + ], + "delta_full_state_norm": [ + 0.7865951851065849, + -0.5127092360800505, + -0.9151921621164855, + 0.49312354693254923, + -0.05084754102256306, + -0.6108233128004621, + -1.0 + ], + "movement_text": "move forward 21 mm; move right 23 mm; move downward 21 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 458 mm; move right 465 mm; move downward 377 mm; roll upward 2 degrees; pitch downward 16 degrees; yaw clockwise 32 degrees; close gripper;", + "subtask_movement_text": "move forward 87 mm; move right 95 mm; move downward 81 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 5 degrees; close gripper;" + }, + { + "frame_index": 40, + "segment_id": 80700, + "subtask": "move to the sink", + "reason": "The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 22 mm; move right 23 mm; move downward 21 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 463 mm; move right 461 mm; move downward 373 mm; roll upward 2 degrees; pitch downward 16 degrees; yaw clockwise 31 degrees; close gripper;\nSubtask Movement: move forward 66 mm; move right 72 mm; move downward 60 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 4 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,116], [205,122]\ndistr_counter: [203,109], [209,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 210, + 108 + ], + "task_obj_bbox": [ + 198, + 116, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 209, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.022142857313156128, + -0.022857142612338066, + -0.02071428671479225, + 0.0, + -0.012857142835855484, + -0.02142857201397419, + -1.0 + ], + "delta_next_20": [ + 0.4628571569919586, + -0.4607142508029938, + -0.3732142448425293, + 0.03857142850756645, + -0.27571427822113037, + -0.535714328289032, + -1.0 + ], + "delta_full_state_norm": [ + 0.8266085265710135, + -0.5127092360800505, + -0.9029896408418054, + 0.49312354693254923, + -0.11864414839226245, + -0.6108233128004621, + -1.0 + ], + "movement_text": "move forward 22 mm; move right 23 mm; move downward 21 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 463 mm; move right 461 mm; move downward 373 mm; roll upward 2 degrees; pitch downward 16 degrees; yaw clockwise 31 degrees; close gripper;", + "subtask_movement_text": "move forward 66 mm; move right 72 mm; move downward 60 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 4 degrees; close gripper;" + }, + { + "frame_index": 41, + "segment_id": 80700, + "subtask": "move to the sink", + "reason": "The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 23 mm; move right 23 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 467 mm; move right 456 mm; move downward 370 mm; roll upward 2 degrees; pitch downward 15 degrees; yaw clockwise 29 degrees; close gripper;\nSubtask Movement: move forward 44 mm; move right 49 mm; move downward 40 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 3 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,116], [205,122]\ndistr_counter: [203,109], [209,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 210, + 108 + ], + "task_obj_bbox": [ + 198, + 116, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 209, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.022857142612338066, + -0.02321428619325161, + -0.020357143133878708, + 0.0, + -0.011428571306169033, + -0.02142857201397419, + -1.0 + ], + "delta_next_20": [ + 0.46714282035827637, + -0.45571422576904297, + -0.37035712599754333, + 0.03857142850756645, + -0.2628571391105652, + -0.5142857432365417, + -1.0 + ], + "delta_full_state_norm": [ + 0.8532840643599906, + -0.5209754222305372, + -0.8907870559258146, + 0.49312354693254923, + -0.08474584470741275, + -0.6108233128004621, + -1.0 + ], + "movement_text": "move forward 23 mm; move right 23 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 467 mm; move right 456 mm; move downward 370 mm; roll upward 2 degrees; pitch downward 15 degrees; yaw clockwise 29 degrees; close gripper;", + "subtask_movement_text": "move forward 44 mm; move right 49 mm; move downward 40 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 3 degrees; close gripper;" + }, + { + "frame_index": 42, + "segment_id": 80700, + "subtask": "move to the sink", + "reason": "The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 21 mm; move right 26 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 471 mm; move right 450 mm; move downward 369 mm; roll upward 2 degrees; pitch downward 14 degrees; yaw clockwise 28 degrees; close gripper;\nSubtask Movement: move forward 21 mm; move right 26 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,116], [205,122]\ndistr_counter: [203,109], [209,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 210, + 108 + ], + "task_obj_bbox": [ + 198, + 116, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 209, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.02142857201397419, + -0.025714287534356117, + -0.019285714253783226, + 0.0, + -0.015714285895228386, + -0.02857142873108387, + -1.0 + ], + "delta_next_20": [ + 0.47107139229774475, + -0.45000001788139343, + -0.368571400642395, + 0.03857142850756645, + -0.2514285743236542, + -0.4928571283817291, + -1.0 + ], + "delta_full_state_norm": [ + 0.7999329887820363, + -0.5788386390610774, + -0.8541793648191529, + 0.49312354693254923, + -0.18644075576196184, + -0.7259643423843232, + -1.0 + ], + "movement_text": "move forward 21 mm; move right 26 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 471 mm; move right 450 mm; move downward 369 mm; roll upward 2 degrees; pitch downward 14 degrees; yaw clockwise 28 degrees; close gripper;", + "subtask_movement_text": "move forward 21 mm; move right 26 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 43, + "segment_id": 80700, + "subtask": "move to the sink", + "reason": "The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is moving towards the sink area, positioning itself near the faucet. The apple remains on the counter and has not yet been grasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 21 mm; move right 25 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 476 mm; move right 442 mm; move downward 367 mm; roll upward 2 degrees; pitch downward 14 degrees; yaw clockwise 27 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,116], [205,122]\ndistr_counter: [203,109], [209,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 210, + 109 + ], + "task_obj_bbox": [ + 198, + 116, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 209, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.021071428433060646, + -0.025357142090797424, + -0.01964285783469677, + 0.0, + -0.017142856493592262, + -0.03142857179045677, + -1.0 + ], + "delta_next_20": [ + 0.4764285683631897, + -0.44249996542930603, + -0.367499977350235, + 0.03857142850756645, + -0.23571428656578064, + -0.4642857015132904, + -1.0 + ], + "delta_full_state_norm": [ + 0.7865951851065849, + -0.5705724097991578, + -0.8663819497351437, + 0.49312354693254923, + -0.22033903734763427, + -0.7720207602229406, + -1.0 + ], + "movement_text": "move forward 21 mm; move right 25 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 476 mm; move right 442 mm; move downward 367 mm; roll upward 2 degrees; pitch downward 14 degrees; yaw clockwise 27 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 44, + "segment_id": 90700, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, indicating it has arrived at the target location for the next step. There is no visible contact with any object or motion of lifting a grasp.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, indicating it has arrived at the target location for the next step. There is no visible contact with any object or motion of lifting a grasp.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 25 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 482 mm; move right 435 mm; move downward 366 mm; roll upward 2 degrees; pitch downward 13 degrees; yaw clockwise 25 degrees; close gripper;\nSubtask Movement: move forward 144 mm; move right 179 mm; move downward 136 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 16 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,116], [205,122]\ndistr_counter: [203,109], [209,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 210, + 109 + ], + "task_obj_bbox": [ + 198, + 116, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 209, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.020000001415610313, + -0.025357142090797424, + -0.019285714253783226, + 0.0, + -0.018571428954601288, + -0.034285712987184525, + -1.0 + ], + "delta_next_20": [ + 0.48249998688697815, + -0.434999942779541, + -0.3660713732242584, + 0.03857142850756645, + -0.21857142448425293, + -0.4328571557998657, + -1.0 + ], + "delta_full_state_norm": [ + 0.7465819132040821, + -0.5705724097991578, + -0.8541793648191529, + 0.49312354693254923, + -0.25423736313166123, + -0.818077148036193, + -1.0 + ], + "movement_text": "move forward 20 mm; move right 25 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 482 mm; move right 435 mm; move downward 366 mm; roll upward 2 degrees; pitch downward 13 degrees; yaw clockwise 25 degrees; close gripper;", + "subtask_movement_text": "move forward 144 mm; move right 179 mm; move downward 136 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 16 degrees; close gripper;" + }, + { + "frame_index": 45, + "segment_id": 90700, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, indicating it has arrived at the target location for the next step. There is no visible contact with any object or motion of lifting a grasp.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, indicating it has arrived at the target location for the next step. There is no visible contact with any object or motion of lifting a grasp.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 25 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 489 mm; move right 427 mm; move downward 365 mm; roll upward 2 degrees; pitch downward 11 degrees; yaw clockwise 23 degrees; close gripper;\nSubtask Movement: move forward 124 mm; move right 153 mm; move downward 116 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 14 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,116], [205,122]\ndistr_counter: [203,109], [209,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 211, + 109 + ], + "task_obj_bbox": [ + 198, + 116, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 209, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.020000001415610313, + -0.025357142090797424, + -0.01964285783469677, + 0.0, + -0.018571428954601288, + -0.03857142850756645, + -1.0 + ], + "delta_next_20": [ + 0.4892857074737549, + -0.42714282870292664, + -0.3649999797344208, + 0.03857142850756645, + -0.19999998807907104, + -0.3985714316368103, + -1.0 + ], + "delta_full_state_norm": [ + 0.7465819132040821, + -0.5705724097991578, + -0.8663819497351437, + 0.49312354693254923, + -0.25423736313166123, + -0.8871617898068016, + -1.0 + ], + "movement_text": "move forward 20 mm; move right 25 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 489 mm; move right 427 mm; move downward 365 mm; roll upward 2 degrees; pitch downward 11 degrees; yaw clockwise 23 degrees; close gripper;", + "subtask_movement_text": "move forward 124 mm; move right 153 mm; move downward 116 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 14 degrees; close gripper;" + }, + { + "frame_index": 46, + "segment_id": 90700, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, indicating it has arrived at the target location for the next step. There is no visible contact with any object or motion of lifting a grasp.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, indicating it has arrived at the target location for the next step. There is no visible contact with any object or motion of lifting a grasp.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 26 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 496 mm; move right 420 mm; move downward 364 mm; roll upward 2 degrees; pitch downward 10 degrees; yaw clockwise 21 degrees; close gripper;\nSubtask Movement: move forward 104 mm; move right 128 mm; move downward 97 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 12 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,116], [205,122]\ndistr_counter: [203,109], [209,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 211, + 109 + ], + "task_obj_bbox": [ + 198, + 116, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 209, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.019285714253783226, + -0.025714287534356117, + -0.019285714253783226, + 0.0, + -0.02142857201397419, + -0.03999999910593033, + -1.0 + ], + "delta_next_20": [ + 0.4957142472267151, + -0.419642835855484, + -0.3635713756084442, + 0.03857142850756645, + -0.18142856657505035, + -0.36000001430511475, + -1.0 + ], + "delta_full_state_norm": [ + 0.7199063058531789, + -0.5788386390610774, + -0.8541793648191529, + 0.49312354693254923, + -0.3220339705013606, + -0.9101899837134279, + -1.0 + ], + "movement_text": "move forward 19 mm; move right 26 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 496 mm; move right 420 mm; move downward 364 mm; roll upward 2 degrees; pitch downward 10 degrees; yaw clockwise 21 degrees; close gripper;", + "subtask_movement_text": "move forward 104 mm; move right 128 mm; move downward 97 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 12 degrees; close gripper;" + }, + { + "frame_index": 47, + "segment_id": 90700, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, indicating it has arrived at the target location for the next step. There is no visible contact with any object or motion of lifting a grasp.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, indicating it has arrived at the target location for the next step. There is no visible contact with any object or motion of lifting a grasp.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 21 mm; move right 25 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 503 mm; move right 413 mm; move downward 362 mm; roll upward 2 degrees; pitch downward 9 degrees; yaw clockwise 18 degrees; close gripper;\nSubtask Movement: move forward 84 mm; move right 102 mm; move downward 78 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 10 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,116], [205,122]\ndistr_counter: [203,110], [209,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 211, + 110 + ], + "task_obj_bbox": [ + 198, + 116, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 203, + 110, + 209, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.02071428671479225, + -0.025357142090797424, + -0.01964285783469677, + 0.0, + -0.018571428954601288, + -0.04285714402794838, + -1.0 + ], + "delta_next_20": [ + 0.5028570890426636, + -0.4128571152687073, + -0.3624999523162842, + 0.03999999910593033, + -0.1599999964237213, + -0.3199999928474426, + -1.0 + ], + "delta_full_state_norm": [ + 0.7732574509930592, + -0.5705724097991578, + -0.8663819497351437, + 0.49312354693254923, + -0.25423736313166123, + -0.9562464315774103, + -1.0 + ], + "movement_text": "move forward 21 mm; move right 25 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 503 mm; move right 413 mm; move downward 362 mm; roll upward 2 degrees; pitch downward 9 degrees; yaw clockwise 18 degrees; close gripper;", + "subtask_movement_text": "move forward 84 mm; move right 102 mm; move downward 78 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 10 degrees; close gripper;" + }, + { + "frame_index": 48, + "segment_id": 90700, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, indicating it has arrived at the target location for the next step. There is no visible contact with any object or motion of lifting a grasp.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, indicating it has arrived at the target location for the next step. There is no visible contact with any object or motion of lifting a grasp.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 21 mm; move right 26 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 508 mm; move right 406 mm; move downward 361 mm; roll upward 2 degrees; pitch downward 8 degrees; yaw clockwise 16 degrees; close gripper;\nSubtask Movement: move forward 64 mm; move right 77 mm; move downward 58 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 7 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,116], [205,122]\ndistr_counter: [203,110], [209,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 211, + 110 + ], + "task_obj_bbox": [ + 198, + 116, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 203, + 110, + 209, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.02071428671479225, + -0.025714287534356117, + -0.01964285783469677, + 0.0, + -0.019999999552965164, + -0.04285714402794838, + -1.0 + ], + "delta_next_20": [ + 0.507857084274292, + -0.4064285457134247, + -0.3610713481903076, + 0.03999999910593033, + -0.14142856001853943, + -0.27714285254478455, + -1.0 + ], + "delta_full_state_norm": [ + 0.7732574509930592, + -0.5788386390610774, + -0.8663819497351437, + 0.49312354693254923, + -0.28813564471733366, + -0.9562464315774103, + -1.0 + ], + "movement_text": "move forward 21 mm; move right 26 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 508 mm; move right 406 mm; move downward 361 mm; roll upward 2 degrees; pitch downward 8 degrees; yaw clockwise 16 degrees; close gripper;", + "subtask_movement_text": "move forward 64 mm; move right 77 mm; move downward 58 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 7 degrees; close gripper;" + }, + { + "frame_index": 49, + "segment_id": 90700, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, indicating it has arrived at the target location for the next step. There is no visible contact with any object or motion of lifting a grasp.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, indicating it has arrived at the target location for the next step. There is no visible contact with any object or motion of lifting a grasp.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 21 mm; move right 26 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 512 mm; move right 400 mm; move downward 359 mm; roll upward 2 degrees; pitch downward 7 degrees; yaw clockwise 13 degrees; close gripper;\nSubtask Movement: move forward 43 mm; move right 51 mm; move downward 38 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 5 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,116], [205,121]\ndistr_counter: [203,110], [209,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 211, + 110 + ], + "task_obj_bbox": [ + 198, + 116, + 205, + 121 + ], + "distractor_bboxes": [ + [ + 203, + 110, + 209, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.021071428433060646, + -0.025714287534356117, + -0.019285714253783226, + 0.0, + -0.019999999552965164, + -0.04285714402794838, + -1.0 + ], + "delta_next_20": [ + 0.512499988079071, + -0.3996428847312927, + -0.3592856824398041, + 0.03999999910593033, + -0.12142856419086456, + -0.23428571224212646, + -1.0 + ], + "delta_full_state_norm": [ + 0.7865951851065849, + -0.5788386390610774, + -0.8541793648191529, + 0.49312354693254923, + -0.28813564471733366, + -0.9562464315774103, + -1.0 + ], + "movement_text": "move forward 21 mm; move right 26 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 512 mm; move right 400 mm; move downward 359 mm; roll upward 2 degrees; pitch downward 7 degrees; yaw clockwise 13 degrees; close gripper;", + "subtask_movement_text": "move forward 43 mm; move right 51 mm; move downward 38 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 5 degrees; close gripper;" + }, + { + "frame_index": 50, + "segment_id": 90700, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, indicating it has arrived at the target location for the next step. There is no visible contact with any object or motion of lifting a grasp.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, indicating it has arrived at the target location for the next step. There is no visible contact with any object or motion of lifting a grasp.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 22 mm; move right 25 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 516 mm; move right 394 mm; move downward 357 mm; roll upward 2 degrees; pitch downward 6 degrees; yaw clockwise 11 degrees; close gripper;\nSubtask Movement: move forward 22 mm; move right 25 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,116], [205,120]\ndistr_counter: [203,110], [209,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 211, + 111 + ], + "task_obj_bbox": [ + 198, + 116, + 205, + 120 + ], + "distractor_bboxes": [ + [ + 203, + 110, + 209, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.021785713732242584, + -0.025357142090797424, + -0.018928570672869682, + 0.0, + -0.019999999552965164, + -0.04285714402794838, + -1.0 + ], + "delta_next_20": [ + 0.5160714387893677, + -0.3935714364051819, + -0.3571428060531616, + 0.04285714030265808, + -0.1014285683631897, + -0.19142857193946838, + -1.0 + ], + "delta_full_state_norm": [ + 0.813270722895562, + -0.5705724097991578, + -0.8419767799031621, + 0.49312354693254923, + -0.28813564471733366, + -0.9562464315774103, + -1.0 + ], + "movement_text": "move forward 22 mm; move right 25 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 516 mm; move right 394 mm; move downward 357 mm; roll upward 2 degrees; pitch downward 6 degrees; yaw clockwise 11 degrees; close gripper;", + "subtask_movement_text": "move forward 22 mm; move right 25 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 51, + "segment_id": 90700, + "subtask": "move to the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, indicating it has arrived at the target location for the next step. There is no visible contact with any object or motion of lifting a grasp.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, indicating it has arrived at the target location for the next step. There is no visible contact with any object or motion of lifting a grasp.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 22 mm; move right 25 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 519 mm; move right 389 mm; move downward 355 mm; roll upward 3 degrees; pitch downward 5 degrees; yaw clockwise 9 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [200,116], [204,118]\ndistr_counter: [203,110], [209,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 211, + 111 + ], + "task_obj_bbox": [ + 200, + 116, + 204, + 118 + ], + "distractor_bboxes": [ + [ + 203, + 110, + 209, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.021785713732242584, + -0.02500000037252903, + -0.018928570672869682, + 0.0, + -0.018571428954601288, + -0.041428569704294205, + -1.0 + ], + "delta_next_20": [ + 0.518928587436676, + -0.3885714113712311, + -0.35499995946884155, + 0.04714285582304001, + -0.08142856508493423, + -0.1485714167356491, + -1.0 + ], + "delta_full_state_norm": [ + 0.813270722895562, + -0.5623062667601042, + -0.8419767799031621, + 0.49312354693254923, + -0.25423736313166123, + -0.933218177620054, + -1.0 + ], + "movement_text": "move forward 22 mm; move right 25 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 519 mm; move right 389 mm; move downward 355 mm; roll upward 3 degrees; pitch downward 5 degrees; yaw clockwise 9 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 52, + "segment_id": 90500, + "subtask": "move to the sink", + "reason": "The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 24 mm; move right 24 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 522 mm; move right 385 mm; move downward 352 mm; roll upward 3 degrees; pitch downward 4 degrees; yaw clockwise 6 degrees; close gripper;\nSubtask Movement: move forward 448 mm; move right 324 mm; move downward 302 mm; roll upward 2 degrees; pitch downward 4 degrees; yaw clockwise 6 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [203,116], [203,116]\ndistr_counter: [203,110], [209,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 211, + 111 + ], + "task_obj_bbox": [ + 203, + 116, + 203, + 116 + ], + "distractor_bboxes": [ + [ + 203, + 110, + 209, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.023571429774165154, + -0.023571429774165154, + -0.018571428954601288, + 0.0, + -0.017142856493592262, + -0.0357142873108387, + -1.0 + ], + "delta_next_20": [ + 0.5217856764793396, + -0.3846428692340851, + -0.352142870426178, + 0.05428571254014969, + -0.06285714358091354, + -0.1071428582072258, + -1.0 + ], + "delta_full_state_norm": [ + 0.8799596717108937, + -0.5292416083810237, + -0.8297742586284821, + 0.49312354693254923, + -0.22033903734763427, + -0.8411054019935492, + -1.0 + ], + "movement_text": "move forward 24 mm; move right 24 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 522 mm; move right 385 mm; move downward 352 mm; roll upward 3 degrees; pitch downward 4 degrees; yaw clockwise 6 degrees; close gripper;", + "subtask_movement_text": "move forward 448 mm; move right 324 mm; move downward 302 mm; roll upward 2 degrees; pitch downward 4 degrees; yaw clockwise 6 degrees; close gripper;" + }, + { + "frame_index": 53, + "segment_id": 90500, + "subtask": "move to the sink", + "reason": "The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 24 mm; move right 23 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 522 mm; move right 382 mm; move downward 350 mm; roll upward 4 degrees; pitch downward 3 degrees; yaw clockwise 4 degrees; close gripper;\nSubtask Movement: move forward 424 mm; move right 300 mm; move downward 284 mm; roll upward 2 degrees; pitch downward 3 degrees; yaw clockwise 4 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,111], [209,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 211, + 111 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 111, + 209, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.02428571507334709, + -0.022857142612338066, + -0.018571428954601288, + 0.0, + -0.017142856493592262, + -0.03285714238882065, + -1.0 + ], + "delta_next_20": [ + 0.5217856764793396, + -0.3821428716182709, + -0.34964287281036377, + 0.06285714358091354, + -0.04571428522467613, + -0.0714285671710968, + -1.0 + ], + "delta_full_state_norm": [ + 0.9066352094998709, + -0.5127092360800505, + -0.8297742586284821, + 0.49312354693254923, + -0.22033903734763427, + -0.7950489541295668, + -1.0 + ], + "movement_text": "move forward 24 mm; move right 23 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 522 mm; move right 382 mm; move downward 350 mm; roll upward 4 degrees; pitch downward 3 degrees; yaw clockwise 4 degrees; close gripper;", + "subtask_movement_text": "move forward 424 mm; move right 300 mm; move downward 284 mm; roll upward 2 degrees; pitch downward 3 degrees; yaw clockwise 4 degrees; close gripper;" + }, + { + "frame_index": 54, + "segment_id": 90500, + "subtask": "move to the sink", + "reason": "The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 26 mm; move right 22 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move forward 521 mm; move right 382 mm; move downward 345 mm; roll upward 4 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; close gripper;\nSubtask Movement: move forward 400 mm; move right 277 mm; move downward 265 mm; roll upward 2 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,111], [209,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 211, + 112 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 111, + 209, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.02607142925262451, + -0.021785713732242584, + -0.01785714365541935, + 0.0, + -0.014285714365541935, + -0.027142856270074844, + -1.0 + ], + "delta_next_20": [ + 0.5214285850524902, + -0.38178572058677673, + -0.34535714983940125, + 0.0771428570151329, + -0.02857142873108387, + -0.03857142850756645, + -1.0 + ], + "delta_full_state_norm": [ + 0.9733240887532768, + -0.48791072074002373, + -0.8053691524378113, + 0.49312354693254923, + -0.15254245207711215, + -0.702936118452332, + -1.0 + ], + "movement_text": "move forward 26 mm; move right 22 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move forward 521 mm; move right 382 mm; move downward 345 mm; roll upward 4 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; close gripper;", + "subtask_movement_text": "move forward 400 mm; move right 277 mm; move downward 265 mm; roll upward 2 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 55, + "segment_id": 90500, + "subtask": "move to the sink", + "reason": "The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 28 mm; move right 19 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 518 mm; move right 383 mm; move downward 340 mm; roll upward 5 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; close gripper;\nSubtask Movement: move forward 374 mm; move right 255 mm; move downward 247 mm; roll upward 2 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [205,112], [207,114]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 211, + 112 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 205, + 112, + 207, + 114 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.028214285150170326, + -0.018571428954601288, + -0.016428573057055473, + 0.0, + -0.014285714365541935, + -0.011428571306169033, + -1.0 + ], + "delta_next_20": [ + 0.5182142853736877, + -0.38285714387893677, + -0.33964288234710693, + 0.09142857044935226, + -0.014285714365541935, + -0.011428571306169033, + -1.0 + ], + "delta_full_state_norm": [ + 1.0, + -0.4135152178313761, + -0.7565589400564695, + 0.49312354693254923, + -0.15254245207711215, + -0.4496258503653012, + -1.0 + ], + "movement_text": "move forward 28 mm; move right 19 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 518 mm; move right 383 mm; move downward 340 mm; roll upward 5 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 374 mm; move right 255 mm; move downward 247 mm; roll upward 2 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; close gripper;" + }, + { + "frame_index": 56, + "segment_id": 90500, + "subtask": "move to the sink", + "reason": "The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 28 mm; move right 18 mm; move downward 16 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 511 mm; move right 388 mm; move downward 333 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 346 mm; move right 237 mm; move downward 231 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 211, + 112 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.028214285150170326, + -0.01785714365541935, + -0.016428573057055473, + 0.009999999776482582, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.5110714435577393, + -0.3878571391105652, + -0.3328571915626526, + 0.10999999940395355, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 1.0, + -0.39698288864183595, + -0.7565589400564695, + 0.7681726240639075, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 28 mm; move right 18 mm; move downward 16 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 511 mm; move right 388 mm; move downward 333 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 346 mm; move right 237 mm; move downward 231 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 57, + "segment_id": 90500, + "subtask": "move to the sink", + "reason": "The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 27 mm; move right 19 mm; move downward 16 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 503 mm; move right 393 mm; move downward 324 mm; roll upward 7 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 317 mm; move right 219 mm; move downward 214 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 210, + 112 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.02678571455180645, + -0.018928570672869682, + -0.016428573057055473, + 0.014285714365541935, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.5028570890426636, + -0.3928571343421936, + -0.3239285945892334, + 0.12142857164144516, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.9999996265422539, + -0.42178136087042983, + -0.7565589400564695, + 0.8860508109556076, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 27 mm; move right 19 mm; move downward 16 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 503 mm; move right 393 mm; move downward 324 mm; roll upward 7 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 317 mm; move right 219 mm; move downward 214 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 58, + "segment_id": 90500, + "subtask": "move to the sink", + "reason": "The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 27 mm; move right 18 mm; move downward 17 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 496 mm; move right 395 mm; move downward 314 mm; roll upward 7 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 291 mm; move right 200 mm; move downward 198 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 210, + 112 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.02678571455180645, + -0.018214285373687744, + -0.016785714775323868, + 0.008571428246796131, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.49642854928970337, + -0.39499998092651367, + -0.3135714530944824, + 0.12857142090797424, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.9999996265422539, + -0.40524903168088955, + -0.7687614613311495, + 0.7288798951000075, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 27 mm; move right 18 mm; move downward 17 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 496 mm; move right 395 mm; move downward 314 mm; roll upward 7 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 291 mm; move right 200 mm; move downward 198 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 59, + "segment_id": 90500, + "subtask": "move to the sink", + "reason": "The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 26 mm; move right 18 mm; move downward 18 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 488 mm; move right 392 mm; move downward 298 mm; roll upward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 264 mm; move right 182 mm; move downward 181 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 209, + 112 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.02607142925262451, + -0.018214285373687744, + -0.017500000074505806, + 0.0057142856530845165, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.48785707354545593, + -0.3921428620815277, + -0.29750001430511475, + 0.13857141137123108, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.9733240887532768, + -0.40524903168088955, + -0.7931665675218205, + 0.6502944499801784, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 26 mm; move right 18 mm; move downward 18 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 488 mm; move right 392 mm; move downward 298 mm; roll upward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 264 mm; move right 182 mm; move downward 181 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 60, + "segment_id": 90500, + "subtask": "move to the sink", + "reason": "The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 26 mm; move right 18 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 480 mm; move right 387 mm; move downward 281 mm; roll upward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 238 mm; move right 164 mm; move downward 164 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 209, + 113 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.026428570970892906, + -0.01785714365541935, + -0.01785714365541935, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.47964271903038025, + -0.38678571581840515, + -0.2807142734527588, + 0.14714285731315613, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.9866618228668023, + -0.39698288864183595, + -0.8053691524378113, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 26 mm; move right 18 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 480 mm; move right 387 mm; move downward 281 mm; roll upward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 238 mm; move right 164 mm; move downward 164 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 61, + "segment_id": 90500, + "subtask": "move to the sink", + "reason": "The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 27 mm; move right 18 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 471 mm; move right 378 mm; move downward 263 mm; roll upward 9 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 211 mm; move right 146 mm; move downward 146 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 208, + 113 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.02678571455180645, + -0.017500000074505806, + -0.018571428954601288, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.4707142412662506, + -0.37785714864730835, + -0.2628571391105652, + 0.15857142210006714, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.9999996265422539, + -0.38871670249134926, + -0.8297742586284821, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 27 mm; move right 18 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 471 mm; move right 378 mm; move downward 263 mm; roll upward 9 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 211 mm; move right 146 mm; move downward 146 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 62, + "segment_id": 90500, + "subtask": "move to the sink", + "reason": "The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 27 mm; move right 18 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 460 mm; move right 367 mm; move downward 244 mm; roll upward 10 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 185 mm; move right 128 mm; move downward 127 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 208, + 113 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.02678571455180645, + -0.018214285373687744, + -0.018214285373687744, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.4599999487400055, + -0.36714282631874084, + -0.2442857027053833, + 0.17428570985794067, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.9999996265422539, + -0.40524903168088955, + -0.8175716737124913, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 27 mm; move right 18 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 460 mm; move right 367 mm; move downward 244 mm; roll upward 10 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 185 mm; move right 128 mm; move downward 127 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 63, + "segment_id": 90500, + "subtask": "move to the sink", + "reason": "The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 27 mm; move right 18 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 448 mm; move right 355 mm; move downward 226 mm; roll upward 11 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 158 mm; move right 110 mm; move downward 109 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 113 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.027142858132719994, + -0.01785714365541935, + -0.018214285373687744, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.4478571116924286, + -0.3553571403026581, + -0.22607143223285675, + 0.18714284896850586, + 0.0014285714132711291, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 1.0, + -0.39698288864183595, + -0.8175716737124913, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 27 mm; move right 18 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 448 mm; move right 355 mm; move downward 226 mm; roll upward 11 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 158 mm; move right 110 mm; move downward 109 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 64, + "segment_id": 90500, + "subtask": "move to the sink", + "reason": "The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 27 mm; move right 18 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 434 mm; move right 344 mm; move downward 208 mm; roll upward 11 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 131 mm; move right 92 mm; move downward 91 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 114 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.02678571455180645, + -0.017500000074505806, + -0.018214285373687744, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.4342857301235199, + -0.34357142448425293, + -0.2078571319580078, + 0.19857141375541687, + 0.0014285714132711291, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.9999996265422539, + -0.38871670249134926, + -0.8175716737124913, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 27 mm; move right 18 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 434 mm; move right 344 mm; move downward 208 mm; roll upward 11 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 131 mm; move right 92 mm; move downward 91 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 65, + "segment_id": 90500, + "subtask": "move to the sink", + "reason": "The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 26 mm; move right 18 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 421 mm; move right 332 mm; move downward 190 mm; roll upward 12 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 104 mm; move right 75 mm; move downward 73 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 206, + 114 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.026428570970892906, + -0.01785714365541935, + -0.018214285373687744, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.4214285910129547, + -0.33178576827049255, + -0.18964289128780365, + 0.20999997854232788, + 0.0014285714132711291, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.9866618228668023, + -0.39698288864183595, + -0.8175716737124913, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 26 mm; move right 18 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 421 mm; move right 332 mm; move downward 190 mm; roll upward 12 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 104 mm; move right 75 mm; move downward 73 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 66, + "segment_id": 90500, + "subtask": "move to the sink", + "reason": "The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 26 mm; move right 19 mm; move downward 18 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 409 mm; move right 319 mm; move downward 172 mm; roll upward 12 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 78 mm; move right 57 mm; move downward 54 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 205, + 114 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.026428570970892906, + -0.018928570672869682, + -0.018214285373687744, + 0.0014285714132711291, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.40892863273620605, + -0.31928572058677673, + -0.17178572714328766, + 0.21714283525943756, + 0.0014285714132711291, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.9866618228668023, + -0.42178136087042983, + -0.8175716737124913, + 0.5324162726944566, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 26 mm; move right 19 mm; move downward 18 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 409 mm; move right 319 mm; move downward 172 mm; roll upward 12 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 78 mm; move right 57 mm; move downward 54 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 67, + "segment_id": 90500, + "subtask": "move to the sink", + "reason": "The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 26 mm; move right 19 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 396 mm; move right 305 mm; move downward 155 mm; roll upward 13 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 51 mm; move right 38 mm; move downward 36 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 205, + 114 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.025714287534356117, + -0.018928570672869682, + -0.018214285373687744, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.39571431279182434, + -0.3053571581840515, + -0.15464287996292114, + 0.21999996900558472, + 0.0014285714132711291, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.9599863546397511, + -0.42178136087042983, + -0.8175716737124913, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 26 mm; move right 19 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 396 mm; move right 305 mm; move downward 155 mm; roll upward 13 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 51 mm; move right 38 mm; move downward 36 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 68, + "segment_id": 90500, + "subtask": "move to the sink", + "reason": "The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 25 mm; move right 19 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 384 mm; move right 289 mm; move downward 139 mm; roll upward 13 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 25 mm; move right 19 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 205, + 115 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.025357142090797424, + -0.018928570672869682, + -0.01785714365541935, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.3839285969734192, + -0.28928571939468384, + -0.13857144117355347, + 0.22571425139904022, + 0.0014285714132711291, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.9466484814023737, + -0.42178136087042983, + -0.8053691524378113, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 25 mm; move right 19 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 384 mm; move right 289 mm; move downward 139 mm; roll upward 13 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 25 mm; move right 19 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 69, + "segment_id": 90500, + "subtask": "move to the sink", + "reason": "The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is shown approaching and positioning itself over the sink area, aligning with the faucet. The end-effector makes contact or hovers directly above the target location (the apple) within the sink basin, consistent with navigating to the placement spot rather than grasping an object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 25 mm; move right 20 mm; move downward 17 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 371 mm; move right 270 mm; move downward 124 mm; roll upward 13 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [204,120], [205,122]\ndistr_counter: [208,115], [209,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 204, + 115 + ], + "task_obj_bbox": [ + 204, + 120, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 208, + 115, + 209, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.024642856791615486, + -0.01964285783469677, + -0.01714285835623741, + 0.0028571428265422583, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.3710714280605316, + -0.2703571319580078, + -0.12357144802808762, + 0.2328571081161499, + 0.004285714123398066, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.9199729436133965, + -0.438313733171403, + -0.7809640462471403, + 0.5717089984563639, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 25 mm; move right 20 mm; move downward 17 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 371 mm; move right 270 mm; move downward 124 mm; roll upward 13 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 70, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 25 mm; move right 20 mm; move downward 17 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 357 mm; move right 251 mm; move downward 110 mm; roll upward 13 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 380 mm; move right 45 mm; move downward 463 mm; roll upward 16 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [201,118], [205,122]\ndistr_counter: [206,115], [209,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 204, + 115 + ], + "task_obj_bbox": [ + 201, + 118, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 206, + 115, + 209, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.024642856791615486, + -0.020357143133878708, + -0.016785714775323868, + 0.004285714123398066, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.3571428954601288, + -0.2507143020629883, + -0.11000000685453415, + 0.2328571081161499, + 0.012857142835855484, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.9199729436133965, + -0.45484606236094327, + -0.7687614613311495, + 0.6110017210162784, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 25 mm; move right 20 mm; move downward 17 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 357 mm; move right 251 mm; move downward 110 mm; roll upward 13 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 380 mm; move right 45 mm; move downward 463 mm; roll upward 16 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 71, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 25 mm; move right 21 mm; move downward 16 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 340 mm; move right 230 mm; move downward 96 mm; roll upward 14 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 356 mm; move right 24 mm; move downward 446 mm; roll upward 16 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [200,117], [205,122]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 204, + 116 + ], + "task_obj_bbox": [ + 200, + 117, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.024642856791615486, + -0.021071428433060646, + -0.01607142947614193, + 0.0071428571827709675, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.34000006318092346, + -0.2303571254014969, + -0.09607142955064774, + 0.23571425676345825, + 0.03142857179045677, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.9199729436133965, + -0.47137839155048344, + -0.7443563551404787, + 0.6895871789440784, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 25 mm; move right 21 mm; move downward 16 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 340 mm; move right 230 mm; move downward 96 mm; roll upward 14 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 356 mm; move right 24 mm; move downward 446 mm; roll upward 16 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 72, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 24 mm; move right 21 mm; move downward 16 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 320 mm; move right 209 mm; move downward 83 mm; roll upward 14 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 331 mm; move right 3 mm; move downward 430 mm; roll upward 16 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [201,116], [205,122]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 204, + 116 + ], + "task_obj_bbox": [ + 201, + 116, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.023571429774165154, + -0.021071428433060646, + -0.01607142947614193, + 0.008571428246796131, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.32035717368125916, + -0.2092856913805008, + -0.08321429044008255, + 0.24142853915691376, + 0.058571428060531616, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.8799596717108937, + -0.47137839155048344, + -0.7443563551404787, + 0.7288798951000075, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 24 mm; move right 21 mm; move downward 16 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 320 mm; move right 209 mm; move downward 83 mm; roll upward 14 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 331 mm; move right 3 mm; move downward 430 mm; roll upward 16 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 73, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 24 mm; move right 22 mm; move downward 14 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 301 mm; move right 188 mm; move downward 71 mm; roll upward 14 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 308 mm; move left 18 mm; move downward 414 mm; roll upward 15 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,116], [205,122]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 204, + 116 + ], + "task_obj_bbox": [ + 198, + 116, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.023928571492433548, + -0.022499999031424522, + -0.01428571529686451, + 0.014285714365541935, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.3014286160469055, + -0.1882142871618271, + -0.07071428745985031, + 0.24142853915691376, + 0.08571428060531616, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.8932974058244194, + -0.504443049929564, + -0.6833435578431462, + 0.8860508109556076, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 24 mm; move right 22 mm; move downward 14 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 301 mm; move right 188 mm; move downward 71 mm; roll upward 14 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 308 mm; move left 18 mm; move downward 414 mm; roll upward 15 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 74, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 23 mm; move right 23 mm; move downward 12 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 281 mm; move right 166 mm; move downward 60 mm; roll upward 13 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 284 mm; move left 40 mm; move downward 400 mm; roll upward 14 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,117], [205,122]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 204, + 117 + ], + "task_obj_bbox": [ + 198, + 117, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.022857142612338066, + -0.022857142612338066, + -0.012142857536673546, + 0.014285714365541935, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.2807143032550812, + -0.165714293718338, + -0.059642862528562546, + 0.2328571081161499, + 0.11285713315010071, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.8532840643599906, + -0.5127092360800505, + -0.6101281756298229, + 0.8860508109556076, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 23 mm; move right 23 mm; move downward 12 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 281 mm; move right 166 mm; move downward 60 mm; roll upward 13 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 284 mm; move left 40 mm; move downward 400 mm; roll upward 14 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 75, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 21 mm; move right 24 mm; move downward 10 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 259 mm; move right 143 mm; move downward 51 mm; roll upward 13 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 261 mm; move left 63 mm; move downward 388 mm; roll upward 13 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,117], [205,122]\ndistr_sink: [95,121], [200,156]\n", + "gripper_2d": [ + 205, + 117 + ], + "task_obj_bbox": [ + 198, + 117, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 95, + 121, + 200, + 156 + ] + ], + "delta_full_state": [ + 0.021071428433060646, + -0.023571429774165154, + -0.009642857126891613, + 0.018571428954601288, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.25857144594192505, + -0.1428571492433548, + -0.051428575068712234, + 0.22285711765289307, + 0.14428570866584778, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7865951851065849, + -0.5292416083810237, + -0.5247102403211642, + 1.0, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 21 mm; move right 24 mm; move downward 10 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 259 mm; move right 143 mm; move downward 51 mm; roll upward 13 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 261 mm; move left 63 mm; move downward 388 mm; roll upward 13 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 76, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 23 mm; move downward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 237 mm; move right 119 mm; move downward 47 mm; roll upward 12 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 240 mm; move left 87 mm; move downward 378 mm; roll upward 12 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,117], [205,122]\ndistr_sink: [95,120], [201,156]\n", + "gripper_2d": [ + 205, + 117 + ], + "task_obj_bbox": [ + 198, + 117, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 95, + 120, + 201, + 156 + ] + ], + "delta_full_state": [ + 0.020000001415610313, + -0.022857142612338066, + -0.007500000298023224, + 0.02142857201397419, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.23749999701976776, + -0.1192857176065445, + -0.04678571969270706, + 0.2085714042186737, + 0.178571417927742, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7465819132040821, + -0.5127092360800505, + -0.4514948899284963, + 1.0, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 20 mm; move right 23 mm; move downward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 237 mm; move right 119 mm; move downward 47 mm; roll upward 12 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 240 mm; move left 87 mm; move downward 378 mm; roll upward 12 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 77, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 21 mm; move downward 6 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 218 mm; move right 96 mm; move downward 44 mm; roll upward 11 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 220 mm; move left 110 mm; move downward 370 mm; roll upward 11 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [199,117], [205,122]\ndistr_sink: [95,120], [203,156]\n", + "gripper_2d": [ + 205, + 117 + ], + "task_obj_bbox": [ + 199, + 117, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 95, + 120, + 203, + 156 + ] + ], + "delta_full_state": [ + 0.020357143133878708, + -0.021071428433060646, + -0.006071428768336773, + 0.02142857201397419, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.2175000011920929, + -0.09642857313156128, + -0.044285718351602554, + 0.19285711646080017, + 0.2142857015132904, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7599196473176077, + -0.47137839155048344, + -0.4026846457264992, + 1.0, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 20 mm; move right 21 mm; move downward 6 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 218 mm; move right 96 mm; move downward 44 mm; roll upward 11 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 220 mm; move left 110 mm; move downward 370 mm; roll upward 11 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 78, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 15 mm; move downward 1 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 197 mm; move right 75 mm; move downward 45 mm; roll upward 10 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 199 mm; move left 131 mm; move downward 364 mm; roll upward 10 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [199,117], [205,122]\ndistr_sink: [95,120], [203,156]\n", + "gripper_2d": [ + 206, + 117 + ], + "task_obj_bbox": [ + 199, + 117, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 95, + 120, + 203, + 156 + ] + ], + "delta_full_state": [ + 0.018214285373687744, + -0.015357143245637417, + -0.0007142857066355646, + 0.018571428954601288, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1971428543329239, + -0.07535714656114578, + -0.0446428619325161, + 0.17142854630947113, + 0.2499999850988388, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.6798929643887504, + -0.3391196933670121, + -0.21964623593538302, + 1.0, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 18 mm; move right 15 mm; move downward 1 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 197 mm; move right 75 mm; move downward 45 mm; roll upward 10 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 199 mm; move left 131 mm; move downward 364 mm; roll upward 10 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 79, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 13 mm; move downward 1 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 179 mm; move right 60 mm; move downward 51 mm; roll upward 9 degrees; pitch upward 16 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 181 mm; move left 146 mm; move downward 364 mm; roll upward 9 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [200,117], [205,122]\ndistr_sink: [95,119], [203,156]\n", + "gripper_2d": [ + 206, + 117 + ], + "task_obj_bbox": [ + 200, + 117, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 95, + 119, + 203, + 156 + ] + ], + "delta_full_state": [ + 0.01785714365541935, + -0.012857143767178059, + -0.0007142857066355646, + 0.014285714365541935, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17892856895923615, + -0.06000000238418579, + -0.051428575068712234, + 0.15285712480545044, + 0.27714285254478455, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.6665552302752247, + -0.28125651964790477, + -0.21964623593538302, + 0.8860508109556076, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 18 mm; move right 13 mm; move downward 1 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 179 mm; move right 60 mm; move downward 51 mm; roll upward 9 degrees; pitch upward 16 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 181 mm; move left 146 mm; move downward 364 mm; roll upward 9 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 80, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 9 mm; move downward 0 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 161 mm; move right 47 mm; move downward 60 mm; roll upward 8 degrees; pitch upward 18 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 163 mm; move left 159 mm; move downward 363 mm; roll upward 8 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [201,119], [205,122]\ndistr_sink: [95,119], [204,156]\n", + "gripper_2d": [ + 206, + 117 + ], + "task_obj_bbox": [ + 201, + 119, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 95, + 119, + 204, + 156 + ] + ], + "delta_full_state": [ + 0.017500000074505806, + -0.008928571827709675, + 0.0, + 0.011428571306169033, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16107143461704254, + -0.04714285954833031, + -0.059642862528562546, + 0.13999998569488525, + 0.31142857670783997, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.6532174265997732, + -0.190328644438284, + -0.1952411158231755, + 0.8074653530278075, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 18 mm; move right 9 mm; move downward 0 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 161 mm; move right 47 mm; move downward 60 mm; roll upward 8 degrees; pitch upward 18 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 163 mm; move left 159 mm; move downward 363 mm; roll upward 8 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 81, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 7 mm; move downward 0 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 144 mm; move right 38 mm; move downward 70 mm; roll upward 7 degrees; pitch upward 20 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 146 mm; move left 168 mm; move downward 363 mm; roll upward 7 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [203,119], [205,122]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 117 + ], + "task_obj_bbox": [ + 203, + 119, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.01607142947614193, + -0.006785714533179998, + 0.0, + 0.015714285895228386, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1435714215040207, + -0.038214292377233505, + -0.07000000774860382, + 0.12857142090797424, + 0.3442857265472412, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.599866351021819, + -0.14073162453608856, + -0.1952411158231755, + 0.9253435399195076, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 7 mm; move downward 0 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 144 mm; move right 38 mm; move downward 70 mm; roll upward 7 degrees; pitch upward 20 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 146 mm; move left 168 mm; move downward 363 mm; roll upward 7 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 82, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 6 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 127 mm; move right 31 mm; move downward 80 mm; roll upward 6 degrees; pitch upward 21 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 130 mm; move left 175 mm; move downward 363 mm; roll upward 6 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [204,120], [205,122]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 116 + ], + "task_obj_bbox": [ + 204, + 120, + 205, + 122 + ], + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.014642857015132904, + -0.006428571883589029, + 0.0, + 0.012857142835855484, + 0.0014285714132711291, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1274999976158142, + -0.03142857179045677, + -0.0803571492433548, + 0.1128571480512619, + 0.36714285612106323, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.5465152058819387, + -0.13246545994131853, + -0.1952411158231755, + 0.8467580819917075, + 0.22033886359466015, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 6 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 127 mm; move right 31 mm; move downward 80 mm; roll upward 6 degrees; pitch upward 21 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 130 mm; move left 175 mm; move downward 363 mm; roll upward 6 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 83, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 6 mm; move downward 0 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 113 mm; move right 25 mm; move downward 90 mm; roll upward 6 degrees; pitch upward 22 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 115 mm; move left 181 mm; move downward 363 mm; roll upward 6 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.013571429066359997, + -0.006071428768336773, + 0.0, + 0.011428571306169033, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1128571406006813, + -0.02500000037252903, + -0.09000000357627869, + 0.09999999403953552, + 0.37857142090797424, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.5065018991984731, + -0.12419928456869012, + -0.1952411158231755, + 0.8074653530278075, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 6 mm; move downward 0 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 113 mm; move right 25 mm; move downward 90 mm; roll upward 6 degrees; pitch upward 22 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 115 mm; move left 181 mm; move downward 363 mm; roll upward 6 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 84, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 6 mm; move downward 0 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 99 mm; move right 19 mm; move downward 100 mm; roll upward 5 degrees; pitch upward 22 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 101 mm; move left 187 mm; move downward 363 mm; roll upward 5 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.013928571715950966, + -0.0057142856530845165, + 0.0, + 0.011428571306169033, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.09928571432828903, + -0.018928570672869682, + -0.10000000149011612, + 0.08857142925262451, + 0.38285714387893677, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.5198396680929616, + -0.11593310919606181, + -0.1952411158231755, + 0.8074653530278075, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 6 mm; move downward 0 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 99 mm; move right 19 mm; move downward 100 mm; roll upward 5 degrees; pitch upward 22 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 101 mm; move left 187 mm; move downward 363 mm; roll upward 5 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 85, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 5 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 85 mm; move right 13 mm; move downward 110 mm; roll upward 4 degrees; pitch upward 22 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 87 mm; move left 193 mm; move downward 363 mm; roll upward 4 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.013928571715950966, + -0.0053571430034935474, + -0.0003571428533177823, + 0.0071428571827709675, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.08535714447498322, + -0.013214285485446453, + -0.1103571429848671, + 0.0771428570151329, + 0.3871428668498993, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.5198396680929616, + -0.10766694460129167, + -0.20744367587927925, + 0.6895871789440784, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 5 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 85 mm; move right 13 mm; move downward 110 mm; roll upward 4 degrees; pitch upward 22 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 87 mm; move left 193 mm; move downward 363 mm; roll upward 4 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 86, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 5 mm; move downward 1 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 71 mm; move right 8 mm; move downward 120 mm; roll upward 4 degrees; pitch upward 22 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 74 mm; move left 198 mm; move downward 363 mm; roll upward 4 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 115 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.013214285485446453, + -0.005000000353902578, + -0.0010714286472648382, + 0.004285714123398066, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0714285746216774, + -0.007857142947614193, + -0.12035714834928513, + 0.07000000029802322, + 0.3871428668498993, + 0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + 0.49316409552302143, + -0.09940078000652153, + -0.23184879897467325, + 0.6110017210162784, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 5 mm; move downward 1 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 71 mm; move right 8 mm; move downward 120 mm; roll upward 4 degrees; pitch upward 22 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 74 mm; move left 198 mm; move downward 363 mm; roll upward 4 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 87, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 3 mm; move downward 2 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 58 mm; move right 3 mm; move downward 129 mm; roll upward 4 degrees; pitch upward 22 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 60 mm; move left 203 mm; move downward 361 mm; roll upward 4 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 115 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.013928571715950966, + -0.0028571428265422583, + -0.0021428572945296764, + 0.0057142856530845165, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.05821428820490837, + -0.0028571428265422583, + -0.12928572297096252, + 0.0657142847776413, + 0.3871428668498993, + 0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + 0.5198396680929616, + -0.049803754715397, + -0.2684564821261711, + 0.6502944499801784, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 3 mm; move downward 2 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 58 mm; move right 3 mm; move downward 129 mm; roll upward 4 degrees; pitch upward 22 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 60 mm; move left 203 mm; move downward 361 mm; roll upward 4 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 88, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 3 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 44 mm; move right 0 mm; move downward 137 mm; roll upward 3 degrees; pitch upward 22 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 46 mm; move left 206 mm; move downward 359 mm; roll upward 3 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 115 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + -0.0028571428265422583, + 0.0071428571827709675, + 0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.044285714626312256, + 0.0, + -0.13714288175106049, + 0.06000000238418579, + 0.3871428668498993, + 0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + 0.4664885577340443, + 0.016325599765267818, + -0.2928615962720058, + 0.6895871789440784, + 0.25423716451711265, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 3 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 44 mm; move right 0 mm; move downward 137 mm; roll upward 3 degrees; pitch upward 22 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 46 mm; move left 206 mm; move downward 359 mm; roll upward 3 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 89, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 4 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 32 mm; move right 0 mm; move downward 144 mm; roll upward 3 degrees; pitch upward 22 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 34 mm; move left 206 mm; move downward 356 mm; roll upward 3 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 115 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.010714286006987095, + 0.0, + -0.0035714288242161274, + 0.0028571428265422583, + 0.008571428246796131, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.031785715371370316, + 0.0, + -0.14428572356700897, + 0.05285714566707611, + 0.38428571820259094, + 0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + 0.3997996784806386, + 0.016325599765267818, + -0.3172667263281682, + 0.5717089984563639, + 0.38983036268212845, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 4 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 32 mm; move right 0 mm; move downward 144 mm; roll upward 3 degrees; pitch upward 22 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 34 mm; move left 206 mm; move downward 356 mm; roll upward 3 degrees; pitch upward 23 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 90, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 3 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 21 mm; move left 0 mm; move downward 151 mm; roll upward 3 degrees; pitch upward 22 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 23 mm; move left 206 mm; move downward 353 mm; roll upward 3 degrees; pitch upward 22 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 114 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.007500000298023224, + 0.0, + -0.0028571428265422583, + 0.0071428571827709675, + 0.018571428954601288, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.021071430295705795, + 0.0003571428533177823, + -0.1510714441537857, + 0.05000000074505806, + 0.3757143020629883, + 0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + 0.27975968886831537, + 0.016325599765267818, + -0.2928615962720058, + 0.6895871789440784, + 0.6271184884760763, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 3 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 21 mm; move left 0 mm; move downward 151 mm; roll upward 3 degrees; pitch upward 22 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 23 mm; move left 206 mm; move downward 353 mm; roll upward 3 degrees; pitch upward 22 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 91, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 3 mm; roll upward 1 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 14 mm; move left 2 mm; move downward 158 mm; roll upward 2 degrees; pitch upward 20 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 16 mm; move left 206 mm; move downward 350 mm; roll upward 2 degrees; pitch upward 21 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 114 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.005000000353902578, + 0.0, + -0.0032142859417945147, + 0.012857142835855484, + 0.027142856270074844, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.01392857264727354, + 0.0021428572945296764, + -0.15821430087089539, + 0.04285714402794838, + 0.3571428656578064, + 0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + 0.18639525443545102, + 0.016325599765267818, + -0.3050641652776689, + 0.8467580819917075, + 0.83050826638682, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 3 mm; roll upward 1 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 14 mm; move left 2 mm; move downward 158 mm; roll upward 2 degrees; pitch upward 20 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 16 mm; move left 206 mm; move downward 350 mm; roll upward 2 degrees; pitch upward 21 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 92, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 4 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 9 mm; move left 5 mm; move downward 165 mm; roll upward 2 degrees; pitch upward 19 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 11 mm; move left 206 mm; move downward 347 mm; roll upward 2 degrees; pitch upward 20 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 114 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.004642857238650322, + 0.0, + -0.0035714288242161274, + 0.008571428246796131, + 0.027142856270074844, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.008928571827709675, + 0.004642857238650322, + -0.16500000655651093, + 0.029999997466802597, + 0.32999998331069946, + 0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + 0.17305746815048106, + 0.016325599765267818, + -0.3172667263281682, + 0.7288798951000075, + 0.83050826638682, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 4 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 9 mm; move left 5 mm; move downward 165 mm; roll upward 2 degrees; pitch upward 19 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 11 mm; move left 206 mm; move downward 347 mm; roll upward 2 degrees; pitch upward 20 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 93, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 0 mm; move downward 3 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 4 mm; move left 9 mm; move downward 170 mm; roll upward 1 degrees; pitch upward 17 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 6 mm; move left 206 mm; move downward 343 mm; roll upward 1 degrees; pitch upward 18 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 114 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0032142859417945147, + 0.0, + -0.0032142859417945147, + 0.0057142856530845165, + 0.027142856270074844, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.004285714589059353, + 0.009285714477300644, + -0.17000001668930054, + 0.02142857015132904, + 0.3028571307659149, + 0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + 0.11970636648680455, + 0.016325599765267818, + -0.3050641652776689, + 0.6502944499801784, + 0.83050826638682, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 0 mm; move downward 3 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 4 mm; move left 9 mm; move downward 170 mm; roll upward 1 degrees; pitch upward 17 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 6 mm; move left 206 mm; move downward 343 mm; roll upward 1 degrees; pitch upward 18 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 94, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 4 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 2 mm; move left 18 mm; move downward 175 mm; roll upward 1 degrees; pitch upward 16 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 3 mm; move left 206 mm; move downward 340 mm; roll upward 1 degrees; pitch upward 17 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 114 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0007142857066355646, + 0.0, + -0.0039285714738070965, + 0.004285714123398066, + 0.03142857179045677, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0017857144121080637, + 0.017500001937150955, + -0.1753571629524231, + 0.015714284032583237, + 0.27571427822113037, + 0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + 0.026341921184888983, + 0.016325599765267818, + -0.32946927942350357, + 0.6110017210162784, + 0.9322031995405462, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 4 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 2 mm; move left 18 mm; move downward 175 mm; roll upward 1 degrees; pitch upward 16 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 3 mm; move left 206 mm; move downward 340 mm; roll upward 1 degrees; pitch upward 17 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 95, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 5 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 2 mm; move left 28 mm; move downward 180 mm; roll upward 1 degrees; pitch upward 14 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 2 mm; move left 206 mm; move downward 336 mm; roll upward 1 degrees; pitch upward 15 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 114 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.005000000353902578, + 0.004285714123398066, + 0.034285712987184525, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0021428572945296764, + 0.027857143431901932, + -0.17964287102222443, + 0.011428571306169033, + 0.2442856878042221, + 0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.3660769705301652, + 0.6110017210162784, + 0.9999997627118911, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 5 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 2 mm; move left 28 mm; move downward 180 mm; roll upward 1 degrees; pitch upward 14 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 2 mm; move left 206 mm; move downward 336 mm; roll upward 1 degrees; pitch upward 15 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 96, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 5 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 2 mm; move left 39 mm; move downward 182 mm; roll upward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 2 mm; move left 206 mm; move downward 331 mm; roll upward 0 degrees; pitch upward 13 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 115 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.005000000353902578, + 0.0057142856530845165, + 0.0357142873108387, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0021428572945296764, + 0.038928572088479996, + -0.1817857325077057, + 0.0071428571827709675, + 0.20999999344348907, + 0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.3660769705301652, + 0.6502944499801784, + 1.0, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 5 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 2 mm; move left 39 mm; move downward 182 mm; roll upward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 2 mm; move left 206 mm; move downward 331 mm; roll upward 0 degrees; pitch upward 13 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 97, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 2 mm; move left 53 mm; move downward 184 mm; roll upward 0 degrees; pitch upward 10 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 2 mm; move left 206 mm; move downward 326 mm; roll upward 0 degrees; pitch upward 11 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 115 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.006428571883589029, + 0.0, + 0.0357142873108387, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0021428572945296764, + 0.053214289247989655, + -0.18392859399318695, + 0.0014285714132711291, + 0.17428569495677948, + 0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.4148872147321623, + 0.49312354693254923, + 1.0, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 2 mm; move left 53 mm; move downward 184 mm; roll upward 0 degrees; pitch upward 10 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 2 mm; move left 206 mm; move downward 326 mm; roll upward 0 degrees; pitch upward 11 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 98, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 8 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 2 mm; move left 68 mm; move downward 184 mm; roll upward 0 degrees; pitch upward 8 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 2 mm; move left 206 mm; move downward 320 mm; roll upward 0 degrees; pitch upward 9 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 115 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.007500000298023224, + 0.0, + 0.027142856270074844, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0021428572945296764, + 0.06785714626312256, + -0.1835714429616928, + 0.0014285714132711291, + 0.13857141137123108, + 0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.4514948899284963, + 0.49312354693254923, + 0.83050826638682, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 8 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 2 mm; move left 68 mm; move downward 184 mm; roll upward 0 degrees; pitch upward 8 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 2 mm; move left 206 mm; move downward 320 mm; roll upward 0 degrees; pitch upward 9 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 99, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 9 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 2 mm; move left 83 mm; move downward 182 mm; roll upward 0 degrees; pitch upward 6 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 2 mm; move left 206 mm; move downward 312 mm; roll upward 0 degrees; pitch upward 7 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 115 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.008928571827709675, + 0.0014285714132711291, + 0.034285712987184525, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0021428572945296764, + 0.082857146859169, + -0.18214285373687744, + 0.0014285714132711291, + 0.11142857372760773, + 0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.5003051341304934, + 0.5324162726944566, + 0.9999997627118911, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 9 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 2 mm; move left 83 mm; move downward 182 mm; roll upward 0 degrees; pitch upward 6 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 2 mm; move left 206 mm; move downward 312 mm; roll upward 0 degrees; pitch upward 7 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 100, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 2 mm; move left 100 mm; move downward 179 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 2 mm; move left 206 mm; move downward 303 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 115 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.010357143357396126, + 0.0, + 0.03285714238882065, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0021428572945296764, + 0.09964286535978317, + -0.17928571999073029, + 0.0, + 0.0771428644657135, + 0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.5491153783324905, + 0.49312354693254923, + 0.9661014811262187, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 2 mm; move left 100 mm; move downward 179 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 2 mm; move left 206 mm; move downward 303 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 101, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 2 mm; move left 116 mm; move downward 175 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 2 mm; move left 206 mm; move downward 293 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.010357143357396126, + 0.0, + 0.022857142612338066, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0021428572945296764, + 0.11571428924798965, + -0.17464284598827362, + 0.0, + 0.044285714626312256, + 0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.5491153783324905, + 0.49312354693254923, + 0.728813377431448, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 2 mm; move left 116 mm; move downward 175 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 2 mm; move left 206 mm; move downward 293 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 102, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 2 mm; move left 129 mm; move downward 170 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 2 mm; move left 206 mm; move downward 282 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.009642857126891613, + 0.0, + 0.012857142835855484, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0021428572945296764, + 0.12928572297096252, + -0.1696428507566452, + 0.0, + 0.02142857015132904, + 0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.5247102403211642, + 0.49312354693254923, + 0.49152527373667754, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 2 mm; move left 129 mm; move downward 170 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 2 mm; move left 206 mm; move downward 282 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 103, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 2 mm; move left 142 mm; move downward 166 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 2 mm; move left 206 mm; move downward 273 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 207, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.010000000707805157, + 0.0, + 0.004285714123398066, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0021428572945296764, + 0.14178572595119476, + -0.16607141494750977, + 0.0, + 0.008571428246796131, + 0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.536912825237155, + 0.49312354693254923, + 0.28813546267716794, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 2 mm; move left 142 mm; move downward 166 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 2 mm; move left 206 mm; move downward 273 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 104, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 2 mm; move left 152 mm; move downward 162 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 2 mm; move left 206 mm; move downward 263 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 206, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.010357143357396126, + 0.0, + 0.004285714123398066, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0021428572945296764, + 0.15214286744594574, + -0.16178570687770844, + 0.0, + 0.004285714123398066, + 0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.5491153783324905, + 0.49312354693254923, + 0.28813546267716794, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 2 mm; move left 152 mm; move downward 162 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 2 mm; move left 206 mm; move downward 263 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 105, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 2 mm; move left 161 mm; move downward 157 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 2 mm; move left 206 mm; move downward 252 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 206, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.010357143357396126, + 0.0, + 0.0, + 0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + 0.0021428572945296764, + 0.1614285707473755, + -0.15714284777641296, + 0.0, + 0.0, + 0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.5491153783324905, + 0.49312354693254923, + 0.18644056267220743, + -0.24237198698079065, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 2 mm; move left 161 mm; move downward 157 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 2 mm; move left 206 mm; move downward 252 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 106, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 2 mm; move left 170 mm; move downward 153 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 2 mm; move left 206 mm; move downward 242 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 206, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.010000000707805157, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0021428572945296764, + 0.17000000178813934, + -0.15285713970661163, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.536912825237155, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 2 mm; move left 170 mm; move downward 153 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 2 mm; move left 206 mm; move downward 242 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 107, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 2 mm; move left 177 mm; move downward 150 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 2 mm; move left 206 mm; move downward 232 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 206, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.010000000707805157, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0021428572945296764, + 0.17714285850524902, + -0.15000000596046448, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.536912825237155, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 2 mm; move left 177 mm; move downward 150 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 2 mm; move left 206 mm; move downward 232 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 108, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 2 mm; move left 184 mm; move downward 148 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 2 mm; move left 206 mm; move downward 222 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 206, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.010000000707805157, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0021428572945296764, + 0.1842857152223587, + -0.14750002324581146, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.536912825237155, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 2 mm; move left 184 mm; move downward 148 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 2 mm; move left 206 mm; move downward 222 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 109, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 2 mm; move left 191 mm; move downward 146 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 2 mm; move left 206 mm; move downward 212 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 206, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0003571428533177823, + -0.010357143357396126, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0021428572945296764, + 0.19142857193946838, + -0.1460714340209961, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.02459176907535099, + -0.5491153783324905, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 2 mm; move left 191 mm; move downward 146 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 2 mm; move left 206 mm; move downward 212 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 110, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 0 mm; move left 2 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 2 mm; move left 198 mm; move downward 145 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 2 mm; move left 206 mm; move downward 202 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 206, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0003571428533177823, + 0.0017857144121080637, + -0.010000000707805157, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0021428572945296764, + 0.19785714149475098, + -0.1453571617603302, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.013004144682064789, + 0.05765644968376393, + -0.536912825237155, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 0 mm; move left 2 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 2 mm; move left 198 mm; move downward 145 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 2 mm; move left 206 mm; move downward 202 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 111, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 3 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 2 mm; move left 201 mm; move downward 146 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 2 mm; move left 204 mm; move downward 192 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 206, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.002500000176951289, + -0.010000000707805157, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0017857144121080637, + 0.20142856240272522, + -0.14642857015132904, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.07418878965116238, + -0.536912825237155, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 3 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 2 mm; move left 201 mm; move downward 146 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 2 mm; move left 204 mm; move downward 192 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 112, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 5 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 2 mm; move left 200 mm; move downward 146 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 2 mm; move left 201 mm; move downward 182 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 206, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.004642857238650322, + -0.008571429178118706, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0017857144121080637, + 0.20035715401172638, + -0.1460714340209961, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.12378580416442886, + -0.4881025810351579, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 5 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 2 mm; move left 200 mm; move downward 146 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 2 mm; move left 201 mm; move downward 182 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 113, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move left 8 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 2 mm; move left 197 mm; move downward 148 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 2 mm; move left 197 mm; move downward 173 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 206, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0007142857066355646, + 0.008214286528527737, + -0.008571429178118706, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0017857144121080637, + 0.19678571820259094, + -0.14750000834465027, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.026341921184888983, + 0.20644751477927947, + -0.4881025810351579, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 1 mm; move left 8 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 2 mm; move left 197 mm; move downward 148 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 2 mm; move left 197 mm; move downward 173 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 114, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move left 10 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 1 mm; move left 189 mm; move downward 149 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 1 mm; move left 189 mm; move downward 165 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 206, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0010714286472648382, + 0.010357143357396126, + -0.008214286528527737, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0010714286472648382, + 0.18857143819332123, + -0.1492857187986374, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.03967970094842865, + 0.25604452390361665, + -0.47590002793982245, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move forward 1 mm; move left 10 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 1 mm; move left 189 mm; move downward 149 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 1 mm; move left 189 mm; move downward 165 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 115, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 11 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 178 mm; move downward 150 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 178 mm; move downward 156 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 206, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.011071428656578064, + -0.007142857648432255, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.17821429669857025, + -0.14964286983013153, + 0.0, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.27257685309315693, + -0.4392923368331608, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 11 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 178 mm; move downward 150 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 178 mm; move downward 156 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 116, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 14 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 167 mm; move downward 149 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 167 mm; move downward 149 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 206, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.01428571529686451, + -0.007142857648432255, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.167142853140831, + -0.1492857187986374, + 0.0, + 0.01428571343421936, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.3469723991132374, + -0.4392923368331608, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 14 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 167 mm; move downward 149 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 167 mm; move downward 149 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 117, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 15 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 153 mm; move downward 146 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 153 mm; move downward 142 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 205, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.014642857015132904, + -0.006071428768336773, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.15285713970661163, + -0.14571429789066315, + 0.0, + 0.02142857015132904, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.355238542152291, + -0.4026846457264992, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 15 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 153 mm; move downward 146 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 153 mm; move downward 142 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 118, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 15 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 138 mm; move downward 140 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 138 mm; move downward 136 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 205, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.015000000596046448, + -0.006071428768336773, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.13821427524089813, + -0.1396428793668747, + 0.0, + 0.02142857015132904, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.3635047283027777, + -0.4026846457264992, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 15 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 138 mm; move downward 140 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 138 mm; move downward 136 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 119, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 17 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 123 mm; move downward 134 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 123 mm; move downward 130 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 205, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.016785714775323868, + -0.006071428768336773, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.12321428209543228, + -0.13357143104076385, + 0.0, + 0.02142857015132904, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.4048355728323447, + -0.4026846457264992, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 17 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 123 mm; move downward 134 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 123 mm; move downward 130 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 120, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 16 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 106 mm; move downward 128 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 106 mm; move downward 124 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 204, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.01607142947614193, + -0.0057142856530845165, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.10642857849597931, + -0.1275000125169754, + 0.0, + 0.02142857015132904, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.38830324364280444, + -0.3904820767208361, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 16 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 106 mm; move downward 128 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 106 mm; move downward 124 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 121, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 14 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 90 mm; move downward 122 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 90 mm; move downward 118 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 204, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.013571429066359997, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.09035715460777283, + -0.1217857226729393, + 0.0, + 0.02142857015132904, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.3304400483679806, + -0.37827952362550066, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 14 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 90 mm; move downward 122 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 90 mm; move downward 118 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 122, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 13 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 77 mm; move downward 116 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 77 mm; move downward 113 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 203, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.012500000186264515, + -0.006071428768336773, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.07678572088479996, + -0.11642856895923615, + 0.0, + 0.02142857015132904, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.3056415330279538, + -0.4026846457264992, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 13 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 77 mm; move downward 116 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 77 mm; move downward 113 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 123, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 10 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 64 mm; move downward 110 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 64 mm; move downward 107 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 203, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.010357143357396126, + -0.0057142856530845165, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.06428571790456772, + -0.1103571429848671, + 0.0, + 0.02142857015132904, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.25604452390361665, + -0.3904820767208361, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 10 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 64 mm; move downward 110 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 64 mm; move downward 107 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 124, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 9 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 54 mm; move downward 105 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 54 mm; move downward 101 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 202, + 117 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.009285714477300644, + -0.0057142856530845165, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.053928572684526443, + -0.10464286059141159, + 0.0, + 0.02142857015132904, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.2312460085635899, + -0.3904820767208361, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 9 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 54 mm; move downward 105 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 54 mm; move downward 101 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 125, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 9 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 45 mm; move downward 99 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 45 mm; move downward 95 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 202, + 117 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.008571429178118706, + -0.006071428768336773, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.0446428619325161, + -0.09892857074737549, + 0.0, + 0.02142857015132904, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.21471367937404962, + -0.4026846457264992, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 9 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 45 mm; move downward 99 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 45 mm; move downward 95 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 126, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 7 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 36 mm; move downward 93 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 36 mm; move downward 89 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 202, + 117 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.007142857648432255, + -0.007142857648432255, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.03607143089175224, + -0.09285714477300644, + 0.0, + 0.02142857015132904, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.1816489994392525, + -0.4392923368331608, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 7 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 36 mm; move downward 93 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 36 mm; move downward 89 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 127, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 7 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 29 mm; move downward 86 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 29 mm; move downward 82 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 201, + 117 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.007142857648432255, + -0.007500000298023224, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.028928572311997414, + -0.08571428805589676, + 0.0, + 0.02142857015132904, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.1816489994392525, + -0.4514948899284963, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 7 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 29 mm; move downward 86 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 29 mm; move downward 82 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 128, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 7 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 22 mm; move downward 78 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 22 mm; move downward 75 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 201, + 117 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.007142857648432255, + -0.008571429178118706, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.021785715594887733, + -0.07821428030729294, + 0.0, + 0.02142857015132904, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.1816489994392525, + -0.4881025810351579, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 7 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 22 mm; move downward 78 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 22 mm; move downward 75 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 129, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 7 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 15 mm; move downward 70 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 15 mm; move downward 66 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 201, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.006785714533179998, + -0.009642857126891613, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.014642858877778053, + -0.06964285671710968, + 0.0, + 0.02142857015132904, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.1733828240666242, + -0.5247102403211642, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 7 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 15 mm; move downward 70 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 15 mm; move downward 66 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 130, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 5 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 8 mm; move downward 60 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 8 mm; move downward 56 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 200, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0053571430034935474, + -0.011071428656578064, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.007857142947614193, + -0.05999999865889549, + 0.0, + 0.02142857015132904, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.1403181441318273, + -0.5735204845231613, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 5 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 8 mm; move downward 60 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 8 mm; move downward 56 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 131, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 1 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 3 mm; move downward 49 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 3 mm; move downward 45 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 200, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0014285714132711291, + -0.009642857126891613, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.002500000176951289, + -0.04892857372760773, + 0.0, + 0.02142857015132904, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.04939027700560028, + -0.5247102403211642, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 1 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 3 mm; move downward 49 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 3 mm; move downward 45 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 132, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 1 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 1 mm; move downward 39 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 1 mm; move downward 36 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 200, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0010714286472648382, + -0.010000000707805157, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.0010714286472648382, + -0.03928571566939354, + 0.0, + 0.02142857015132904, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.04112410971636549, + -0.536912825237155, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 1 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 1 mm; move downward 39 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 1 mm; move downward 36 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 133, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move downward 29 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 26 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 200, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.010357143357396126, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + -0.029285717755556107, + 0.0, + 0.02142857015132904, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.5491153783324905, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move downward 29 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 26 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 134, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 200, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.008571429178118706, + 0.0, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + -0.015357143245637417, + 0.0, + 0.02142857015132904, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.4881025810351579, + 0.49312354693254923, + 0.28813546267716794, + -0.2654001940235141, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 135, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 2 mm; move downward 1 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 200, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.006785714533179998, + 0.0, + 0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.0021428572945296764, + -0.0014285717625170946, + 0.0, + 0.017142856493592262, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.42708976782749775, + 0.49312354693254923, + 0.42372866636697815, + -0.2654001940235141, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 2 mm; move downward 1 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 136, + "segment_id": 70500, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned over the sink, holding the apple. The visual evidence shows the end-effector has reached the target location and is stationary or hovering, consistent with positioning for the next step (placing) rather than grasping or lifting.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 10 mm; move upward 12 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 200, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.0035714288242161274, + 0.0, + 0.0071428571827709675, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.009642857126891613, + 0.011785714887082577, + 0.0, + 0.0071428571827709675, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.3172667263281682, + 0.49312354693254923, + 0.35593207004686733, + -0.2654001940235141, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 10 mm; move upward 12 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 137, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 20 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 200, + 120 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.01964285783469677, + 0.02428571507334709, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 20 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 138, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 34 mm; move upward 36 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 200, + 120 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.033571429550647736, + 0.03642857074737549, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 34 mm; move upward 36 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 139, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 52 mm; move upward 52 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 200, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.05249999836087227, + 0.05178571492433548, + -0.004285714123398066, + -0.019999999552965164, + 0.0014285714132711291, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 52 mm; move upward 52 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 140, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 73 mm; move upward 68 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 201, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.07285714149475098, + 0.0682142898440361, + -0.009999999776482582, + -0.0414285734295845, + 0.015714285895228386, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 73 mm; move upward 68 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 141, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 94 mm; move upward 85 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 201, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.09357142448425293, + 0.08500000089406967, + -0.017142856493592262, + -0.06142857298254967, + 0.0357142835855484, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 94 mm; move upward 85 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 142, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 116 mm; move upward 102 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 201, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.1160714253783226, + 0.10249999910593033, + -0.02857142686843872, + -0.082857146859169, + 0.06285713613033295, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 116 mm; move upward 102 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 143, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 139 mm; move upward 121 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw counterclockwise 5 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 201, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.1389285773038864, + 0.12142857164144516, + -0.03999999910593033, + -0.10428571701049805, + 0.0957142785191536, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 139 mm; move upward 121 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw counterclockwise 5 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 144, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 163 mm; move upward 142 mm; roll downward 3 degrees; pitch downward 7 degrees; yaw counterclockwise 7 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 201, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.16285714507102966, + 0.14178572595119476, + -0.055714286863803864, + -0.12857143580913544, + 0.12999999523162842, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 163 mm; move upward 142 mm; roll downward 3 degrees; pitch downward 7 degrees; yaw counterclockwise 7 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 145, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 189 mm; move upward 162 mm; roll downward 4 degrees; pitch downward 9 degrees; yaw counterclockwise 10 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 201, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.18892857432365417, + 0.16214285790920258, + -0.07428571581840515, + -0.15142858028411865, + 0.16857142746448517, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 189 mm; move upward 162 mm; roll downward 4 degrees; pitch downward 9 degrees; yaw counterclockwise 10 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 146, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 215 mm; move upward 182 mm; roll downward 5 degrees; pitch downward 10 degrees; yaw counterclockwise 12 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 201, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.21535713970661163, + 0.18214286863803864, + -0.09142857044935226, + -0.1671428680419922, + 0.20999999344348907, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 215 mm; move upward 182 mm; roll downward 5 degrees; pitch downward 10 degrees; yaw counterclockwise 12 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 147, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 243 mm; move upward 200 mm; roll downward 6 degrees; pitch downward 10 degrees; yaw counterclockwise 15 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 201, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.24321427941322327, + 0.20000000298023224, + -0.1071428582072258, + -0.1785714328289032, + 0.25428569316864014, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 243 mm; move upward 200 mm; roll downward 6 degrees; pitch downward 10 degrees; yaw counterclockwise 15 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 148, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 273 mm; move upward 217 mm; roll downward 7 degrees; pitch downward 11 degrees; yaw counterclockwise 17 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 201, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.2728571593761444, + 0.2167857140302658, + -0.12285714596509933, + -0.18571428954601288, + 0.30142855644226074, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 273 mm; move upward 217 mm; roll downward 7 degrees; pitch downward 11 degrees; yaw counterclockwise 17 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 149, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 303 mm; move upward 233 mm; roll downward 8 degrees; pitch downward 11 degrees; yaw counterclockwise 20 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 201, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.30321428179740906, + 0.23321428894996643, + -0.1371428668498993, + -0.18714286386966705, + 0.3499999940395355, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 303 mm; move upward 233 mm; roll downward 8 degrees; pitch downward 11 degrees; yaw counterclockwise 20 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 150, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 334 mm; move upward 249 mm; roll downward 9 degrees; pitch downward 11 degrees; yaw counterclockwise 23 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 201, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.33392858505249023, + 0.24857142567634583, + -0.15285715460777283, + -0.18714286386966705, + 0.4000000059604645, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 334 mm; move upward 249 mm; roll downward 9 degrees; pitch downward 11 degrees; yaw counterclockwise 23 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 151, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 366 mm; move upward 263 mm; roll downward 9 degrees; pitch downward 11 degrees; yaw counterclockwise 26 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 201, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.36642858386039734, + 0.26250001788139343, + -0.165714293718338, + -0.18714286386966705, + 0.4528571367263794, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 366 mm; move upward 263 mm; roll downward 9 degrees; pitch downward 11 degrees; yaw counterclockwise 26 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 152, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 401 mm; move upward 275 mm; roll downward 10 degrees; pitch downward 11 degrees; yaw counterclockwise 29 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 201, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.40071430802345276, + 0.2753571569919586, + -0.1785714328289032, + -0.18714286386966705, + 0.5099999904632568, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 401 mm; move upward 275 mm; roll downward 10 degrees; pitch downward 11 degrees; yaw counterclockwise 29 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 153, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 436 mm; move upward 287 mm; roll downward 11 degrees; pitch downward 11 degrees; yaw counterclockwise 33 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 201, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0035714288242161274, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.43642860651016235, + 0.2874999940395355, + -0.19428572058677673, + -0.18714286386966705, + 0.572857141494751, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.07321550531818277, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 436 mm; move upward 287 mm; roll downward 11 degrees; pitch downward 11 degrees; yaw counterclockwise 33 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 517 mm; move upward 305 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 154, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 2 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 474 mm; move upward 295 mm; roll downward 12 degrees; pitch downward 11 degrees; yaw counterclockwise 36 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 517 mm; move upward 301 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 201, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0021428572945296764, + 0.0053571430034935474, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.47357144951820374, + 0.2946428954601288, + -0.21285715699195862, + -0.18714286386966705, + 0.6357142925262451, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.06592261966746316, + -0.012202708020850328, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 2 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 474 mm; move upward 295 mm; roll downward 12 degrees; pitch downward 11 degrees; yaw counterclockwise 36 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 517 mm; move upward 301 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 155, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 8 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 515 mm; move upward 296 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 515 mm; move upward 296 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 201, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.007500000298023224, + 0.006428571883589029, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.51500004529953, + 0.2957143187522888, + -0.25285714864730835, + -0.18714286386966705, + 0.7028571367263794, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.18991516403402264, + 0.024404983085811294, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 8 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 515 mm; move upward 296 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 515 mm; move upward 296 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 156, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 10 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 551 mm; move upward 294 mm; roll downward 17 degrees; pitch downward 11 degrees; yaw counterclockwise 44 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 508 mm; move upward 289 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 201, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.010000000707805157, + 0.008928571827709675, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.5514286160469055, + 0.29428574442863464, + -0.2971428632736206, + -0.19285714626312256, + 0.7699999809265137, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.2477783593088465, + 0.10982290248414239, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 10 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 551 mm; move upward 294 mm; roll downward 17 degrees; pitch downward 11 degrees; yaw counterclockwise 44 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 508 mm; move upward 289 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 157, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 14 mm; move upward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 585 mm; move upward 291 mm; roll downward 19 degrees; pitch downward 12 degrees; yaw counterclockwise 48 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 498 mm; move upward 280 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 201, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.013928571715950966, + 0.012142857536673546, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.5846428275108337, + 0.2914285957813263, + -0.3400000035762787, + -0.2028571516275406, + 0.837142825126648, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.3387062129627507, + 0.21964594398347193, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 14 mm; move upward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 585 mm; move upward 291 mm; roll downward 19 degrees; pitch downward 12 degrees; yaw counterclockwise 48 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 498 mm; move upward 280 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 158, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 19 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 613 mm; move upward 285 mm; roll downward 22 degrees; pitch downward 12 degrees; yaw counterclockwise 52 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 484 mm; move upward 268 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 201, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.018928570672869682, + 0.015357143245637417, + -0.004285714123398066, + -0.019999999552965164, + 0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.6128571629524231, + 0.28464287519454956, + -0.37857142090797424, + -0.2142857164144516, + 0.9042856693267822, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.45443256040096536, + 0.3294689854828017, + 0.3752453728488201, + -0.28813564471733366, + -0.24237198698079065, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 19 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 613 mm; move upward 285 mm; roll downward 22 degrees; pitch downward 12 degrees; yaw counterclockwise 52 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 484 mm; move upward 268 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 159, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 20 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 1 mm; move left 636 mm; move upward 274 mm; roll downward 24 degrees; pitch downward 12 degrees; yaw counterclockwise 56 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 465 mm; move upward 253 mm; roll downward 14 degrees; pitch downward 10 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 200, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.020357143133878708, + 0.016428573057055473, + -0.0057142856530845165, + -0.02142857201397419, + 0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + -0.0007142857066355646, + 0.6357142925262451, + 0.2742857336997986, + -0.4114285707473755, + -0.20714284479618073, + 0.9714285731315613, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.4874972618914788, + 0.36607670841011863, + 0.3359526438849201, + -0.3220339705013606, + -0.03511811984310953, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 20 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 1 mm; move left 636 mm; move upward 274 mm; roll downward 24 degrees; pitch downward 12 degrees; yaw counterclockwise 56 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 465 mm; move upward 253 mm; roll downward 14 degrees; pitch downward 10 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 160, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 21 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 4 mm; move left 656 mm; move upward 263 mm; roll downward 25 degrees; pitch downward 12 degrees; yaw counterclockwise 59 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 444 mm; move upward 236 mm; roll downward 14 degrees; pitch downward 8 degrees; yaw counterclockwise 39 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 200, + 117 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.02071428671479225, + 0.016785714775323868, + -0.0071428571827709675, + -0.019999999552965164, + 0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + -0.004285714589059353, + 0.6557142734527588, + 0.26250001788139343, + -0.4399999976158142, + -0.2028571367263794, + 1.027142882347107, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.4957634480419655, + 0.37827922968479855, + 0.29665991492102006, + -0.28813564471733366, + 0.05699470082144287, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 21 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 4 mm; move left 656 mm; move upward 263 mm; roll downward 25 degrees; pitch downward 12 degrees; yaw counterclockwise 59 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 444 mm; move upward 236 mm; roll downward 14 degrees; pitch downward 8 degrees; yaw counterclockwise 39 degrees; open gripper;" + }, + { + "frame_index": 161, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 22 mm; move upward 18 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 9 mm; move left 675 mm; move upward 250 mm; roll downward 27 degrees; pitch downward 12 degrees; yaw counterclockwise 62 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 424 mm; move upward 220 mm; roll downward 14 degrees; pitch downward 7 degrees; yaw counterclockwise 38 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 200, + 117 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.022499999031424522, + 0.017500000074505806, + -0.011428571306169033, + -0.02142857201397419, + 0.027142856270074844, + 1.0 + ], + "delta_next_20": [ + -0.008571429178118706, + 0.6746428608894348, + 0.25035715103149414, + -0.46714287996292114, + -0.2028571367263794, + 1.0785714387893677, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.5370942494600996, + 0.4026843358754695, + 0.17878174083729093, + -0.3220339705013606, + 0.17213573040530394, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 22 mm; move upward 18 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 9 mm; move left 675 mm; move upward 250 mm; roll downward 27 degrees; pitch downward 12 degrees; yaw counterclockwise 62 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 424 mm; move upward 220 mm; roll downward 14 degrees; pitch downward 7 degrees; yaw counterclockwise 38 degrees; open gripper;" + }, + { + "frame_index": 162, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 23 mm; move upward 19 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 13 mm; move left 693 mm; move upward 237 mm; roll downward 28 degrees; pitch downward 12 degrees; yaw counterclockwise 64 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 401 mm; move upward 202 mm; roll downward 13 degrees; pitch downward 6 degrees; yaw counterclockwise 37 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 199, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.022857142612338066, + 0.018928570672869682, + -0.011428571306169033, + -0.02142857201397419, + 0.03285714238882065, + 1.0 + ], + "delta_next_20": [ + -0.012857143767178059, + 0.6925000548362732, + 0.23678572475910187, + -0.49142858386039734, + -0.20142856240272522, + 1.1228570938110352, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.5453604356105861, + 0.4514945482568111, + 0.17878174083729093, + -0.3220339705013606, + 0.26424856608253866, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 23 mm; move upward 19 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 13 mm; move left 693 mm; move upward 237 mm; roll downward 28 degrees; pitch downward 12 degrees; yaw counterclockwise 64 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 401 mm; move upward 202 mm; roll downward 13 degrees; pitch downward 6 degrees; yaw counterclockwise 37 degrees; open gripper;" + }, + { + "frame_index": 163, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 24 mm; move upward 20 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 15 mm; move left 711 mm; move upward 222 mm; roll downward 30 degrees; pitch downward 12 degrees; yaw counterclockwise 67 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 378 mm; move upward 183 mm; roll downward 12 degrees; pitch downward 5 degrees; yaw counterclockwise 35 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 199, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.023928571492433548, + 0.020357143133878708, + -0.015714285895228386, + -0.02428571507334709, + 0.034285712987184525, + 1.0 + ], + "delta_next_20": [ + -0.015357144176959991, + 0.7107142806053162, + 0.22178570926189423, + -0.5185714364051819, + -0.20142856240272522, + 1.161428451538086, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.5701589509506131, + 0.5003048242794637, + 0.06090355394559088, + -0.38983057787106, + 0.287276759989165, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 24 mm; move upward 20 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 15 mm; move left 711 mm; move upward 222 mm; roll downward 30 degrees; pitch downward 12 degrees; yaw counterclockwise 67 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 378 mm; move upward 183 mm; roll downward 12 degrees; pitch downward 5 degrees; yaw counterclockwise 35 degrees; open gripper;" + }, + { + "frame_index": 164, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 26 mm; move upward 20 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 16 mm; move left 728 mm; move upward 205 mm; roll downward 31 degrees; pitch downward 11 degrees; yaw counterclockwise 69 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 354 mm; move upward 163 mm; roll downward 11 degrees; pitch downward 3 degrees; yaw counterclockwise 33 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 198, + 115 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.02607142925262451, + 0.020357143133878708, + -0.018571428954601288, + -0.022857142612338066, + 0.03857142850756645, + 1.0 + ], + "delta_next_20": [ + -0.016428573057055473, + 0.7278571724891663, + 0.20464284718036652, + -0.5400000214576721, + -0.1971428394317627, + 1.1985713243484497, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.6197559816306666, + 0.5003048242794637, + -0.017681903982209257, + -0.35593225208703305, + 0.3563614017597736, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 26 mm; move upward 20 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 16 mm; move left 728 mm; move upward 205 mm; roll downward 31 degrees; pitch downward 11 degrees; yaw counterclockwise 69 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 354 mm; move upward 163 mm; roll downward 11 degrees; pitch downward 3 degrees; yaw counterclockwise 33 degrees; open gripper;" + }, + { + "frame_index": 165, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 26 mm; move upward 20 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 18 mm; move left 742 mm; move upward 187 mm; roll downward 32 degrees; pitch downward 11 degrees; yaw counterclockwise 71 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 328 mm; move upward 142 mm; roll downward 10 degrees; pitch downward 2 degrees; yaw counterclockwise 31 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [210,114], [210,114]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 198, + 114 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 210, + 114, + 210, + 114 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.026428570970892906, + 0.020000001415610313, + -0.017142856493592262, + -0.015714285895228386, + 0.041428569704294205, + 1.0 + ], + "delta_next_20": [ + -0.018214289098978043, + 0.7417857646942139, + 0.1874999850988388, + -0.5557143092155457, + -0.19428570568561554, + 1.2314285039901733, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.6280221246697204, + 0.4881023030047835, + 0.021610850597632902, + -0.18644075576196184, + 0.4024177895730259, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 26 mm; move upward 20 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 18 mm; move left 742 mm; move upward 187 mm; roll downward 32 degrees; pitch downward 11 degrees; yaw counterclockwise 71 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 328 mm; move upward 142 mm; roll downward 10 degrees; pitch downward 2 degrees; yaw counterclockwise 31 degrees; open gripper;" + }, + { + "frame_index": 166, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 28 mm; move upward 18 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 19 mm; move left 756 mm; move upward 172 mm; roll downward 33 degrees; pitch downward 11 degrees; yaw counterclockwise 72 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 302 mm; move upward 123 mm; roll downward 9 degrees; pitch downward 1 degrees; yaw counterclockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [210,114], [210,114]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 197, + 114 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 210, + 114, + 210, + 114 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.027857143431901932, + 0.01785714365541935, + -0.015714285895228386, + -0.011428571306169033, + 0.044285714626312256, + 1.0 + ], + "delta_next_20": [ + -0.018571432679891586, + 0.7560714483261108, + 0.17178569734096527, + -0.5757142901420593, + -0.19999998807907104, + 1.2614284753799438, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.6610868261602338, + 0.4148869207914603, + 0.06090355394559088, + -0.08474584470741275, + 0.4484742374370083, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 28 mm; move upward 18 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 19 mm; move left 756 mm; move upward 172 mm; roll downward 33 degrees; pitch downward 11 degrees; yaw counterclockwise 72 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 302 mm; move upward 123 mm; roll downward 9 degrees; pitch downward 1 degrees; yaw counterclockwise 28 degrees; open gripper;" + }, + { + "frame_index": 167, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 30 mm; move upward 17 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 19 mm; move left 769 mm; move upward 158 mm; roll downward 34 degrees; pitch downward 12 degrees; yaw counterclockwise 74 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 274 mm; move upward 105 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw counterclockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [210,113], [210,114]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 197, + 113 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 210, + 113, + 210, + 114 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.029642855748534203, + 0.016785714775323868, + -0.015714285895228386, + -0.0071428571827709675, + 0.04714285582304001, + 1.0 + ], + "delta_next_20": [ + -0.018571432679891586, + 0.768928587436676, + 0.158214271068573, + -0.5971428751945496, + -0.2085714042186737, + 1.2885713577270508, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.7024176275783678, + 0.37827922968479855, + 0.06090355394559088, + 0.016949055297547755, + 0.4945306252502608, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 30 mm; move upward 17 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 19 mm; move left 769 mm; move upward 158 mm; roll downward 34 degrees; pitch downward 12 degrees; yaw counterclockwise 74 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 274 mm; move upward 105 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw counterclockwise 26 degrees; open gripper;" + }, + { + "frame_index": 168, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 30 mm; move upward 16 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 19 mm; move left 780 mm; move upward 146 mm; roll downward 35 degrees; pitch downward 13 degrees; yaw counterclockwise 75 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 244 mm; move upward 88 mm; roll downward 7 degrees; pitch downward 0 degrees; yaw counterclockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [210,113], [210,114]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 196, + 113 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 210, + 113, + 210, + 114 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.03035714291036129, + 0.016428573057055473, + -0.014285714365541935, + -0.0014285714132711291, + 0.04857143014669418, + 1.0 + ], + "delta_next_20": [ + -0.018571432679891586, + 0.7799999713897705, + 0.14642857015132904, + -0.6185714602470398, + -0.22285711765289307, + 1.3128570318222046, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.7189499998793412, + 0.36607670841011863, + 0.1001962829094909, + 0.15254226174975494, + 0.5175588792076169, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 30 mm; move upward 16 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 19 mm; move left 780 mm; move upward 146 mm; roll downward 35 degrees; pitch downward 13 degrees; yaw counterclockwise 75 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 244 mm; move upward 88 mm; roll downward 7 degrees; pitch downward 0 degrees; yaw counterclockwise 23 degrees; open gripper;" + }, + { + "frame_index": 169, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 31 mm; move upward 15 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 19 mm; move left 790 mm; move upward 136 mm; roll downward 37 degrees; pitch downward 14 degrees; yaw counterclockwise 77 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 214 mm; move upward 71 mm; roll downward 7 degrees; pitch downward 0 degrees; yaw counterclockwise 20 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [210,112], [210,114]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 195, + 112 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 210, + 112, + 210, + 114 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.030714286491274834, + 0.015357143245637417, + -0.015714285895228386, + 0.0, + 0.05000000074505806, + 1.0 + ], + "delta_next_20": [ + -0.018571432679891586, + 0.7900000214576721, + 0.13571427762508392, + -0.6385715007781982, + -0.24285711348056793, + 1.3357142210006714, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.7272161860298276, + 0.3294689854828017, + 0.06090355394559088, + 0.18644056267220743, + 0.5405870731142433, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 31 mm; move upward 15 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 19 mm; move left 790 mm; move upward 136 mm; roll downward 37 degrees; pitch downward 14 degrees; yaw counterclockwise 77 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 214 mm; move upward 71 mm; roll downward 7 degrees; pitch downward 0 degrees; yaw counterclockwise 20 degrees; open gripper;" + }, + { + "frame_index": 170, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 32 mm; move upward 14 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 19 mm; move left 800 mm; move upward 127 mm; roll downward 38 degrees; pitch downward 15 degrees; yaw counterclockwise 78 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 183 mm; move upward 56 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw counterclockwise 17 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [209,112], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 194, + 112 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 209, + 112, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.032499998807907104, + 0.013928571715950966, + -0.012857142835855484, + 0.0, + 0.05285714194178581, + 1.0 + ], + "delta_next_20": [ + -0.018571432679891586, + 0.7999999523162842, + 0.12678572535514832, + -0.6600000858306885, + -0.26571425795555115, + 1.3571428060531616, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.7685469874479618, + 0.2806587412808046, + 0.1394890118733909, + 0.18644056267220743, + 0.5866434609274955, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 32 mm; move upward 14 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 19 mm; move left 800 mm; move upward 127 mm; roll downward 38 degrees; pitch downward 15 degrees; yaw counterclockwise 78 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 183 mm; move upward 56 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw counterclockwise 17 degrees; open gripper;" + }, + { + "frame_index": 171, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 34 mm; move upward 13 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 19 mm; move left 808 mm; move upward 121 mm; roll downward 39 degrees; pitch downward 16 degrees; yaw counterclockwise 79 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 151 mm; move upward 42 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw counterclockwise 14 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [209,111], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 194, + 112 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 209, + 111, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.03428571671247482, + 0.012857143767178059, + -0.012857142835855484, + 0.0, + 0.05714285746216774, + 1.0 + ], + "delta_next_20": [ + -0.018571432679891586, + 0.8078571557998657, + 0.12071429938077927, + -0.6828572154045105, + -0.2871428430080414, + 1.3757141828536987, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.8098779182003948, + 0.2440510819947983, + 0.1394890118733909, + 0.18644056267220743, + 0.6557281026981041, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 34 mm; move upward 13 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 19 mm; move left 808 mm; move upward 121 mm; roll downward 39 degrees; pitch downward 16 degrees; yaw counterclockwise 79 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 151 mm; move upward 42 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw counterclockwise 14 degrees; open gripper;" + }, + { + "frame_index": 172, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 36 mm; move upward 12 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 19 mm; move left 813 mm; move upward 118 mm; roll downward 40 degrees; pitch downward 17 degrees; yaw counterclockwise 79 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 116 mm; move upward 29 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [209,111], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 193, + 111 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 209, + 111, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0357142873108387, + 0.012142857536673546, + -0.015714285895228386, + 0.0, + 0.06285714358091354, + 1.0 + ], + "delta_next_20": [ + -0.018571432679891586, + 0.8132142424583435, + 0.11821430176496506, + -0.698571503162384, + -0.2914285659790039, + 1.3871428966522217, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.8429425765794751, + 0.21964594398347193, + 0.06090355394559088, + 0.18644056267220743, + 0.747840938375339, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 36 mm; move upward 12 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 19 mm; move left 813 mm; move upward 118 mm; roll downward 40 degrees; pitch downward 17 degrees; yaw counterclockwise 79 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 116 mm; move upward 29 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 173, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 37 mm; move upward 11 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 19 mm; move left 819 mm; move upward 116 mm; roll downward 41 degrees; pitch downward 17 degrees; yaw counterclockwise 80 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 81 mm; move upward 17 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [209,111], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 192, + 111 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 209, + 111, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.037142857909202576, + 0.010714286006987095, + -0.018571428954601288, + 0.0, + 0.06285714358091354, + 1.0 + ], + "delta_next_20": [ + -0.018571432679891586, + 0.8189285397529602, + 0.11571428924798965, + -0.7142857909202576, + -0.2928571403026581, + 1.3928571939468384, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.8760072349585557, + 0.17083569978147484, + -0.017681903982209257, + 0.18644056267220743, + 0.747840938375339, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 37 mm; move upward 11 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 19 mm; move left 819 mm; move upward 116 mm; roll downward 41 degrees; pitch downward 17 degrees; yaw counterclockwise 80 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 81 mm; move upward 17 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 174, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 44 mm; move upward 6 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 19 mm; move left 823 mm; move upward 115 mm; roll downward 41 degrees; pitch downward 17 degrees; yaw counterclockwise 80 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 44 mm; move upward 6 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [209,111], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 191, + 111 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 209, + 111, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.04357142746448517, + 0.006428571883589029, + -0.03999999910593033, + 0.0, + 0.06714285910129547, + 1.0 + ], + "delta_next_20": [ + -0.018571432679891586, + 0.8228570818901062, + 0.11500000953674316, + -0.7242857813835144, + -0.29428571462631226, + 1.3985716104507446, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 1.0, + 0.024404983085811294, + -0.6070727615928837, + 0.18644056267220743, + 0.8169255801459476, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 44 mm; move upward 6 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 19 mm; move left 823 mm; move upward 115 mm; roll downward 41 degrees; pitch downward 17 degrees; yaw counterclockwise 80 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 44 mm; move upward 6 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 175, + "segment_id": 70637, + "subtask": "move to the sink", + "reason": "The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned over the sink area with its end-effector hovering above the basin, indicating it has moved from the counter location and is aligning itself for the subsequent placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 44 mm; move upward 5 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 19 mm; move left 820 mm; move upward 119 mm; roll downward 41 degrees; pitch downward 17 degrees; yaw counterclockwise 80 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [209,111], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 189, + 111 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 209, + 111, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.04392857477068901, + 0.005000000353902578, + -0.044285714626312256, + -0.0057142856530845165, + 0.06714285910129547, + 1.0 + ], + "delta_next_20": [ + -0.018571432679891586, + 0.8203571438789368, + 0.11892856657505035, + -0.7100000381469727, + -0.29428571462631226, + 1.4014288187026978, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 1.0, + -0.024405261116185684, + -0.7249509741005258, + 0.05084735898239745, + 0.8169255801459476, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 44 mm; move upward 5 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 19 mm; move left 820 mm; move upward 119 mm; roll downward 41 degrees; pitch downward 17 degrees; yaw counterclockwise 80 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 176, + "segment_id": 70337, + "subtask": "move to the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector oriented towards the interior, indicating it has arrived at the target location and is preparing for the next interaction step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector oriented towards the interior, indicating it has arrived at the target location and is preparing for the next interaction step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 43 mm; move upward 6 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 19 mm; move left 818 mm; move upward 124 mm; roll downward 40 degrees; pitch downward 17 degrees; yaw counterclockwise 81 degrees; open gripper;\nSubtask Movement: move backward 1 mm; move left 127 mm; move upward 16 mm; roll downward 7 degrees; pitch downward 2 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [210,111], [210,114]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 188, + 110 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 210, + 111, + 210, + 114 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.04321428760886192, + 0.006071428768336773, + -0.04285714402794838, + -0.009999999776482582, + 0.06714285910129547, + 1.0 + ], + "delta_next_20": [ + -0.018571432679891586, + 0.8178570866584778, + 0.12357141822576523, + -0.6914286017417908, + -0.28857141733169556, + 1.405714511871338, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 1.0, + 0.012202414080148216, + -0.6856582707525678, + -0.05084754102256306, + 0.8169255801459476, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 43 mm; move upward 6 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 19 mm; move left 818 mm; move upward 124 mm; roll downward 40 degrees; pitch downward 17 degrees; yaw counterclockwise 81 degrees; open gripper;", + "subtask_movement_text": "move backward 1 mm; move left 127 mm; move upward 16 mm; roll downward 7 degrees; pitch downward 2 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 177, + "segment_id": 70337, + "subtask": "move to the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector oriented towards the interior, indicating it has arrived at the target location and is preparing for the next interaction step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector oriented towards the interior, indicating it has arrived at the target location and is preparing for the next interaction step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 42 mm; move upward 5 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 19 mm; move left 816 mm; move upward 127 mm; roll downward 39 degrees; pitch downward 16 degrees; yaw counterclockwise 81 degrees; open gripper;\nSubtask Movement: move backward 1 mm; move left 84 mm; move upward 10 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw counterclockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [210,111], [210,114]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 187, + 110 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 210, + 111, + 210, + 114 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.04214285686612129, + 0.0053571430034935474, + -0.03857142850756645, + -0.011428571306169033, + 0.06714285910129547, + 1.0 + ], + "delta_next_20": [ + -0.018571432679891586, + 0.8164286017417908, + 0.12714286148548126, + -0.6742857694625854, + -0.2785714268684387, + 1.4114288091659546, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.9917335823967703, + -0.012202708020850328, + -0.5677800582449257, + -0.08474584470741275, + 0.8169255801459476, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 42 mm; move upward 5 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 19 mm; move left 816 mm; move upward 127 mm; roll downward 39 degrees; pitch downward 16 degrees; yaw counterclockwise 81 degrees; open gripper;", + "subtask_movement_text": "move backward 1 mm; move left 84 mm; move upward 10 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw counterclockwise 8 degrees; open gripper;" + }, + { + "frame_index": 178, + "segment_id": 70337, + "subtask": "move to the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector oriented towards the interior, indicating it has arrived at the target location and is preparing for the next interaction step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector oriented towards the interior, indicating it has arrived at the target location and is preparing for the next interaction step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move left 42 mm; move upward 5 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 19 mm; move left 816 mm; move upward 131 mm; roll downward 38 degrees; pitch downward 15 degrees; yaw counterclockwise 81 degrees; open gripper;\nSubtask Movement: move backward 1 mm; move left 42 mm; move upward 5 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [210,111], [210,114]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 186, + 110 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 210, + 111, + 210, + 114 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.0007142857066355646, + 0.04178571328520775, + 0.005000000353902578, + -0.037142857909202576, + -0.012857142835855484, + 0.06857142597436905, + 1.0 + ], + "delta_next_20": [ + -0.018571432679891586, + 0.8164286017417908, + 0.13142859935760498, + -0.6600000262260437, + -0.2671428620815277, + 1.4185715913772583, + 1.0 + ], + "delta_full_state_norm": [ + -0.027009184826407795, + 0.9834673962462839, + -0.024405261116185684, + -0.5284873548969677, + -0.11864414839226245, + 0.8399537140018438, + 0.9999999900000001 + ], + "movement_text": "move backward 1 mm; move left 42 mm; move upward 5 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 19 mm; move left 816 mm; move upward 131 mm; roll downward 38 degrees; pitch downward 15 degrees; yaw counterclockwise 81 degrees; open gripper;", + "subtask_movement_text": "move backward 1 mm; move left 42 mm; move upward 5 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 179, + "segment_id": 70337, + "subtask": "move to the sink", + "reason": "The robot arm is positioned directly over the sink basin with its end-effector oriented towards the interior, indicating it has arrived at the target location and is preparing for the next interaction step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its end-effector oriented towards the interior, indicating it has arrived at the target location and is preparing for the next interaction step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move left 40 mm; move upward 5 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 18 mm; move left 817 mm; move upward 136 mm; roll downward 37 degrees; pitch downward 15 degrees; yaw counterclockwise 82 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [210,111], [210,114]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 184, + 110 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 210, + 111, + 210, + 114 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.0035714288242161274, + 0.04035714268684387, + 0.004642857238650322, + -0.034285712987184525, + -0.017142856493592262, + 0.07000000029802322, + 1.0 + ], + "delta_next_20": [ + -0.017857147380709648, + 0.8167857527732849, + 0.13571429252624512, + -0.6471429467201233, + -0.2542857229709625, + 1.424285888671875, + 1.0 + ], + "delta_full_state_norm": [ + -0.13371140771805246, + 0.9504027378672033, + -0.03660783012184876, + -0.44990184573728353, + -0.22033903734763427, + 0.8629819679592001, + 0.9999999900000001 + ], + "movement_text": "move backward 4 mm; move left 40 mm; move upward 5 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 18 mm; move left 817 mm; move upward 136 mm; roll downward 37 degrees; pitch downward 15 degrees; yaw counterclockwise 82 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 180, + "segment_id": 20337, + "subtask": "move to the sink", + "reason": "The robot arm is positioned directly over the sink basin, indicating arrival at the target location. The end-effector appears stationary or in a stable pose above the objects inside the sink, consistent with positioning for the next interaction step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin, indicating arrival at the target location. The end-effector appears stationary or in a stable pose above the objects inside the sink, consistent with positioning for the next interaction step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move left 40 mm; move upward 5 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 14 mm; move left 819 mm; move upward 140 mm; roll downward 36 degrees; pitch downward 14 degrees; yaw counterclockwise 82 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move left 365 mm; move upward 38 mm; roll downward 19 degrees; pitch downward 11 degrees; yaw counterclockwise 37 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [210,114], [210,114]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 183, + 110 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 210, + 114, + 210, + 114 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.004285714589059353, + 0.03964285925030708, + 0.004642857238650322, + -0.034285712987184525, + -0.019999999552965164, + 0.0714285746216774, + 1.0 + ], + "delta_next_20": [ + -0.01428571529686451, + 0.8189285397529602, + 0.14035716652870178, + -0.6357143521308899, + -0.23714284598827362, + 1.4300001859664917, + 1.0 + ], + "delta_full_state_norm": [ + -0.1603869628975111, + 0.9338704517890959, + -0.03660783012184876, + -0.44990184573728353, + -0.28813564471733366, + 0.8860102219165562, + 0.9999999900000001 + ], + "movement_text": "move backward 4 mm; move left 40 mm; move upward 5 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 14 mm; move left 819 mm; move upward 140 mm; roll downward 36 degrees; pitch downward 14 degrees; yaw counterclockwise 82 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move left 365 mm; move upward 38 mm; roll downward 19 degrees; pitch downward 11 degrees; yaw counterclockwise 37 degrees; open gripper;" + }, + { + "frame_index": 181, + "segment_id": 20337, + "subtask": "move to the sink", + "reason": "The robot arm is positioned directly over the sink basin, indicating arrival at the target location. The end-effector appears stationary or in a stable pose above the objects inside the sink, consistent with positioning for the next interaction step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin, indicating arrival at the target location. The end-effector appears stationary or in a stable pose above the objects inside the sink, consistent with positioning for the next interaction step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move left 40 mm; move upward 4 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 10 mm; move left 822 mm; move upward 145 mm; roll downward 36 degrees; pitch downward 12 degrees; yaw counterclockwise 82 degrees; open gripper;\nSubtask Movement: move backward 10 mm; move left 325 mm; move upward 34 mm; roll downward 17 degrees; pitch downward 9 degrees; yaw counterclockwise 33 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 182, + 110 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.004285714589059353, + 0.04035714268684387, + 0.0039285714738070965, + -0.0357142873108387, + -0.019999999552965164, + 0.0714285746216774, + 1.0 + ], + "delta_next_20": [ + -0.010000000707805157, + 0.8217857480049133, + 0.1453571617603302, + -0.6214286088943481, + -0.21714285016059875, + 1.4357143640518188, + 1.0 + ], + "delta_full_state_norm": [ + -0.1603869628975111, + 0.9504027378672033, + -0.061012952222847305, + -0.48919465154900965, + -0.28813564471733366, + 0.8860102219165562, + 0.9999999900000001 + ], + "movement_text": "move backward 4 mm; move left 40 mm; move upward 4 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 10 mm; move left 822 mm; move upward 145 mm; roll downward 36 degrees; pitch downward 12 degrees; yaw counterclockwise 82 degrees; open gripper;", + "subtask_movement_text": "move backward 10 mm; move left 325 mm; move upward 34 mm; roll downward 17 degrees; pitch downward 9 degrees; yaw counterclockwise 33 degrees; open gripper;" + }, + { + "frame_index": 182, + "segment_id": 20337, + "subtask": "move to the sink", + "reason": "The robot arm is positioned directly over the sink basin, indicating arrival at the target location. The end-effector appears stationary or in a stable pose above the objects inside the sink, consistent with positioning for the next interaction step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin, indicating arrival at the target location. The end-effector appears stationary or in a stable pose above the objects inside the sink, consistent with positioning for the next interaction step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move left 41 mm; move upward 4 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 6 mm; move left 823 mm; move upward 150 mm; roll downward 35 degrees; pitch downward 11 degrees; yaw counterclockwise 83 degrees; open gripper;\nSubtask Movement: move backward 6 mm; move left 285 mm; move upward 30 mm; roll downward 15 degrees; pitch downward 8 degrees; yaw counterclockwise 29 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 180, + 110 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.002500000176951289, + 0.04107142984867096, + 0.0039285714738070965, + -0.03857142850756645, + -0.02142857201397419, + 0.0714285746216774, + 1.0 + ], + "delta_next_20": [ + -0.005714286118745804, + 0.8232143521308899, + 0.1503571718931198, + -0.604285717010498, + -0.1971428543329239, + 1.4414286613464355, + 1.0 + ], + "delta_full_state_norm": [ + -0.09369807494886451, + 0.9669351101681765, + -0.061012952222847305, + -0.5677800582449257, + -0.3220339705013606, + 0.8860102219165562, + 0.9999999900000001 + ], + "movement_text": "move backward 3 mm; move left 41 mm; move upward 4 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 6 mm; move left 823 mm; move upward 150 mm; roll downward 35 degrees; pitch downward 11 degrees; yaw counterclockwise 83 degrees; open gripper;", + "subtask_movement_text": "move backward 6 mm; move left 285 mm; move upward 30 mm; roll downward 15 degrees; pitch downward 8 degrees; yaw counterclockwise 29 degrees; open gripper;" + }, + { + "frame_index": 183, + "segment_id": 20337, + "subtask": "move to the sink", + "reason": "The robot arm is positioned directly over the sink basin, indicating arrival at the target location. The end-effector appears stationary or in a stable pose above the objects inside the sink, consistent with positioning for the next interaction step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin, indicating arrival at the target location. The end-effector appears stationary or in a stable pose above the objects inside the sink, consistent with positioning for the next interaction step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move left 41 mm; move upward 3 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 3 mm; move left 824 mm; move upward 155 mm; roll downward 33 degrees; pitch downward 10 degrees; yaw counterclockwise 83 degrees; open gripper;\nSubtask Movement: move backward 3 mm; move left 244 mm; move upward 26 mm; roll downward 12 degrees; pitch downward 7 degrees; yaw counterclockwise 25 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 179, + 110 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.0010714286472648382, + 0.04107142984867096, + 0.0032142859417945147, + -0.037142857909202576, + -0.019999999552965164, + 0.0714285746216774, + 1.0 + ], + "delta_next_20": [ + -0.0032142859417945147, + 0.8239285349845886, + 0.15535715222358704, + -0.582857072353363, + -0.17571428418159485, + 1.4471428394317627, + 1.0 + ], + "delta_full_state_norm": [ + -0.04034696458994724, + 0.9669351101681765, + -0.0854180663686821, + -0.5284873548969677, + -0.28813564471733366, + 0.8860102219165562, + 0.9999999900000001 + ], + "movement_text": "move backward 1 mm; move left 41 mm; move upward 3 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 3 mm; move left 824 mm; move upward 155 mm; roll downward 33 degrees; pitch downward 10 degrees; yaw counterclockwise 83 degrees; open gripper;", + "subtask_movement_text": "move backward 3 mm; move left 244 mm; move upward 26 mm; roll downward 12 degrees; pitch downward 7 degrees; yaw counterclockwise 25 degrees; open gripper;" + }, + { + "frame_index": 184, + "segment_id": 20337, + "subtask": "move to the sink", + "reason": "The robot arm is positioned directly over the sink basin, indicating arrival at the target location. The end-effector appears stationary or in a stable pose above the objects inside the sink, consistent with positioning for the next interaction step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin, indicating arrival at the target location. The end-effector appears stationary or in a stable pose above the objects inside the sink, consistent with positioning for the next interaction step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 2 mm; move left 40 mm; move upward 3 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 2 mm; move left 824 mm; move upward 160 mm; roll downward 32 degrees; pitch downward 9 degrees; yaw counterclockwise 83 degrees; open gripper;\nSubtask Movement: move backward 2 mm; move left 203 mm; move upward 22 mm; roll downward 10 degrees; pitch downward 6 degrees; yaw counterclockwise 20 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 178, + 110 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.0017857144121080637, + 0.04000000283122063, + 0.0032142859417945147, + -0.034285712987184525, + -0.019999999552965164, + 0.0714285746216774, + 1.0 + ], + "delta_next_20": [ + -0.0021428572945296764, + 0.8239286541938782, + 0.16035714745521545, + -0.5585713386535645, + -0.15571428835391998, + 1.4528571367263794, + 1.0 + ], + "delta_full_state_norm": [ + -0.06702251976940587, + 0.9421366379395826, + -0.0854180663686821, + -0.44990184573728353, + -0.28813564471733366, + 0.8860102219165562, + 0.9999999900000001 + ], + "movement_text": "move backward 2 mm; move left 40 mm; move upward 3 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 2 mm; move left 824 mm; move upward 160 mm; roll downward 32 degrees; pitch downward 9 degrees; yaw counterclockwise 83 degrees; open gripper;", + "subtask_movement_text": "move backward 2 mm; move left 203 mm; move upward 22 mm; roll downward 10 degrees; pitch downward 6 degrees; yaw counterclockwise 20 degrees; open gripper;" + }, + { + "frame_index": 185, + "segment_id": 20337, + "subtask": "move to the sink", + "reason": "The robot arm is positioned directly over the sink basin, indicating arrival at the target location. The end-effector appears stationary or in a stable pose above the objects inside the sink, consistent with positioning for the next interaction step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin, indicating arrival at the target location. The end-effector appears stationary or in a stable pose above the objects inside the sink, consistent with positioning for the next interaction step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 41 mm; move upward 4 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 825 mm; move upward 165 mm; roll downward 31 degrees; pitch downward 8 degrees; yaw counterclockwise 84 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 163 mm; move upward 19 mm; roll downward 8 degrees; pitch downward 5 degrees; yaw counterclockwise 16 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 176, + 110 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.0003571428533177823, + 0.040714286267757416, + 0.004285714589059353, + -0.037142857909202576, + -0.02142857201397419, + 0.0714285746216774, + 1.0 + ], + "delta_next_20": [ + -0.0003571428533177823, + 0.8246429562568665, + 0.16500000655651093, + -0.5357142686843872, + -0.13571429252624512, + 1.459999918937683, + 1.0 + ], + "delta_full_state_norm": [ + -0.0136714083235836, + 0.9586689240176898, + -0.04881038321718423, + -0.5284873548969677, + -0.3220339705013606, + 0.8860102219165562, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 41 mm; move upward 4 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 825 mm; move upward 165 mm; roll downward 31 degrees; pitch downward 8 degrees; yaw counterclockwise 84 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 163 mm; move upward 19 mm; roll downward 8 degrees; pitch downward 5 degrees; yaw counterclockwise 16 degrees; open gripper;" + }, + { + "frame_index": 186, + "segment_id": 20337, + "subtask": "move to the sink", + "reason": "The robot arm is positioned directly over the sink basin, indicating arrival at the target location. The end-effector appears stationary or in a stable pose above the objects inside the sink, consistent with positioning for the next interaction step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin, indicating arrival at the target location. The end-effector appears stationary or in a stable pose above the objects inside the sink, consistent with positioning for the next interaction step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 41 mm; move upward 4 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 825 mm; move upward 168 mm; roll downward 29 degrees; pitch downward 7 degrees; yaw counterclockwise 84 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 122 mm; move upward 15 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 175, + 110 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.040714286267757416, + 0.004285714589059353, + -0.037142857909202576, + -0.019999999552965164, + 0.0714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.8253572583198547, + 0.16750000417232513, + -0.5114285349845886, + -0.11428572237491608, + 1.468571424484253, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.9586689240176898, + -0.04881038321718423, + -0.5284873548969677, + -0.28813564471733366, + 0.8860102219165562, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 41 mm; move upward 4 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 825 mm; move upward 168 mm; roll downward 29 degrees; pitch downward 7 degrees; yaw counterclockwise 84 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 122 mm; move upward 15 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 187, + "segment_id": 20337, + "subtask": "move to the sink", + "reason": "The robot arm is positioned directly over the sink basin, indicating arrival at the target location. The end-effector appears stationary or in a stable pose above the objects inside the sink, consistent with positioning for the next interaction step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin, indicating arrival at the target location. The end-effector appears stationary or in a stable pose above the objects inside the sink, consistent with positioning for the next interaction step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 41 mm; move upward 5 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 825 mm; move upward 168 mm; roll downward 28 degrees; pitch downward 5 degrees; yaw counterclockwise 85 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 81 mm; move upward 11 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw counterclockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 174, + 110 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.040714286267757416, + 0.005000000353902578, + -0.037142857909202576, + -0.02142857201397419, + 0.0714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.8253571391105652, + 0.16821427643299103, + -0.4828570783138275, + -0.09428571909666061, + 1.4771429300308228, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.9586689240176898, + -0.024405261116185684, + -0.5284873548969677, + -0.3220339705013606, + 0.8860102219165562, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 41 mm; move upward 5 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 825 mm; move upward 168 mm; roll downward 28 degrees; pitch downward 5 degrees; yaw counterclockwise 85 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 81 mm; move upward 11 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw counterclockwise 8 degrees; open gripper;" + }, + { + "frame_index": 188, + "segment_id": 20337, + "subtask": "move to the sink", + "reason": "The robot arm is positioned directly over the sink basin, indicating arrival at the target location. The end-effector appears stationary or in a stable pose above the objects inside the sink, consistent with positioning for the next interaction step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin, indicating arrival at the target location. The end-effector appears stationary or in a stable pose above the objects inside the sink, consistent with positioning for the next interaction step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 40 mm; move upward 6 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 825 mm; move upward 166 mm; roll downward 26 degrees; pitch downward 4 degrees; yaw counterclockwise 85 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 40 mm; move upward 6 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 172, + 110 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.04035714268684387, + 0.0057142856530845165, + -0.034285712987184525, + -0.02142857201397419, + 0.0714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.8246428370475769, + 0.16571427881717682, + -0.44999995827674866, + -0.07285714894533157, + 1.484285831451416, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.9504027378672033, + -1.549255148614037e-07, + -0.44990184573728353, + -0.3220339705013606, + 0.8860102219165562, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 40 mm; move upward 6 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 825 mm; move upward 166 mm; roll downward 26 degrees; pitch downward 4 degrees; yaw counterclockwise 85 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 40 mm; move upward 6 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 189, + "segment_id": 20337, + "subtask": "move to the sink", + "reason": "The robot arm is positioned directly over the sink basin, indicating arrival at the target location. The end-effector appears stationary or in a stable pose above the objects inside the sink, consistent with positioning for the next interaction step.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin, indicating arrival at the target location. The end-effector appears stationary or in a stable pose above the objects inside the sink, consistent with positioning for the next interaction step.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 41 mm; move upward 6 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 825 mm; move upward 160 mm; roll downward 24 degrees; pitch downward 3 degrees; yaw counterclockwise 85 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 171, + 111 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.040714286267757416, + 0.006428571883589029, + -0.037142857909202576, + -0.022857142612338066, + 0.0714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.824999988079071, + 0.1600000113248825, + -0.41999995708465576, + -0.051428571343421936, + 1.4900001287460327, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.9586689240176898, + 0.024404983085811294, + -0.5284873548969677, + -0.35593225208703305, + 0.8860102219165562, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 41 mm; move upward 6 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 825 mm; move upward 160 mm; roll downward 24 degrees; pitch downward 3 degrees; yaw counterclockwise 85 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 190, + "segment_id": 10337, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink with the gripper open, indicating the completion of the placement action for the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink with the gripper open, indicating the completion of the placement action for the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 40 mm; move upward 8 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 824 mm; move upward 154 mm; roll downward 22 degrees; pitch downward 2 degrees; yaw counterclockwise 86 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 80 mm; move upward 18 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw counterclockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 169, + 111 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.04035714268684387, + 0.007857142947614193, + -0.0357142873108387, + -0.02142857201397419, + 0.0714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.8235713839530945, + 0.15357142686843872, + -0.38285714387893677, + -0.02857142686843872, + 1.4928572177886963, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.9504027378672033, + 0.07321521137748066, + -0.48919465154900965, + -0.3220339705013606, + 0.8860102219165562, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 40 mm; move upward 8 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 824 mm; move upward 154 mm; roll downward 22 degrees; pitch downward 2 degrees; yaw counterclockwise 86 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 80 mm; move upward 18 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw counterclockwise 8 degrees; open gripper;" + }, + { + "frame_index": 191, + "segment_id": 10337, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink with the gripper open, indicating the completion of the placement action for the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink with the gripper open, indicating the completion of the placement action for the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 40 mm; move upward 10 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 821 mm; move upward 146 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw counterclockwise 86 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 40 mm; move upward 10 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 168, + 111 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.03964285925030708, + 0.010357143357396126, + -0.02857142873108387, + -0.004285714123398066, + 0.06857142597436905, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.8210713267326355, + 0.14571426808834076, + -0.34714287519454956, + -0.0071428571827709675, + 1.4942857027053833, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.9338704517890959, + 0.15863314668613948, + -0.29273098111356743, + 0.08474566266724715, + 0.8399537140018438, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 40 mm; move upward 10 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 821 mm; move upward 146 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw counterclockwise 86 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 40 mm; move upward 10 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 192, + "segment_id": 10337, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink with the gripper open, indicating the completion of the placement action for the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink with the gripper open, indicating the completion of the placement action for the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 41 mm; move upward 10 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 817 mm; move upward 135 mm; roll downward 18 degrees; pitch downward 0 degrees; yaw counterclockwise 86 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 167, + 111 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0414285734295845, + 0.009642857126891613, + -0.03142857179045677, + -0.0014285714132711291, + 0.06857142597436905, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.8174999356269836, + 0.13535712659358978, + -0.31857144832611084, + -0.0028571428265422583, + 1.4985713958740234, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.9752012963186631, + 0.13422800867481333, + -0.3713164390413676, + 0.15254226174975494, + 0.8399537140018438, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 41 mm; move upward 10 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 817 mm; move upward 135 mm; roll downward 18 degrees; pitch downward 0 degrees; yaw counterclockwise 86 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 193, + "segment_id": 10137, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 41 mm; move upward 10 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 811 mm; move upward 126 mm; roll downward 16 degrees; pitch downward 0 degrees; yaw counterclockwise 86 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 663 mm; move upward 126 mm; roll downward 16 degrees; pitch downward 0 degrees; yaw counterclockwise 69 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 165, + 111 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.04107142984867096, + 0.010000000707805157, + -0.02857142873108387, + -0.0014285714132711291, + 0.06857142597436905, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.8110713958740234, + 0.1257142871618271, + -0.2871428430080414, + -0.0014285714132711291, + 1.5042856931686401, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.9669351101681765, + 0.14643059359080413, + -0.29273098111356743, + 0.15254226174975494, + 0.8399537140018438, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 41 mm; move upward 10 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 811 mm; move upward 126 mm; roll downward 16 degrees; pitch downward 0 degrees; yaw counterclockwise 86 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 663 mm; move upward 126 mm; roll downward 16 degrees; pitch downward 0 degrees; yaw counterclockwise 69 degrees; open gripper;" + }, + { + "frame_index": 194, + "segment_id": 10137, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 41 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 805 mm; move upward 114 mm; roll downward 15 degrees; pitch downward 0 degrees; yaw counterclockwise 87 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 622 mm; move upward 116 mm; roll downward 15 degrees; pitch downward 0 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 164, + 111 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.04107142984867096, + 0.010357143357396126, + -0.025714285671710968, + 0.0, + 0.07000000029802322, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.8046427965164185, + 0.11428572237491608, + -0.25857141613960266, + 0.0, + 1.5114284753799438, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.9669351101681765, + 0.15863314668613948, + -0.2141455231857674, + 0.18644056267220743, + 0.8629819679592001, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 41 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 805 mm; move upward 114 mm; roll downward 15 degrees; pitch downward 0 degrees; yaw counterclockwise 87 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 622 mm; move upward 116 mm; roll downward 15 degrees; pitch downward 0 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 195, + "segment_id": 10137, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 41 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 798 mm; move upward 101 mm; roll downward 13 degrees; pitch downward 0 degrees; yaw counterclockwise 87 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 581 mm; move upward 105 mm; roll downward 13 degrees; pitch downward 0 degrees; yaw counterclockwise 61 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 162, + 111 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0414285734295845, + 0.009642857126891613, + -0.025714285671710968, + 0.0, + 0.0714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.7982141971588135, + 0.1007142886519432, + -0.2328571230173111, + 0.0, + 1.5171427726745605, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.9752012963186631, + 0.13422800867481333, + -0.2141455231857674, + 0.18644056267220743, + 0.8860102219165562, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 41 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 798 mm; move upward 101 mm; roll downward 13 degrees; pitch downward 0 degrees; yaw counterclockwise 87 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 581 mm; move upward 105 mm; roll downward 13 degrees; pitch downward 0 degrees; yaw counterclockwise 61 degrees; open gripper;" + }, + { + "frame_index": 196, + "segment_id": 10137, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 42 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 791 mm; move upward 85 mm; roll downward 12 degrees; pitch downward 0 degrees; yaw counterclockwise 87 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 539 mm; move upward 96 mm; roll downward 12 degrees; pitch downward 0 degrees; yaw counterclockwise 57 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 161, + 111 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.04178571328520775, + 0.009642857126891613, + -0.025714285671710968, + 0.0, + 0.07285714149475098, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.7914285063743591, + 0.08535714447498322, + -0.20714284479618073, + 0.0, + 1.5214283466339111, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.9834673962462839, + 0.13422800867481333, + -0.2141455231857674, + 0.18644056267220743, + 0.9090383557724524, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 42 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 791 mm; move upward 85 mm; roll downward 12 degrees; pitch downward 0 degrees; yaw counterclockwise 87 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 539 mm; move upward 96 mm; roll downward 12 degrees; pitch downward 0 degrees; yaw counterclockwise 57 degrees; open gripper;" + }, + { + "frame_index": 197, + "segment_id": 10137, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 42 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 784 mm; move upward 68 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw counterclockwise 87 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 498 mm; move upward 86 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw counterclockwise 53 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 159, + 111 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.04214285686612129, + 0.009642857126891613, + -0.02428571507334709, + 0.0, + 0.07428571581840515, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.7835714221000671, + 0.06750001013278961, + -0.18142855167388916, + 0.0, + 1.5214284658432007, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.9917335823967703, + 0.13422800867481333, + -0.17485281983780943, + 0.18644056267220743, + 0.9320666097298087, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 42 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 784 mm; move upward 68 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw counterclockwise 87 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 498 mm; move upward 86 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw counterclockwise 53 degrees; open gripper;" + }, + { + "frame_index": 198, + "segment_id": 10137, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 42 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 775 mm; move upward 48 mm; roll downward 9 degrees; pitch downward 0 degrees; yaw counterclockwise 87 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 455 mm; move upward 76 mm; roll downward 9 degrees; pitch downward 0 degrees; yaw counterclockwise 49 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 158, + 110 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.04214285686612129, + 0.009285714477300644, + -0.02428571507334709, + 0.0, + 0.07428571581840515, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.774642825126648, + 0.047857146710157394, + -0.15714283287525177, + 0.0, + 1.5185712575912476, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.9917335823967703, + 0.12202545557947775, + -0.17485281983780943, + 0.18644056267220743, + 0.9320666097298087, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 42 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 775 mm; move upward 48 mm; roll downward 9 degrees; pitch downward 0 degrees; yaw counterclockwise 87 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 455 mm; move upward 76 mm; roll downward 9 degrees; pitch downward 0 degrees; yaw counterclockwise 49 degrees; open gripper;" + }, + { + "frame_index": 199, + "segment_id": 10137, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 43 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 764 mm; move upward 27 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw counterclockwise 87 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 413 mm; move upward 67 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw counterclockwise 45 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 156, + 110 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.042500000447034836, + 0.009285714477300644, + -0.022857142612338066, + 0.0, + 0.07571428269147873, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.7639285922050476, + 0.026785707101225853, + -0.13285712897777557, + 0.0, + 1.5157140493392944, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.999999768547257, + 0.12202545557947775, + -0.13556006525796727, + 0.18644056267220743, + 0.9550947435857049, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 43 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 764 mm; move upward 27 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw counterclockwise 87 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 413 mm; move upward 67 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw counterclockwise 45 degrees; open gripper;" + }, + { + "frame_index": 200, + "segment_id": 10137, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 43 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 750 mm; move upward 4 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw counterclockwise 86 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 371 mm; move upward 58 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [152,111], [155,113]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 155, + 110 + ], + "task_obj_bbox": [ + 152, + 111, + 155, + 113 + ], + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.042500000447034836, + 0.009642857126891613, + -0.019999999552965164, + 0.0, + 0.0771428570151329, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.7503570914268494, + 0.0035714253317564726, + -0.11000001430511475, + 0.0, + 1.5071426630020142, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.999999768547257, + 0.13422800867481333, + -0.05697460733016724, + 0.18644056267220743, + 0.978122997543061, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 43 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 750 mm; move upward 4 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw counterclockwise 86 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 371 mm; move upward 58 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 201, + "segment_id": 10137, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 42 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 733 mm; move downward 23 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw counterclockwise 85 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 328 mm; move upward 48 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw counterclockwise 36 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,111], [155,114]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 153, + 110 + ], + "task_obj_bbox": [ + 151, + 111, + 155, + 114 + ], + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.04178571328520775, + 0.008928571827709675, + -0.018571428954601288, + 0.0, + 0.0771428570151329, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.7325000166893005, + -0.023214280605316162, + -0.09000000357627869, + 0.0, + 1.4828569889068604, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.9834673962462839, + 0.10982290248414239, + -0.017681903982209257, + 0.18644056267220743, + 0.978122997543061, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 42 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 733 mm; move downward 23 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw counterclockwise 85 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 328 mm; move upward 48 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw counterclockwise 36 degrees; open gripper;" + }, + { + "frame_index": 202, + "segment_id": 10137, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 42 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 708 mm; move downward 47 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw counterclockwise 83 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 286 mm; move upward 39 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw counterclockwise 31 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [149,111], [155,114]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 152, + 110 + ], + "task_obj_bbox": [ + 149, + 111, + 155, + 114 + ], + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.04178571328520775, + 0.008928571827709675, + -0.017142856493592262, + 0.0, + 0.0771428570151329, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.708214282989502, + -0.047499995678663254, + -0.0714285746216774, + 0.0, + 1.4414284229278564, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.9834673962462839, + 0.10982290248414239, + 0.021610850597632902, + 0.18644056267220743, + 0.978122997543061, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 42 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 708 mm; move downward 47 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw counterclockwise 83 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 286 mm; move upward 39 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw counterclockwise 31 degrees; open gripper;" + }, + { + "frame_index": 203, + "segment_id": 10137, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 41 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 683 mm; move downward 72 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 80 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 245 mm; move upward 30 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 27 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [148,111], [154,113]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 150, + 110 + ], + "task_obj_bbox": [ + 148, + 111, + 154, + 113 + ], + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.04107142984867096, + 0.008214286528527737, + -0.012857142835855484, + 0.0, + 0.0771428570151329, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.6825000047683716, + -0.07178571075201035, + -0.05428571626543999, + 0.0, + 1.3971428871154785, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.9669351101681765, + 0.08541779629347146, + 0.1394890118733909, + 0.18644056267220743, + 0.978122997543061, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 41 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 683 mm; move downward 72 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 80 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 245 mm; move upward 30 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 27 degrees; open gripper;" + }, + { + "frame_index": 204, + "segment_id": 10137, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 41 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 658 mm; move downward 97 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 78 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 204 mm; move upward 22 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [146,111], [152,113]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 149, + 110 + ], + "task_obj_bbox": [ + 146, + 111, + 152, + 113 + ], + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.040714286267757416, + 0.007857142947614193, + -0.011428571306169033, + 0.0, + 0.07857143133878708, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.6578571200370789, + -0.09678571671247482, + -0.0414285734295845, + 0.0, + 1.3557143211364746, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.9586689240176898, + 0.07321521137748066, + 0.17878174083729093, + 0.18644056267220743, + 1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 41 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 658 mm; move downward 97 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 78 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 204 mm; move upward 22 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 23 degrees; open gripper;" + }, + { + "frame_index": 205, + "segment_id": 10137, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 41 mm; move upward 7 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 634 mm; move downward 123 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 75 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 163 mm; move upward 14 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 18 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [145,111], [150,113]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 147, + 110 + ], + "task_obj_bbox": [ + 145, + 111, + 150, + 113 + ], + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0414285734295845, + 0.006785714533179998, + -0.012857142835855484, + 0.0, + 0.07999999821186066, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.6339285969734192, + -0.12250000238418579, + -0.034285712987184525, + 0.0, + 1.3142857551574707, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.9752012963186631, + 0.03660753618114687, + 0.1394890118733909, + 0.18644056267220743, + 1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 41 mm; move upward 7 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 634 mm; move downward 123 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 75 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 163 mm; move upward 14 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 18 degrees; open gripper;" + }, + { + "frame_index": 206, + "segment_id": 10137, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 41 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 607 mm; move downward 146 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 73 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 121 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 14 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [143,111], [149,113]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 145, + 110 + ], + "task_obj_bbox": [ + 143, + 111, + 149, + 113 + ], + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.040714286267757416, + 0.005000000353902578, + -0.008571428246796131, + 0.0, + 0.07999999821186066, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.6071428656578064, + -0.14571428298950195, + -0.024285713210701942, + 0.0, + 1.2714287042617798, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.9586689240176898, + -0.024405261116185684, + 0.25736719876509095, + 0.18644056267220743, + 1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 41 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 607 mm; move downward 146 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 73 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 121 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 14 degrees; open gripper;" + }, + { + "frame_index": 207, + "segment_id": 10137, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 40 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 579 mm; move downward 167 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 70 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 81 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [142,111], [147,113]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 144, + 110 + ], + "task_obj_bbox": [ + 142, + 111, + 147, + 113 + ], + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.04000000283122063, + 0.002500000176951289, + -0.004285714123398066, + 0.0, + 0.07857143133878708, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.579285740852356, + -0.1671428680419922, + -0.017142856493592262, + 0.0, + 1.2271429300308228, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.9421366379395826, + -0.10982318846968064, + 0.3752453728488201, + 0.18644056267220743, + 1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 40 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 579 mm; move downward 167 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 70 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 81 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 9 degrees; open gripper;" + }, + { + "frame_index": 208, + "segment_id": 10137, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 41 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 550 mm; move downward 187 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 68 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 41 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [140,111], [146,113]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 142, + 110 + ], + "task_obj_bbox": [ + 140, + 111, + 146, + 113 + ], + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.040714286267757416, + 0.0, + -0.004285714123398066, + 0.0, + 0.0771428570151329, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.550000011920929, + -0.18714284896850586, + -0.012857142835855484, + 0.0, + 1.1857143640518188, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.9586689240176898, + -0.1952411158231755, + 0.3752453728488201, + 0.18644056267220743, + 0.978122997543061, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 41 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 550 mm; move downward 187 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 68 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 41 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 209, + "segment_id": 10137, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink, and a white object (the apple) is visible inside the basin. The arm posture indicates it is holding or stabilizing the object within the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 39 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 523 mm; move downward 205 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 66 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [139,111], [144,114]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 141, + 110 + ], + "task_obj_bbox": [ + 139, + 111, + 144, + 114 + ], + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.03928571566939354, + 0.0, + 0.0, + 0.0, + 0.07428571581840515, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.5228571891784668, + -0.20499999821186066, + -0.012857142835855484, + 0.0, + 1.145714282989502, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.9256042656386094, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + 0.9320666097298087, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 39 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 523 mm; move downward 205 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 66 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 210, + "segment_id": 10237, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, and the white object (apple) is located inside the sink. This visual evidence confirms the completion of the placement action within the target area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, and the white object (apple) is located inside the sink. This visual evidence confirms the completion of the placement action within the target area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 38 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 495 mm; move downward 224 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 63 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [138,111], [142,114]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 139, + 110 + ], + "task_obj_bbox": [ + 138, + 111, + 142, + 114 + ], + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.037857141345739365, + 0.0, + 0.0, + 0.0, + 0.07285714149475098, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.49500003457069397, + -0.22428570687770844, + -0.012857142835855484, + 0.0, + 1.1071428060531616, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.8925395210366631, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + 0.9090383557724524, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 38 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 495 mm; move downward 224 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 63 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 211, + "segment_id": 30237, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink with its end-effector in contact with the apple, which has just been placed inside. The scene state shows the apple resting in the sink basin, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink with its end-effector in contact with the apple, which has just been placed inside. The scene state shows the apple resting in the sink basin, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 36 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 470 mm; move downward 244 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 61 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 175 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 21 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [136,112], [141,114]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 138, + 110 + ], + "task_obj_bbox": [ + 136, + 112, + 141, + 114 + ], + "distractor_bboxes": [ + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.03607143089175224, + 0.0, + 0.0, + 0.0, + 0.07285714149475098, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.46964287757873535, + -0.2435714304447174, + -0.017142856493592262, + 0.0, + 1.0700000524520874, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.8512087627299618, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + 0.9090383557724524, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 36 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 470 mm; move downward 244 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 61 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 175 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 21 degrees; open gripper;" + }, + { + "frame_index": 212, + "segment_id": 30237, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink with its end-effector in contact with the apple, which has just been placed inside. The scene state shows the apple resting in the sink basin, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink with its end-effector in contact with the apple, which has just been placed inside. The scene state shows the apple resting in the sink basin, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 35 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 446 mm; move downward 263 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 59 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 139 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 17 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [134,112], [139,114]\ndistr_counter: [208,109], [208,109]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 136, + 111 + ], + "task_obj_bbox": [ + 134, + 112, + 139, + 114 + ], + "distractor_bboxes": [ + [ + 208, + 109, + 208, + 109 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.03500000014901161, + 0.0, + 0.0, + 0.0, + 0.07428571581840515, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.44607147574424744, + -0.2628571689128876, + -0.024285713210701942, + 0.0, + 1.0328571796417236, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.826410204278502, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + 0.9320666097298087, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 35 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 446 mm; move downward 263 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 59 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 139 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 17 degrees; open gripper;" + }, + { + "frame_index": 213, + "segment_id": 30237, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink with its end-effector in contact with the apple, which has just been placed inside. The scene state shows the apple resting in the sink basin, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink with its end-effector in contact with the apple, which has just been placed inside. The scene state shows the apple resting in the sink basin, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 35 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 424 mm; move downward 282 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 57 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 104 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [133,112], [138,114]\ndistr_counter: [208,109], [209,110]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 135, + 111 + ], + "task_obj_bbox": [ + 133, + 112, + 138, + 114 + ], + "distractor_bboxes": [ + [ + 208, + 109, + 209, + 110 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.03464285656809807, + -0.0014285714132711291, + 0.0, + 0.0, + 0.07571428269147873, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.4242857098579407, + -0.28214287757873535, + -0.037142857909202576, + 0.0, + 0.9942856431007385, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.8181440181280155, + -0.24405135604759065, + 0.49312354693254923, + 0.18644056267220743, + 0.9550947435857049, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 35 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 424 mm; move downward 282 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 57 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 104 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 13 degrees; open gripper;" + }, + { + "frame_index": 214, + "segment_id": 30237, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink with its end-effector in contact with the apple, which has just been placed inside. The scene state shows the apple resting in the sink basin, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink with its end-effector in contact with the apple, which has just been placed inside. The scene state shows the apple resting in the sink basin, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 35 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 404 mm; move downward 300 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 55 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 69 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [132,112], [136,114]\ndistr_counter: [208,109], [209,110]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 133, + 111 + ], + "task_obj_bbox": [ + 132, + 112, + 136, + 114 + ], + "distractor_bboxes": [ + [ + 208, + 109, + 209, + 110 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.03464285656809807, + -0.0032142859417945147, + 0.0, + 0.0, + 0.07571428269147873, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.40392857789993286, + -0.2996428906917572, + -0.05428571254014969, + 0.0, + 0.9542856216430664, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.8181440181280155, + -0.3050641652776689, + 0.49312354693254923, + 0.18644056267220743, + 0.9550947435857049, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 35 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 404 mm; move downward 300 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 55 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 69 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 9 degrees; open gripper;" + }, + { + "frame_index": 215, + "segment_id": 30237, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink with its end-effector in contact with the apple, which has just been placed inside. The scene state shows the apple resting in the sink basin, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink with its end-effector in contact with the apple, which has just been placed inside. The scene state shows the apple resting in the sink basin, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 35 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 384 mm; move downward 316 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw counterclockwise 52 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 35 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [131,112], [135,115]\ndistr_counter: [208,109], [210,111]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 132, + 111 + ], + "task_obj_bbox": [ + 131, + 112, + 135, + 115 + ], + "distractor_bboxes": [ + [ + 208, + 109, + 210, + 111 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.03464285656809807, + -0.0057142856530845165, + 0.0, + 0.0, + 0.07571428269147873, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.3839285969734192, + -0.31571435928344727, + -0.07285714149475098, + 0.0, + 0.9142856597900391, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.8181440181280155, + -0.3904820767208361, + 0.49312354693254923, + 0.18644056267220743, + 0.9550947435857049, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 35 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 384 mm; move downward 316 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw counterclockwise 52 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 35 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 216, + "segment_id": 30237, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink with its end-effector in contact with the apple, which has just been placed inside. The scene state shows the apple resting in the sink basin, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink with its end-effector in contact with the apple, which has just been placed inside. The scene state shows the apple resting in the sink basin, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 34 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 367 mm; move downward 330 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw counterclockwise 50 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [129,113], [134,115]\ndistr_counter: [208,109], [210,111]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 130, + 112 + ], + "task_obj_bbox": [ + 129, + 113, + 134, + 115 + ], + "distractor_bboxes": [ + [ + 208, + 109, + 210, + 111 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.03392856940627098, + -0.008214286528527737, + 0.0, + 0.0, + 0.07285714149475098, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.3667857348918915, + -0.33000004291534424, + -0.10428571701049805, + 0.0, + 0.8742856383323669, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.8016116458270424, + -0.47590002793982245, + 0.49312354693254923, + 0.18644056267220743, + 0.9090383557724524, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 34 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 367 mm; move downward 330 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw counterclockwise 50 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 217, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 33 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 352 mm; move downward 341 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw counterclockwise 48 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 528 mm; move downward 495 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 68 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [128,113], [132,115]\ndistr_counter: [207,109], [210,111]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 129, + 112 + ], + "task_obj_bbox": [ + 128, + 113, + 132, + 115 + ], + "distractor_bboxes": [ + [ + 207, + 109, + 210, + 111 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.03321428596973419, + -0.010000000707805157, + 0.0, + 0.0, + 0.0714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.352142870426178, + -0.34071433544158936, + -0.1428571492433548, + 0.0, + 0.8414285182952881, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.785079359748935, + -0.536912825237155, + 0.49312354693254923, + 0.18644056267220743, + 0.8860102219165562, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 33 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 352 mm; move downward 341 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw counterclockwise 48 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 528 mm; move downward 495 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 68 degrees; open gripper;" + }, + { + "frame_index": 218, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 31 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 339 mm; move downward 349 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw counterclockwise 46 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 495 mm; move downward 485 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [127,113], [131,116]\ndistr_counter: [207,109], [210,111]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 128, + 112 + ], + "task_obj_bbox": [ + 127, + 113, + 131, + 116 + ], + "distractor_bboxes": [ + [ + 207, + 109, + 210, + 111 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.03142857179045677, + -0.011785714887082577, + 0.0, + 0.0, + 0.0714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.3385713994503021, + -0.34928572177886963, + -0.1785714328289032, + 0.0, + 0.8114285469055176, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.7437485152193679, + -0.5979256225344876, + 0.49312354693254923, + 0.18644056267220743, + 0.8860102219165562, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 31 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 339 mm; move downward 349 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw counterclockwise 46 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 495 mm; move downward 485 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 219, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 29 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 327 mm; move downward 356 mm; roll downward 12 degrees; pitch downward 0 degrees; yaw counterclockwise 45 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 463 mm; move downward 474 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 60 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [126,114], [130,116]\ndistr_counter: [207,109], [210,111]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 126, + 113 + ], + "task_obj_bbox": [ + 126, + 114, + 130, + 116 + ], + "distractor_bboxes": [ + [ + 207, + 109, + 210, + 111 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.028928572311997414, + -0.013928571715950966, + 0.0, + 0.0, + 0.06714285910129547, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.32678571343421936, + -0.35607144236564636, + -0.2142857164144516, + 0.0, + 0.7828571200370789, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.6858853415002606, + -0.6711409729271555, + 0.49312354693254923, + 0.18644056267220743, + 0.8169255801459476, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 29 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 327 mm; move downward 356 mm; roll downward 12 degrees; pitch downward 0 degrees; yaw counterclockwise 45 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 463 mm; move downward 474 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 60 degrees; open gripper;" + }, + { + "frame_index": 220, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 25 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 318 mm; move downward 360 mm; roll downward 14 degrees; pitch downward 0 degrees; yaw counterclockwise 43 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 434 mm; move downward 460 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 56 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [124,114], [128,117]\ndistr_counter: [207,109], [210,111]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 125, + 113 + ], + "task_obj_bbox": [ + 124, + 114, + 128, + 117 + ], + "distractor_bboxes": [ + [ + 207, + 109, + 210, + 111 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.024642856791615486, + -0.01714285835623741, + 0.0, + 0.0, + 0.05285714194178581, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.3182142674922943, + -0.3603571951389313, + -0.25285714864730835, + 0.0, + 0.7585715055465698, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.5866912801401531, + -0.7809640462471403, + 0.49312354693254923, + 0.18644056267220743, + 0.5866434609274955, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 25 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 318 mm; move downward 360 mm; roll downward 14 degrees; pitch downward 0 degrees; yaw counterclockwise 43 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 434 mm; move downward 460 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 56 degrees; open gripper;" + }, + { + "frame_index": 221, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 18 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 315 mm; move downward 361 mm; roll downward 17 degrees; pitch downward 0 degrees; yaw counterclockwise 43 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 410 mm; move downward 443 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 53 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [124,115], [127,117]\ndistr_counter: [153,70], [210,111]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 124, + 114 + ], + "task_obj_bbox": [ + 124, + 115, + 127, + 117 + ], + "distractor_bboxes": [ + [ + 153, + 70, + 210, + 111 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.017500000074505806, + -0.015357143245637417, + 0.0, + 0.0, + 0.0357142873108387, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.31535714864730835, + -0.36107146739959717, + -0.29428571462631226, + 0.0, + 0.7485715746879578, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.421367902021885, + -0.7199512171291524, + 0.49312354693254923, + 0.18644056267220743, + 0.3103050139465211, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 18 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 315 mm; move downward 361 mm; roll downward 17 degrees; pitch downward 0 degrees; yaw counterclockwise 43 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 410 mm; move downward 443 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 53 degrees; open gripper;" + }, + { + "frame_index": 222, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 16 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 321 mm; move downward 365 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw counterclockwise 43 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 392 mm; move downward 427 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 51 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [123,115], [127,118]\ndistr_counter: [208,109], [210,111]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 123, + 114 + ], + "task_obj_bbox": [ + 123, + 115, + 127, + 118 + ], + "distractor_bboxes": [ + [ + 208, + 109, + 210, + 111 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.01607142947614193, + -0.015357143245637417, + 0.0, + 0.0, + 0.03285714238882065, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.3207142651081085, + -0.3646428883075714, + -0.34142857789993286, + 0.0, + 0.7571430206298828, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.38830324364280444, + -0.7199512171291524, + 0.49312354693254923, + 0.18644056267220743, + 0.26424856608253866, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 16 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 321 mm; move downward 365 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw counterclockwise 43 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 392 mm; move downward 427 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 51 degrees; open gripper;" + }, + { + "frame_index": 223, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 16 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 328 mm; move downward 369 mm; roll downward 23 degrees; pitch downward 0 degrees; yaw counterclockwise 44 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 376 mm; move downward 412 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 49 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [123,116], [126,118]\ndistr_counter: [208,109], [210,111]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 122, + 115 + ], + "task_obj_bbox": [ + 123, + 116, + 126, + 118 + ], + "distractor_bboxes": [ + [ + 208, + 109, + 210, + 111 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.016428573057055473, + -0.016785714775323868, + 0.0, + 0.0, + 0.0357142873108387, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.3278571367263794, + -0.3692857325077057, + -0.39571428298950195, + 0.0, + 0.7685716152191162, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.39656942979329113, + -0.7687614613311495, + 0.49312354693254923, + 0.18644056267220743, + 0.3103050139465211, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 16 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 328 mm; move downward 369 mm; roll downward 23 degrees; pitch downward 0 degrees; yaw counterclockwise 44 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 376 mm; move downward 412 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 49 degrees; open gripper;" + }, + { + "frame_index": 224, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 17 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 335 mm; move downward 373 mm; roll downward 26 degrees; pitch downward 0 degrees; yaw counterclockwise 45 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 360 mm; move downward 395 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 47 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [122,117], [125,119]\ndistr_counter: [208,109], [210,111]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 122, + 116 + ], + "task_obj_bbox": [ + 122, + 117, + 125, + 119 + ], + "distractor_bboxes": [ + [ + 208, + 109, + 210, + 111 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.016785714775323868, + -0.01785714365541935, + -0.004285714123398066, + 0.0, + 0.037142857909202576, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.3353571593761444, + -0.3732143044471741, + -0.45428571105003357, + 0.0, + 0.7771430015563965, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.4048355728323447, + -0.8053691524378113, + 0.3752453728488201, + 0.18644056267220743, + 0.33333320785314746, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 17 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 335 mm; move downward 373 mm; roll downward 26 degrees; pitch downward 0 degrees; yaw counterclockwise 45 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 360 mm; move downward 395 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 47 degrees; open gripper;" + }, + { + "frame_index": 225, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 15 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 343 mm; move downward 377 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 45 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 343 mm; move downward 377 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 45 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [121,117], [124,120]\ndistr_counter: [208,109], [210,112]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 121, + 116 + ], + "task_obj_bbox": [ + 121, + 117, + 124, + 120 + ], + "distractor_bboxes": [ + [ + 208, + 109, + 210, + 112 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.014642857015132904, + -0.016428573057055473, + -0.0028571428265422583, + 0.0, + 0.037142857909202576, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.34285715222358704, + -0.37714287638664246, + -0.5099999904632568, + 0.0, + 0.784285843372345, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.355238542152291, + -0.7565589400564695, + 0.41453809540873476, + 0.18644056267220743, + 0.33333320785314746, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 15 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 343 mm; move downward 377 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 45 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 343 mm; move downward 377 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 45 degrees; open gripper;" + }, + { + "frame_index": 226, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 13 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 352 mm; move downward 382 mm; roll downward 32 degrees; pitch downward 0 degrees; yaw counterclockwise 45 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 328 mm; move downward 361 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 43 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [121,118], [124,120]\ndistr_counter: [207,109], [210,112]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 120, + 117 + ], + "task_obj_bbox": [ + 121, + 118, + 124, + 120 + ], + "distractor_bboxes": [ + [ + 207, + 109, + 210, + 112 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.012857143767178059, + -0.016428573057055473, + -0.0014285714132711291, + 0.0, + 0.0357142873108387, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.352142870426178, + -0.3821428716182709, + -0.5628571510314941, + 0.0, + 0.7928571701049805, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.3139077191784405, + -0.7565589400564695, + 0.4538308211706419, + 0.18644056267220743, + 0.3103050139465211, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 13 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 352 mm; move downward 382 mm; roll downward 32 degrees; pitch downward 0 degrees; yaw counterclockwise 45 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 328 mm; move downward 361 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 43 degrees; open gripper;" + }, + { + "frame_index": 227, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 11 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 362 mm; move downward 387 mm; roll downward 35 degrees; pitch downward 0 degrees; yaw counterclockwise 46 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 315 mm; move downward 344 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 41 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [120,118], [123,121]\ndistr_counter: [207,109], [210,113]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 120, + 117 + ], + "task_obj_bbox": [ + 120, + 118, + 123, + 121 + ], + "distractor_bboxes": [ + [ + 207, + 109, + 210, + 113 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.010714286006987095, + -0.017500000074505806, + 0.0, + 0.0, + 0.037142857909202576, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.3621428608894348, + -0.3871428668498993, + -0.6114286184310913, + 0.0, + 0.8014285564422607, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.2643106884983868, + -0.7931665675218205, + 0.49312354693254923, + 0.18644056267220743, + 0.33333320785314746, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 11 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 362 mm; move downward 387 mm; roll downward 35 degrees; pitch downward 0 degrees; yaw counterclockwise 46 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 315 mm; move downward 344 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 41 degrees; open gripper;" + }, + { + "frame_index": 228, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 14 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 375 mm; move downward 391 mm; roll downward 38 degrees; pitch downward 0 degrees; yaw counterclockwise 46 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 305 mm; move downward 327 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 39 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [120,119], [122,121]\ndistr_counter: [207,109], [210,114]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 119, + 118 + ], + "task_obj_bbox": [ + 120, + 119, + 122, + 121 + ], + "distractor_bboxes": [ + [ + 207, + 109, + 210, + 114 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.013571429066359997, + -0.01785714365541935, + -0.004285714123398066, + 0.0, + 0.037142857909202576, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.37464287877082825, + -0.3910714089870453, + -0.6657143235206604, + 0.0, + 0.8085713982582092, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.3304400483679806, + -0.8053691524378113, + 0.3752453728488201, + 0.18644056267220743, + 0.33333320785314746, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 14 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 375 mm; move downward 391 mm; roll downward 38 degrees; pitch downward 0 degrees; yaw counterclockwise 46 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 305 mm; move downward 327 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 39 degrees; open gripper;" + }, + { + "frame_index": 229, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 11 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 384 mm; move downward 395 mm; roll downward 41 degrees; pitch downward 0 degrees; yaw counterclockwise 47 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 291 mm; move downward 309 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 37 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [119,120], [122,122]\ndistr_counter: [207,109], [210,114]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 119, + 119 + ], + "task_obj_bbox": [ + 119, + 120, + 122, + 122 + ], + "distractor_bboxes": [ + [ + 207, + 109, + 210, + 114 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.011428571306169033, + -0.019285714253783226, + 0.0, + 0.0, + 0.0357142873108387, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.38428574800491333, + -0.3949999511241913, + -0.7142857313156128, + 0.0, + 0.8142856955528259, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.2808430176879271, + -0.8541793648191529, + 0.49312354693254923, + 0.18644056267220743, + 0.3103050139465211, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 11 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 384 mm; move downward 395 mm; roll downward 41 degrees; pitch downward 0 degrees; yaw counterclockwise 47 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 291 mm; move downward 309 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 37 degrees; open gripper;" + }, + { + "frame_index": 230, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 13 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 394 mm; move downward 398 mm; roll downward 43 degrees; pitch downward 0 degrees; yaw counterclockwise 47 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 280 mm; move downward 290 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 34 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [119,121], [121,123]\ndistr_counter: [206,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 118, + 119 + ], + "task_obj_bbox": [ + 119, + 121, + 121, + 123 + ], + "distractor_bboxes": [ + [ + 206, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.012500000186264515, + -0.019285714253783226, + -0.004285714123398066, + 0.0, + 0.0357142873108387, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.39428573846817017, + -0.3982142508029938, + -0.7557142972946167, + 0.0, + 0.8214285969734192, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.3056415330279538, + -0.8541793648191529, + 0.3752453728488201, + 0.18644056267220743, + 0.3103050139465211, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 13 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 394 mm; move downward 398 mm; roll downward 43 degrees; pitch downward 0 degrees; yaw counterclockwise 47 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 280 mm; move downward 290 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 34 degrees; open gripper;" + }, + { + "frame_index": 231, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 13 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 400 mm; move downward 401 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw counterclockwise 48 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 267 mm; move downward 270 mm; roll downward 28 degrees; pitch downward 0 degrees; yaw counterclockwise 32 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [119,121], [121,123]\ndistr_counter: [206,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 117, + 120 + ], + "task_obj_bbox": [ + 119, + 121, + 121, + 123 + ], + "distractor_bboxes": [ + [ + 206, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.012500000186264515, + -0.019285714253783226, + -0.0071428571827709675, + 0.0, + 0.0357142873108387, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.3996428847312927, + -0.4014285206794739, + -0.7914286255836487, + 0.0, + 0.831428587436676, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.3056415330279538, + -0.8541793648191529, + 0.29665991492102006, + 0.18644056267220743, + 0.3103050139465211, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 13 mm; move downward 19 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 400 mm; move downward 401 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw counterclockwise 48 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 267 mm; move downward 270 mm; roll downward 28 degrees; pitch downward 0 degrees; yaw counterclockwise 32 degrees; open gripper;" + }, + { + "frame_index": 232, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 13 mm; move downward 19 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 2 mm; move left 407 mm; move downward 407 mm; roll downward 47 degrees; pitch upward 1 degrees; yaw counterclockwise 48 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 255 mm; move downward 251 mm; roll downward 28 degrees; pitch downward 0 degrees; yaw counterclockwise 30 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [118,122], [120,124]\ndistr_counter: [205,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 117, + 121 + ], + "task_obj_bbox": [ + 118, + 122, + 120, + 124 + ], + "distractor_bboxes": [ + [ + 205, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.013214285485446453, + -0.019285714253783226, + -0.012857142835855484, + 0.0, + 0.0357142873108387, + 1.0 + ], + "delta_next_20": [ + 0.0021428572945296764, + 0.40714287757873535, + -0.40714284777641296, + -0.8228572010993958, + 0.009999999776482582, + 0.8385714292526245, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.3221738622174941, + -0.8541793648191529, + 0.1394890118733909, + 0.18644056267220743, + 0.3103050139465211, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 13 mm; move downward 19 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 2 mm; move left 407 mm; move downward 407 mm; roll downward 47 degrees; pitch upward 1 degrees; yaw counterclockwise 48 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 255 mm; move downward 251 mm; roll downward 28 degrees; pitch downward 0 degrees; yaw counterclockwise 30 degrees; open gripper;" + }, + { + "frame_index": 233, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 14 mm; move downward 19 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 8 mm; move left 415 mm; move downward 414 mm; roll downward 49 degrees; pitch upward 1 degrees; yaw counterclockwise 48 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 241 mm; move downward 232 mm; roll downward 27 degrees; pitch downward 0 degrees; yaw counterclockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [117,122], [120,125]\ndistr_counter: [205,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 116, + 121 + ], + "task_obj_bbox": [ + 117, + 122, + 120, + 125 + ], + "distractor_bboxes": [ + [ + 205, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.01428571529686451, + -0.018928570672869682, + -0.017142856493592262, + 0.0, + 0.0357142873108387, + 1.0 + ], + "delta_next_20": [ + 0.007857142947614193, + 0.414642870426178, + -0.41357141733169556, + -0.8542857766151428, + 0.02428571507334709, + 0.8428571820259094, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.3469723991132374, + -0.8419767799031621, + 0.021610850597632902, + 0.18644056267220743, + 0.3103050139465211, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 14 mm; move downward 19 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 8 mm; move left 415 mm; move downward 414 mm; roll downward 49 degrees; pitch upward 1 degrees; yaw counterclockwise 48 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 241 mm; move downward 232 mm; roll downward 27 degrees; pitch downward 0 degrees; yaw counterclockwise 28 degrees; open gripper;" + }, + { + "frame_index": 234, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 15 mm; move downward 19 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 18 mm; move left 420 mm; move downward 420 mm; roll downward 50 degrees; pitch upward 2 degrees; yaw counterclockwise 48 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 227 mm; move downward 213 mm; roll downward 26 degrees; pitch downward 0 degrees; yaw counterclockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [118,124], [119,125]\ndistr_counter: [204,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 116, + 122 + ], + "task_obj_bbox": [ + 118, + 124, + 119, + 125 + ], + "distractor_bboxes": [ + [ + 204, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.014642857015132904, + -0.019285714253783226, + -0.018571428954601288, + 0.0, + 0.0357142873108387, + 1.0 + ], + "delta_next_20": [ + 0.017500001937150955, + 0.4203571379184723, + -0.4203570783138275, + -0.8785714507102966, + 0.03999999910593033, + 0.844285786151886, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.355238542152291, + -0.8541793648191529, + -0.017681903982209257, + 0.18644056267220743, + 0.3103050139465211, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 15 mm; move downward 19 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 18 mm; move left 420 mm; move downward 420 mm; roll downward 50 degrees; pitch upward 2 degrees; yaw counterclockwise 48 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 227 mm; move downward 213 mm; roll downward 26 degrees; pitch downward 0 degrees; yaw counterclockwise 26 degrees; open gripper;" + }, + { + "frame_index": 235, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 18 mm; move downward 20 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 31 mm; move left 424 mm; move downward 424 mm; roll downward 51 degrees; pitch upward 3 degrees; yaw counterclockwise 48 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 213 mm; move downward 194 mm; roll downward 25 degrees; pitch downward 0 degrees; yaw counterclockwise 24 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [117,124], [119,126]\ndistr_counter: [204,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 115, + 123 + ], + "task_obj_bbox": [ + 117, + 124, + 119, + 126 + ], + "distractor_bboxes": [ + [ + 204, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.017500000074505806, + -0.020000001415610313, + -0.03142857179045677, + 0.0, + 0.0357142873108387, + 1.0 + ], + "delta_next_20": [ + 0.031071430072188377, + 0.42392855882644653, + -0.4235714077949524, + -0.8914285898208618, + 0.055714286863803864, + 0.8428572416305542, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.421367902021885, + -0.8785845346511345, + -0.3713164390413676, + 0.18644056267220743, + 0.3103050139465211, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 18 mm; move downward 20 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 31 mm; move left 424 mm; move downward 424 mm; roll downward 51 degrees; pitch upward 3 degrees; yaw counterclockwise 48 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 213 mm; move downward 194 mm; roll downward 25 degrees; pitch downward 0 degrees; yaw counterclockwise 24 degrees; open gripper;" + }, + { + "frame_index": 236, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 19 mm; move downward 19 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 48 mm; move left 425 mm; move downward 425 mm; roll downward 51 degrees; pitch upward 4 degrees; yaw counterclockwise 48 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 195 mm; move downward 174 mm; roll downward 23 degrees; pitch downward 0 degrees; yaw counterclockwise 22 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [116,125], [118,127]\ndistr_counter: [203,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 115, + 124 + ], + "task_obj_bbox": [ + 116, + 125, + 118, + 127 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.019285714253783226, + -0.018928570672869682, + -0.03857142850756645, + 0.0, + 0.03999999910593033, + 1.0 + ], + "delta_next_20": [ + 0.04821428656578064, + 0.42500001192092896, + -0.4253571033477783, + -0.8899999856948853, + 0.0714285746216774, + 0.8357143998146057, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.46269874655145204, + -0.8419767799031621, + -0.5677800582449257, + 0.18644056267220743, + 0.37938959566639974, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 19 mm; move downward 19 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 48 mm; move left 425 mm; move downward 425 mm; roll downward 51 degrees; pitch upward 4 degrees; yaw counterclockwise 48 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 195 mm; move downward 174 mm; roll downward 23 degrees; pitch downward 0 degrees; yaw counterclockwise 22 degrees; open gripper;" + }, + { + "frame_index": 237, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 20 mm; move downward 19 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 69 mm; move left 425 mm; move downward 428 mm; roll downward 51 degrees; pitch upward 5 degrees; yaw counterclockwise 47 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 176 mm; move downward 155 mm; roll downward 21 degrees; pitch downward 0 degrees; yaw counterclockwise 20 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 114, + 124 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.01964285783469677, + -0.018571428954601288, + -0.0357142873108387, + 0.0, + 0.041428569704294205, + 1.0 + ], + "delta_next_20": [ + 0.06928571313619614, + 0.4246428608894348, + -0.42821428179740906, + -0.8814285397529602, + 0.09428571909666061, + 0.8171429634094238, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.4709649327019385, + -0.8297742586284821, + -0.48919465154900965, + 0.18644056267220743, + 0.4024177895730259, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 20 mm; move downward 19 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 69 mm; move left 425 mm; move downward 428 mm; roll downward 51 degrees; pitch upward 5 degrees; yaw counterclockwise 47 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 176 mm; move downward 155 mm; roll downward 21 degrees; pitch downward 0 degrees; yaw counterclockwise 20 degrees; open gripper;" + }, + { + "frame_index": 238, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 20 mm; move downward 19 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 90 mm; move left 425 mm; move downward 432 mm; roll downward 50 degrees; pitch upward 7 degrees; yaw counterclockwise 46 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 156 mm; move downward 136 mm; roll downward 19 degrees; pitch downward 0 degrees; yaw counterclockwise 18 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [116,128], [116,128]\ndistr_counter: [203,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 114, + 125 + ], + "task_obj_bbox": [ + 116, + 128, + 116, + 128 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.01964285783469677, + -0.018571428954601288, + -0.0357142873108387, + 0.0, + 0.04285714402794838, + 1.0 + ], + "delta_next_20": [ + 0.08999999612569809, + 0.4246428906917572, + -0.4317856431007385, + -0.8771427869796753, + 0.11428572237491608, + 0.7957143783569336, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.4709649327019385, + -0.8297742586284821, + -0.48919465154900965, + 0.18644056267220743, + 0.4254460435303822, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 20 mm; move downward 19 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 90 mm; move left 425 mm; move downward 432 mm; roll downward 50 degrees; pitch upward 7 degrees; yaw counterclockwise 46 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 156 mm; move downward 136 mm; roll downward 19 degrees; pitch downward 0 degrees; yaw counterclockwise 18 degrees; open gripper;" + }, + { + "frame_index": 239, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 20 mm; move downward 18 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 110 mm; move left 425 mm; move downward 436 mm; roll downward 50 degrees; pitch upward 8 degrees; yaw counterclockwise 44 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 136 mm; move downward 117 mm; roll downward 17 degrees; pitch downward 0 degrees; yaw counterclockwise 15 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [115,128], [116,129]\ndistr_counter: [203,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 113, + 126 + ], + "task_obj_bbox": [ + 115, + 128, + 116, + 129 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.020357143133878708, + -0.018214285373687744, + -0.03857142850756645, + 0.0, + 0.04285714402794838, + 1.0 + ], + "delta_next_20": [ + 0.1103571429848671, + 0.4246428906917572, + -0.43607139587402344, + -0.8728570938110352, + 0.13428571820259094, + 0.7728571891784668, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.4874972618914788, + -0.8175716737124913, + -0.5677800582449257, + 0.18644056267220743, + 0.4254460435303822, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 20 mm; move downward 18 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 110 mm; move left 425 mm; move downward 436 mm; roll downward 50 degrees; pitch upward 8 degrees; yaw counterclockwise 44 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 136 mm; move downward 117 mm; roll downward 17 degrees; pitch downward 0 degrees; yaw counterclockwise 15 degrees; open gripper;" + }, + { + "frame_index": 240, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 22 mm; move downward 18 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 131 mm; move left 424 mm; move downward 440 mm; roll downward 49 degrees; pitch upward 9 degrees; yaw counterclockwise 43 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 116 mm; move downward 99 mm; roll downward 15 degrees; pitch downward 0 degrees; yaw counterclockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [114,129], [115,130]\ndistr_counter: [203,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 112, + 127 + ], + "task_obj_bbox": [ + 114, + 129, + 115, + 130 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.021785713732242584, + -0.01785714365541935, + -0.041428569704294205, + 0.0, + 0.04285714402794838, + 1.0 + ], + "delta_next_20": [ + 0.1307142823934555, + 0.4235714375972748, + -0.4399999678134918, + -0.8628571033477783, + 0.15571428835391998, + 0.75, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.5205619202705594, + -0.8053691524378113, + -0.6463654649408417, + 0.18644056267220743, + 0.4254460435303822, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 22 mm; move downward 18 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 131 mm; move left 424 mm; move downward 440 mm; roll downward 49 degrees; pitch upward 9 degrees; yaw counterclockwise 43 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 116 mm; move downward 99 mm; roll downward 15 degrees; pitch downward 0 degrees; yaw counterclockwise 13 degrees; open gripper;" + }, + { + "frame_index": 241, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 23 mm; move downward 19 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 151 mm; move left 420 mm; move downward 445 mm; roll downward 49 degrees; pitch upward 10 degrees; yaw counterclockwise 42 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 94 mm; move downward 81 mm; roll downward 13 degrees; pitch downward 0 degrees; yaw counterclockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [114,130], [114,130]\ndistr_counter: [203,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 112, + 128 + ], + "task_obj_bbox": [ + 114, + 130, + 114, + 130 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.022857142612338066, + -0.018928570672869682, + -0.04714285582304001, + 0.0, + 0.044285714626312256, + 1.0 + ], + "delta_next_20": [ + 0.1510714292526245, + 0.4203571379184723, + -0.4446428418159485, + -0.84714275598526, + 0.18142858147621155, + 0.7271428108215332, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.5453604356105861, + -0.8419767799031621, + -0.8035363807964419, + 0.18644056267220743, + 0.4484742374370083, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 23 mm; move downward 19 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 151 mm; move left 420 mm; move downward 445 mm; roll downward 49 degrees; pitch upward 10 degrees; yaw counterclockwise 42 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 94 mm; move downward 81 mm; roll downward 13 degrees; pitch downward 0 degrees; yaw counterclockwise 10 degrees; open gripper;" + }, + { + "frame_index": 242, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 23 mm; move downward 20 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 171 mm; move left 417 mm; move downward 449 mm; roll downward 47 degrees; pitch upward 12 degrees; yaw counterclockwise 40 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 71 mm; move downward 62 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw counterclockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 111, + 128 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.02321428619325161, + -0.020000001415610313, + -0.05428571254014969, + 0.0, + 0.044285714626312256, + 1.0 + ], + "delta_next_20": [ + 0.17107143998146057, + 0.41678571701049805, + -0.44857141375541687, + -0.8271427750587463, + 0.20571430027484894, + 0.7028570771217346, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.5536266217610728, + -0.8785845346511345, + -1.0, + 0.18644056267220743, + 0.4484742374370083, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 23 mm; move downward 20 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 171 mm; move left 417 mm; move downward 449 mm; roll downward 47 degrees; pitch upward 12 degrees; yaw counterclockwise 40 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 71 mm; move downward 62 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw counterclockwise 8 degrees; open gripper;" + }, + { + "frame_index": 243, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 24 mm; move downward 21 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 191 mm; move left 413 mm; move downward 451 mm; roll downward 46 degrees; pitch upward 13 degrees; yaw counterclockwise 39 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 48 mm; move downward 43 mm; roll downward 7 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 110, + 129 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.023928571492433548, + -0.02071428671479225, + -0.058571428060531616, + 0.0, + 0.044285714626312256, + 1.0 + ], + "delta_next_20": [ + 0.1907142847776413, + 0.4132142961025238, + -0.4510714113712311, + -0.801428496837616, + 0.23000001907348633, + 0.678571343421936, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.5701589509506131, + -0.9029896408418054, + -1.0, + 0.18644056267220743, + 0.4484742374370083, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 24 mm; move downward 21 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 191 mm; move left 413 mm; move downward 451 mm; roll downward 46 degrees; pitch upward 13 degrees; yaw counterclockwise 39 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 48 mm; move downward 43 mm; roll downward 7 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 244, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 24 mm; move downward 22 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 210 mm; move left 409 mm; move downward 453 mm; roll downward 44 degrees; pitch upward 14 degrees; yaw counterclockwise 37 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move left 24 mm; move downward 22 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 109, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.02428571507334709, + -0.021785713732242584, + -0.05999999865889549, + 0.0, + 0.044285714626312256, + 1.0 + ], + "delta_next_20": [ + 0.20999999344348907, + 0.40892860293388367, + -0.452857106924057, + -0.7714284658432007, + 0.25285714864730835, + 0.6542856097221375, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.5784251371010996, + -0.9395972683071563, + -1.0, + 0.18644056267220743, + 0.4484742374370083, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 24 mm; move downward 22 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 210 mm; move left 409 mm; move downward 453 mm; roll downward 44 degrees; pitch upward 14 degrees; yaw counterclockwise 37 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move left 24 mm; move downward 22 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 245, + "segment_id": 30437, + "subtask": "place the apple in the sink", + "reason": "The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's gripper is positioned over the sink basin and appears to be releasing or adjusting the white object (apple) inside. The object remains within the sink boundaries, consistent with the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 24 mm; move downward 21 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 231 mm; move left 404 mm; move downward 455 mm; roll downward 42 degrees; pitch upward 16 degrees; yaw counterclockwise 36 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 109, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.023928571492433548, + -0.02142857201397419, + -0.055714286863803864, + 0.0, + 0.04571428522467613, + 1.0 + ], + "delta_next_20": [ + 0.23071427643299103, + 0.40392860770225525, + -0.4546428620815277, + -0.7385714650154114, + 0.2785714268684387, + 0.6285713911056519, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.5701589509506131, + -0.9273947470324763, + -1.0, + 0.18644056267220743, + 0.4715024313436347, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 24 mm; move downward 21 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 231 mm; move left 404 mm; move downward 455 mm; roll downward 42 degrees; pitch upward 16 degrees; yaw counterclockwise 36 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 246, + "segment_id": 30537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 23 mm; move downward 21 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 251 mm; move left 400 mm; move downward 456 mm; roll downward 41 degrees; pitch upward 17 degrees; yaw counterclockwise 34 degrees; open gripper;\nSubtask Movement: move forward 293 mm; move left 437 mm; move downward 503 mm; roll downward 43 degrees; pitch upward 21 degrees; yaw counterclockwise 37 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 108, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.022857142612338066, + -0.02142857201397419, + -0.05000000074505806, + 0.0, + 0.044285714626312256, + 1.0 + ], + "delta_next_20": [ + 0.2514285743236542, + 0.4000000059604645, + -0.456428587436676, + -0.7100000381469727, + 0.3042857050895691, + 0.6014285683631897, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.5453604356105861, + -0.9273947470324763, + -0.8821218899561261, + 0.18644056267220743, + 0.4484742374370083, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 23 mm; move downward 21 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 251 mm; move left 400 mm; move downward 456 mm; roll downward 41 degrees; pitch upward 17 degrees; yaw counterclockwise 34 degrees; open gripper;", + "subtask_movement_text": "move forward 293 mm; move left 437 mm; move downward 503 mm; roll downward 43 degrees; pitch upward 21 degrees; yaw counterclockwise 37 degrees; open gripper;" + }, + { + "frame_index": 247, + "segment_id": 30537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 23 mm; move downward 21 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 272 mm; move left 396 mm; move downward 458 mm; roll downward 39 degrees; pitch upward 19 degrees; yaw counterclockwise 33 degrees; open gripper;\nSubtask Movement: move forward 293 mm; move left 414 mm; move downward 481 mm; roll downward 40 degrees; pitch upward 21 degrees; yaw counterclockwise 34 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 107, + 133 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.02321428619325161, + -0.02142857201397419, + -0.05428571254014969, + 0.0, + 0.044285714626312256, + 1.0 + ], + "delta_next_20": [ + 0.27214285731315613, + 0.39571431279182434, + -0.45821428298950195, + -0.6828572154045105, + 0.33142855763435364, + 0.5757143497467041, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.5536266217610728, + -0.9273947470324763, + -1.0, + 0.18644056267220743, + 0.4484742374370083, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 23 mm; move downward 21 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 272 mm; move left 396 mm; move downward 458 mm; roll downward 39 degrees; pitch upward 19 degrees; yaw counterclockwise 33 degrees; open gripper;", + "subtask_movement_text": "move forward 293 mm; move left 414 mm; move downward 481 mm; roll downward 40 degrees; pitch upward 21 degrees; yaw counterclockwise 34 degrees; open gripper;" + }, + { + "frame_index": 248, + "segment_id": 30537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 23 mm; move downward 22 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 293 mm; move left 391 mm; move downward 460 mm; roll downward 37 degrees; pitch upward 21 degrees; yaw counterclockwise 32 degrees; open gripper;\nSubtask Movement: move forward 293 mm; move left 391 mm; move downward 460 mm; roll downward 37 degrees; pitch upward 21 degrees; yaw counterclockwise 32 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 107, + 134 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.02321428619325161, + -0.021785713732242584, + -0.05285714194178581, + 0.0, + 0.04285714402794838, + 1.0 + ], + "delta_next_20": [ + 0.2932142913341522, + 0.3910714387893677, + -0.46000000834465027, + -0.6514286398887634, + 0.36142855882644653, + 0.5500000715255737, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.5536266217610728, + -0.9395972683071563, + -0.960707296652042, + 0.18644056267220743, + 0.4254460435303822, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 23 mm; move downward 22 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 293 mm; move left 391 mm; move downward 460 mm; roll downward 37 degrees; pitch upward 21 degrees; yaw counterclockwise 32 degrees; open gripper;", + "subtask_movement_text": "move forward 293 mm; move left 391 mm; move downward 460 mm; roll downward 37 degrees; pitch upward 21 degrees; yaw counterclockwise 32 degrees; open gripper;" + }, + { + "frame_index": 249, + "segment_id": 30537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 21 mm; move downward 22 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 312 mm; move left 385 mm; move downward 461 mm; roll downward 35 degrees; pitch upward 23 degrees; yaw counterclockwise 30 degrees; open gripper;\nSubtask Movement: move forward 293 mm; move left 368 mm; move downward 438 mm; roll downward 34 degrees; pitch upward 21 degrees; yaw counterclockwise 29 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 106, + 135 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.02142857201397419, + -0.022499999031424522, + -0.041428569704294205, + 0.0, + 0.04285714402794838, + 1.0 + ], + "delta_next_20": [ + 0.3125, + 0.3850000202655792, + -0.46142855286598206, + -0.6142857074737549, + 0.3942857086658478, + 0.5257143974304199, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.5122957772315058, + -0.9640023744978272, + -0.6463654649408417, + 0.18644056267220743, + 0.4254460435303822, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 21 mm; move downward 22 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 312 mm; move left 385 mm; move downward 461 mm; roll downward 35 degrees; pitch upward 23 degrees; yaw counterclockwise 30 degrees; open gripper;", + "subtask_movement_text": "move forward 293 mm; move left 368 mm; move downward 438 mm; roll downward 34 degrees; pitch upward 21 degrees; yaw counterclockwise 29 degrees; open gripper;" + }, + { + "frame_index": 250, + "segment_id": 30537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 18 mm; move downward 22 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 331 mm; move left 380 mm; move downward 462 mm; roll downward 34 degrees; pitch upward 24 degrees; yaw counterclockwise 29 degrees; open gripper;\nSubtask Movement: move forward 293 mm; move left 346 mm; move downward 416 mm; roll downward 32 degrees; pitch upward 21 degrees; yaw counterclockwise 27 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 105, + 136 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.01785714365541935, + -0.022499999031424522, + -0.03999999910593033, + 0.0, + 0.04571428522467613, + 1.0 + ], + "delta_next_20": [ + 0.3310714364051819, + 0.3799999952316284, + -0.4617857038974762, + -0.5857142210006714, + 0.427142858505249, + 0.5014286637306213, + 1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.4296340881723715, + -0.9640023744978272, + -0.6070727615928837, + 0.18644056267220743, + 0.4715024313436347, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 18 mm; move downward 22 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 331 mm; move left 380 mm; move downward 462 mm; roll downward 34 degrees; pitch upward 24 degrees; yaw counterclockwise 29 degrees; open gripper;", + "subtask_movement_text": "move forward 293 mm; move left 346 mm; move downward 416 mm; roll downward 32 degrees; pitch upward 21 degrees; yaw counterclockwise 27 degrees; open gripper;" + }, + { + "frame_index": 251, + "segment_id": 30537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move left 20 mm; move downward 25 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 349 mm; move left 378 mm; move downward 462 mm; roll downward 32 degrees; pitch upward 26 degrees; yaw counterclockwise 27 degrees; open gripper;\nSubtask Movement: move forward 293 mm; move left 329 mm; move downward 393 mm; roll downward 30 degrees; pitch upward 21 degrees; yaw counterclockwise 24 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 105, + 137 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0021428572945296764, + 0.020000001415610313, + -0.02500000037252903, + -0.03857142850756645, + 0.009999999776482582, + 0.04285714402794838, + 1.0 + ], + "delta_next_20": [ + 0.34928569197654724, + 0.3782143294811249, + -0.46214285492897034, + -0.5557142496109009, + 0.46142858266830444, + 0.4742858111858368, + 1.0 + ], + "delta_full_state_norm": [ + 0.07969303371761649, + 0.4792311188524252, + -1.0, + -0.5677800582449257, + 0.42372866636697815, + 0.4254460435303822, + 0.9999999900000001 + ], + "movement_text": "move forward 2 mm; move left 20 mm; move downward 25 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 349 mm; move left 378 mm; move downward 462 mm; roll downward 32 degrees; pitch upward 26 degrees; yaw counterclockwise 27 degrees; open gripper;", + "subtask_movement_text": "move forward 293 mm; move left 329 mm; move downward 393 mm; roll downward 30 degrees; pitch upward 21 degrees; yaw counterclockwise 24 degrees; open gripper;" + }, + { + "frame_index": 252, + "segment_id": 30537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move left 21 mm; move downward 26 mm; roll downward 3 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 363 mm; move left 373 mm; move downward 460 mm; roll downward 30 degrees; pitch upward 28 degrees; yaw counterclockwise 26 degrees; open gripper;\nSubtask Movement: move forward 291 mm; move left 309 mm; move downward 368 mm; roll downward 27 degrees; pitch upward 20 degrees; yaw counterclockwise 22 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 104, + 138 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0057142856530845165, + 0.02071428671479225, + -0.025714287534356117, + -0.044285714626312256, + 0.014285714365541935, + 0.03999999910593033, + 1.0 + ], + "delta_next_20": [ + 0.36321428418159485, + 0.3732143044471741, + -0.45964285731315613, + -0.5257142782211304, + 0.4828571677207947, + 0.45285722613334656, + 1.0 + ], + "delta_full_state_norm": [ + 0.21307079222442815, + 0.4957634480419655, + -1.0, + -0.7249509741005258, + 0.5254235774215272, + 0.37938959566639974, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move left 21 mm; move downward 26 mm; roll downward 3 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 363 mm; move left 373 mm; move downward 460 mm; roll downward 30 degrees; pitch upward 28 degrees; yaw counterclockwise 26 degrees; open gripper;", + "subtask_movement_text": "move forward 291 mm; move left 309 mm; move downward 368 mm; roll downward 27 degrees; pitch upward 20 degrees; yaw counterclockwise 22 degrees; open gripper;" + }, + { + "frame_index": 253, + "segment_id": 30537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move left 20 mm; move downward 26 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 373 mm; move left 366 mm; move downward 457 mm; roll downward 28 degrees; pitch upward 28 degrees; yaw counterclockwise 25 degrees; open gripper;\nSubtask Movement: move forward 285 mm; move left 288 mm; move downward 343 mm; roll downward 25 degrees; pitch upward 19 degrees; yaw counterclockwise 19 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 104, + 139 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + 0.020000001415610313, + -0.025714287534356117, + -0.041428569704294205, + 0.015714285895228386, + 0.037142857909202576, + 1.0 + ], + "delta_next_20": [ + 0.37285715341567993, + 0.36571428179740906, + -0.45678573846817017, + -0.48571422696113586, + 0.49714288115501404, + 0.4357143044471741, + 1.0 + ], + "delta_full_state_norm": [ + 0.35978633701620977, + 0.4792311188524252, + -1.0, + -0.6463654649408417, + 0.5593218811063769, + 0.33333320785314746, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move left 20 mm; move downward 26 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 373 mm; move left 366 mm; move downward 457 mm; roll downward 28 degrees; pitch upward 28 degrees; yaw counterclockwise 25 degrees; open gripper;", + "subtask_movement_text": "move forward 285 mm; move left 288 mm; move downward 343 mm; roll downward 25 degrees; pitch upward 19 degrees; yaw counterclockwise 19 degrees; open gripper;" + }, + { + "frame_index": 254, + "segment_id": 30537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move left 18 mm; move downward 22 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 378 mm; move left 358 mm; move downward 454 mm; roll downward 26 degrees; pitch upward 29 degrees; yaw counterclockwise 24 degrees; open gripper;\nSubtask Movement: move forward 276 mm; move left 268 mm; move downward 317 mm; roll downward 23 degrees; pitch upward 18 degrees; yaw counterclockwise 17 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 104, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.013571429066359997, + 0.018214285373687744, + -0.022499999031424522, + -0.03142857179045677, + 0.015714285895228386, + 0.034285712987184525, + 1.0 + ], + "delta_next_20": [ + 0.3775000274181366, + 0.3578571379184723, + -0.45392856001853943, + -0.4471428096294403, + 0.5100000500679016, + 0.4228571653366089, + 1.0 + ], + "delta_full_state_norm": [ + 0.5065018991984731, + 0.4379002312114251, + -0.9640023744978272, + -0.3713164390413676, + 0.5593218811063769, + 0.287276759989165, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move left 18 mm; move downward 22 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 378 mm; move left 358 mm; move downward 454 mm; roll downward 26 degrees; pitch upward 29 degrees; yaw counterclockwise 24 degrees; open gripper;", + "subtask_movement_text": "move forward 276 mm; move left 268 mm; move downward 317 mm; roll downward 23 degrees; pitch upward 18 degrees; yaw counterclockwise 17 degrees; open gripper;" + }, + { + "frame_index": 255, + "segment_id": 30537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 17 mm; move left 19 mm; move downward 22 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 377 mm; move left 350 mm; move downward 453 mm; roll downward 24 degrees; pitch upward 30 degrees; yaw counterclockwise 24 degrees; open gripper;\nSubtask Movement: move forward 262 mm; move left 250 mm; move downward 294 mm; roll downward 21 degrees; pitch upward 18 degrees; yaw counterclockwise 15 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 103, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.01714285835623741, + 0.018571428954601288, + -0.021785713732242584, + -0.029999999329447746, + 0.015714285895228386, + 0.02857142873108387, + 1.0 + ], + "delta_next_20": [ + 0.3767857253551483, + 0.35035714507102966, + -0.4528571665287018, + -0.41571423411369324, + 0.5257142782211304, + 0.415714293718338, + 1.0 + ], + "delta_full_state_norm": [ + 0.6398796924862475, + 0.44616641736191176, + -0.9395972683071563, + -0.3320236844615254, + 0.5593218811063769, + 0.19516395433729516, + 0.9999999900000001 + ], + "movement_text": "move forward 17 mm; move left 19 mm; move downward 22 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 377 mm; move left 350 mm; move downward 453 mm; roll downward 24 degrees; pitch upward 30 degrees; yaw counterclockwise 24 degrees; open gripper;", + "subtask_movement_text": "move forward 262 mm; move left 250 mm; move downward 294 mm; roll downward 21 degrees; pitch upward 18 degrees; yaw counterclockwise 15 degrees; open gripper;" + }, + { + "frame_index": 256, + "segment_id": 30537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 21 mm; move left 19 mm; move downward 22 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 370 mm; move left 340 mm; move downward 452 mm; roll downward 22 degrees; pitch upward 31 degrees; yaw counterclockwise 24 degrees; open gripper;\nSubtask Movement: move forward 245 mm; move left 231 mm; move downward 273 mm; roll downward 19 degrees; pitch upward 17 degrees; yaw counterclockwise 14 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 103, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.021071428433060646, + 0.018928570672869682, + -0.021785713732242584, + -0.029999999329447746, + 0.022857142612338066, + 0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + 0.36964282393455505, + 0.33964285254478455, + -0.45178577303886414, + -0.38571423292160034, + 0.5414285659790039, + 0.415714293718338, + 1.0 + ], + "delta_full_state_norm": [ + 0.7865951851065849, + 0.45443256040096536, + -0.9395972683071563, + -0.3320236844615254, + 0.728813377431448, + 0.08002292475343409, + 0.9999999900000001 + ], + "movement_text": "move forward 21 mm; move left 19 mm; move downward 22 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 370 mm; move left 340 mm; move downward 452 mm; roll downward 22 degrees; pitch upward 31 degrees; yaw counterclockwise 24 degrees; open gripper;", + "subtask_movement_text": "move forward 245 mm; move left 231 mm; move downward 273 mm; roll downward 19 degrees; pitch upward 17 degrees; yaw counterclockwise 14 degrees; open gripper;" + }, + { + "frame_index": 257, + "segment_id": 30537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 21 mm; move left 20 mm; move downward 22 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 357 mm; move left 326 mm; move downward 450 mm; roll downward 20 degrees; pitch upward 31 degrees; yaw counterclockwise 24 degrees; close gripper;\nSubtask Movement: move forward 224 mm; move left 212 mm; move downward 251 mm; roll downward 17 degrees; pitch upward 15 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 102, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.02071428671479225, + 0.01964285783469677, + -0.022142857313156128, + -0.03142857179045677, + 0.019999999552965164, + 0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + 0.35749995708465576, + 0.3257142901420593, + -0.4503571689128876, + -0.35571423172950745, + 0.5457143187522888, + 0.42571431398391724, + -1.0 + ], + "delta_full_state_norm": [ + 0.7732574509930592, + 0.4709649327019385, + -0.9517998532231471, + -0.3713164390413676, + 0.6610167700617486, + 0.05699470082144287, + 0.9999999900000001 + ], + "movement_text": "move forward 21 mm; move left 20 mm; move downward 22 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 357 mm; move left 326 mm; move downward 450 mm; roll downward 20 degrees; pitch upward 31 degrees; yaw counterclockwise 24 degrees; close gripper;", + "subtask_movement_text": "move forward 224 mm; move left 212 mm; move downward 251 mm; roll downward 17 degrees; pitch upward 15 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 258, + "segment_id": 30537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move left 20 mm; move downward 23 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 341 mm; move left 306 mm; move downward 437 mm; roll downward 19 degrees; pitch upward 31 degrees; yaw counterclockwise 25 degrees; close gripper;\nSubtask Movement: move forward 203 mm; move left 192 mm; move downward 229 mm; roll downward 15 degrees; pitch upward 14 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 102, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.020357143133878708, + 0.01964285783469677, + -0.022857142612338066, + -0.03142857179045677, + 0.019999999552965164, + 0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + 0.3407142460346222, + 0.3060714304447174, + -0.43714284896850586, + -0.32428568601608276, + 0.5385714769363403, + 0.4400000274181366, + -1.0 + ], + "delta_full_state_norm": [ + 0.7599196473176077, + 0.4709649327019385, + -0.976204959413818, + -0.3713164390413676, + 0.6610167700617486, + 0.05699470082144287, + 0.9999999900000001 + ], + "movement_text": "move forward 20 mm; move left 20 mm; move downward 23 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 341 mm; move left 306 mm; move downward 437 mm; roll downward 19 degrees; pitch upward 31 degrees; yaw counterclockwise 25 degrees; close gripper;", + "subtask_movement_text": "move forward 203 mm; move left 192 mm; move downward 229 mm; roll downward 15 degrees; pitch upward 14 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 259, + "segment_id": 30537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move left 19 mm; move downward 22 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 320 mm; move left 286 mm; move downward 414 mm; roll downward 17 degrees; pitch upward 30 degrees; yaw counterclockwise 27 degrees; close gripper;\nSubtask Movement: move forward 183 mm; move left 173 mm; move downward 206 mm; roll downward 14 degrees; pitch upward 13 degrees; yaw counterclockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [97,140], [97,142]\ndistr_counter: [203,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 101, + 142 + ], + "task_obj_bbox": [ + 97, + 140, + 97, + 142 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.020357143133878708, + 0.019285714253783226, + -0.022142857313156128, + -0.02857142873108387, + 0.02142857201397419, + 0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + 0.3203571140766144, + 0.2864285707473755, + -0.41428571939468384, + -0.2928571105003357, + 0.5185714364051819, + 0.4685714542865753, + -1.0 + ], + "delta_full_state_norm": [ + 0.7599196473176077, + 0.46269874655145204, + -0.9517998532231471, + -0.29273098111356743, + 0.6949150958457757, + 0.05699470082144287, + 0.9999999900000001 + ], + "movement_text": "move forward 20 mm; move left 19 mm; move downward 22 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 320 mm; move left 286 mm; move downward 414 mm; roll downward 17 degrees; pitch upward 30 degrees; yaw counterclockwise 27 degrees; close gripper;", + "subtask_movement_text": "move forward 183 mm; move left 173 mm; move downward 206 mm; roll downward 14 degrees; pitch upward 13 degrees; yaw counterclockwise 10 degrees; open gripper;" + }, + { + "frame_index": 260, + "segment_id": 30537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move left 19 mm; move downward 22 mm; roll downward 1 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 291 mm; move left 265 mm; move downward 370 mm; roll downward 15 degrees; pitch upward 28 degrees; yaw counterclockwise 26 degrees; close gripper;\nSubtask Movement: move forward 163 mm; move left 154 mm; move downward 184 mm; roll downward 12 degrees; pitch upward 12 degrees; yaw counterclockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [95,144], [113,156]\n", + "gripper_2d": [ + 100, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 95, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.020357143133878708, + 0.018571428954601288, + -0.022499999031424522, + -0.025714285671710968, + 0.025714285671710968, + 0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + 0.2914285361766815, + 0.2646428346633911, + -0.36964282393455505, + -0.2542857229709625, + 0.49714288115501404, + 0.45142862200737, + -1.0 + ], + "delta_full_state_norm": [ + 0.7599196473176077, + 0.44616641736191176, + -0.9640023744978272, + -0.2141455231857674, + 0.7966099848011474, + 0.05699470082144287, + 0.9999999900000001 + ], + "movement_text": "move forward 20 mm; move left 19 mm; move downward 22 mm; roll downward 1 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 291 mm; move left 265 mm; move downward 370 mm; roll downward 15 degrees; pitch upward 28 degrees; yaw counterclockwise 26 degrees; close gripper;", + "subtask_movement_text": "move forward 163 mm; move left 154 mm; move downward 184 mm; roll downward 12 degrees; pitch upward 12 degrees; yaw counterclockwise 9 degrees; open gripper;" + }, + { + "frame_index": 261, + "segment_id": 30537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move left 19 mm; move downward 23 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 260 mm; move left 237 mm; move downward 314 mm; roll downward 13 degrees; pitch upward 25 degrees; yaw counterclockwise 25 degrees; close gripper;\nSubtask Movement: move forward 142 mm; move left 135 mm; move downward 161 mm; roll downward 11 degrees; pitch upward 10 degrees; yaw counterclockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [95,145], [113,156]\n", + "gripper_2d": [ + 99, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 95, + 145, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.020000001415610313, + 0.019285714253783226, + -0.022857142612338066, + -0.027142856270074844, + 0.02428571507334709, + 0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + 0.25999996066093445, + 0.2367856800556183, + -0.3139285445213318, + -0.22285714745521545, + 0.4385714530944824, + 0.43142861127853394, + -1.0 + ], + "delta_full_state_norm": [ + 0.7465819132040821, + 0.46269874655145204, + -0.976204959413818, + -0.2534382265337254, + 0.7627117032154751, + 0.05699470082144287, + 0.9999999900000001 + ], + "movement_text": "move forward 20 mm; move left 19 mm; move downward 23 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 260 mm; move left 237 mm; move downward 314 mm; roll downward 13 degrees; pitch upward 25 degrees; yaw counterclockwise 25 degrees; close gripper;", + "subtask_movement_text": "move forward 142 mm; move left 135 mm; move downward 161 mm; roll downward 11 degrees; pitch upward 10 degrees; yaw counterclockwise 8 degrees; open gripper;" + }, + { + "frame_index": 262, + "segment_id": 30537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move left 20 mm; move downward 22 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 229 mm; move left 208 mm; move downward 258 mm; roll downward 11 degrees; pitch upward 22 degrees; yaw counterclockwise 24 degrees; close gripper;\nSubtask Movement: move forward 122 mm; move left 116 mm; move downward 138 mm; roll downward 9 degrees; pitch upward 9 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [95,141], [95,141]\ndistr_counter: [203,109], [210,115]\ndistr_sink: [100,150], [113,156]\n", + "gripper_2d": [ + 99, + 143 + ], + "task_obj_bbox": [ + 95, + 141, + 95, + 141 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 100, + 150, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.01964285783469677, + 0.01964285783469677, + -0.022499999031424522, + -0.02857142873108387, + 0.02428571507334709, + 0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + 0.22928570210933685, + 0.20821428298950195, + -0.2578571140766144, + -0.18857143819332123, + 0.3814285695552826, + 0.41142863035202026, + -1.0 + ], + "delta_full_state_norm": [ + 0.7332441095286306, + 0.4709649327019385, + -0.9640023744978272, + -0.29273098111356743, + 0.7627117032154751, + 0.05699470082144287, + 0.9999999900000001 + ], + "movement_text": "move forward 20 mm; move left 20 mm; move downward 22 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 229 mm; move left 208 mm; move downward 258 mm; roll downward 11 degrees; pitch upward 22 degrees; yaw counterclockwise 24 degrees; close gripper;", + "subtask_movement_text": "move forward 122 mm; move left 116 mm; move downward 138 mm; roll downward 9 degrees; pitch upward 9 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 263, + "segment_id": 30537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move left 20 mm; move downward 22 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 199 mm; move left 180 mm; move downward 202 mm; roll downward 9 degrees; pitch upward 18 degrees; yaw counterclockwise 22 degrees; close gripper;\nSubtask Movement: move forward 103 mm; move left 96 mm; move downward 116 mm; roll downward 7 degrees; pitch upward 8 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [94,142], [94,142]\ndistr_counter: [203,109], [210,115]\ndistr_sink: [100,150], [113,156]\n", + "gripper_2d": [ + 98, + 143 + ], + "task_obj_bbox": [ + 94, + 142, + 94, + 142 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 100, + 150, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.019285714253783226, + 0.01964285783469677, + -0.022499999031424522, + -0.02857142873108387, + 0.022857142612338066, + 0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + 0.19857141375541687, + 0.17964285612106323, + -0.2021428346633911, + -0.15571430325508118, + 0.3199999928474426, + 0.3914286196231842, + -1.0 + ], + "delta_full_state_norm": [ + 0.7199063058531789, + 0.4709649327019385, + -0.9640023744978272, + -0.29273098111356743, + 0.728813377431448, + 0.05699470082144287, + 0.9999999900000001 + ], + "movement_text": "move forward 19 mm; move left 20 mm; move downward 22 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 199 mm; move left 180 mm; move downward 202 mm; roll downward 9 degrees; pitch upward 18 degrees; yaw counterclockwise 22 degrees; close gripper;", + "subtask_movement_text": "move forward 103 mm; move left 96 mm; move downward 116 mm; roll downward 7 degrees; pitch upward 8 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 264, + "segment_id": 30537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 21 mm; move left 19 mm; move downward 24 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 167 mm; move left 151 mm; move downward 145 mm; roll downward 7 degrees; pitch upward 15 degrees; yaw counterclockwise 21 degrees; close gripper;\nSubtask Movement: move forward 83 mm; move left 76 mm; move downward 93 mm; roll downward 6 degrees; pitch upward 6 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [104,150], [113,156]\n", + "gripper_2d": [ + 97, + 144 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 104, + 150, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.02071428671479225, + 0.019285714253783226, + -0.023571429774165154, + -0.027142856270074844, + 0.025714285671710968, + 0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + 0.16678570210933685, + 0.15142856538295746, + -0.14499998092651367, + -0.12142859399318695, + 0.25857144594192505, + 0.37142860889434814, + -1.0 + ], + "delta_full_state_norm": [ + 0.7732574509930592, + 0.46269874655145204, + -1.0, + -0.2534382265337254, + 0.7966099848011474, + 0.03396650691481673, + 0.9999999900000001 + ], + "movement_text": "move forward 21 mm; move left 19 mm; move downward 24 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 167 mm; move left 151 mm; move downward 145 mm; roll downward 7 degrees; pitch upward 15 degrees; yaw counterclockwise 21 degrees; close gripper;", + "subtask_movement_text": "move forward 83 mm; move left 76 mm; move downward 93 mm; roll downward 6 degrees; pitch upward 6 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 265, + "segment_id": 30537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 21 mm; move left 20 mm; move downward 23 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 132 mm; move left 125 mm; move downward 86 mm; roll downward 5 degrees; pitch upward 11 degrees; yaw counterclockwise 20 degrees; close gripper;\nSubtask Movement: move forward 62 mm; move left 57 mm; move downward 70 mm; roll downward 4 degrees; pitch upward 5 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [106,150], [113,156]\n", + "gripper_2d": [ + 96, + 144 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 106, + 150, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.02071428671479225, + 0.020000001415610313, + -0.02321428619325161, + -0.027142856270074844, + 0.025714285671710968, + 0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + 0.13178570568561554, + 0.125, + -0.08642856031656265, + -0.09285715222358704, + 0.1900000125169754, + 0.35285717248916626, + -1.0 + ], + "delta_full_state_norm": [ + 0.7732574509930592, + 0.4792311188524252, + -0.9884075443298087, + -0.2534382265337254, + 0.7966099848011474, + 0.03396650691481673, + 0.9999999900000001 + ], + "movement_text": "move forward 21 mm; move left 20 mm; move downward 23 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 132 mm; move left 125 mm; move downward 86 mm; roll downward 5 degrees; pitch upward 11 degrees; yaw counterclockwise 20 degrees; close gripper;", + "subtask_movement_text": "move forward 62 mm; move left 57 mm; move downward 70 mm; roll downward 4 degrees; pitch upward 5 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 266, + "segment_id": 30537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 21 mm; move left 19 mm; move downward 23 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 95 mm; move left 98 mm; move downward 28 mm; roll downward 4 degrees; pitch upward 7 degrees; yaw counterclockwise 19 degrees; close gripper;\nSubtask Movement: move forward 42 mm; move left 37 mm; move downward 46 mm; roll downward 3 degrees; pitch upward 3 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [106,150], [113,156]\n", + "gripper_2d": [ + 95, + 145 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 106, + 150, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.02071428671479225, + 0.018571428954601288, + -0.02321428619325161, + -0.022857142612338066, + 0.027142856270074844, + 0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + 0.09535713493824005, + 0.098214291036129, + -0.02821427956223488, + -0.06428571790456772, + 0.1199999749660492, + 0.3342857360839844, + -1.0 + ], + "delta_full_state_norm": [ + 0.7732574509930592, + 0.44616641736191176, + -0.9884075443298087, + -0.13556006525796727, + 0.83050826638682, + 0.03396650691481673, + 0.9999999900000001 + ], + "movement_text": "move forward 21 mm; move left 19 mm; move downward 23 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 95 mm; move left 98 mm; move downward 28 mm; roll downward 4 degrees; pitch upward 7 degrees; yaw counterclockwise 19 degrees; close gripper;", + "subtask_movement_text": "move forward 42 mm; move left 37 mm; move downward 46 mm; roll downward 3 degrees; pitch upward 3 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 267, + "segment_id": 30537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 21 mm; move left 19 mm; move downward 23 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 59 mm; move left 73 mm; move upward 30 mm; roll downward 2 degrees; pitch upward 3 degrees; yaw counterclockwise 18 degrees; close gripper;\nSubtask Movement: move forward 21 mm; move left 19 mm; move downward 23 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [106,150], [113,156]\n", + "gripper_2d": [ + 95, + 146 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 106, + 150, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.021071428433060646, + 0.018571428954601288, + -0.02321428619325161, + -0.022857142612338066, + 0.029999999329447746, + 0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + 0.05892856791615486, + 0.07285713404417038, + 0.029642850160598755, + -0.04000000283122063, + 0.04857140779495239, + 0.3157142996788025, + -1.0 + ], + "delta_full_state_norm": [ + 0.7865951851065849, + 0.44616641736191176, + -0.9884075443298087, + -0.13556006525796727, + 0.8983048737565194, + 0.03396650691481673, + 0.9999999900000001 + ], + "movement_text": "move forward 21 mm; move left 19 mm; move downward 23 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 59 mm; move left 73 mm; move upward 30 mm; roll downward 2 degrees; pitch upward 3 degrees; yaw counterclockwise 18 degrees; close gripper;", + "subtask_movement_text": "move forward 21 mm; move left 19 mm; move downward 23 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 268, + "segment_id": 30537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the white object (apple) inside the sink, with a visible downward motion and contact established to deposit the item.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move left 17 mm; move downward 23 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 22 mm; move left 49 mm; move upward 87 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 17 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [107,150], [113,156]\n", + "gripper_2d": [ + 94, + 146 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 107, + 150, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.019285714253783226, + 0.01714285835623741, + -0.02321428619325161, + -0.015714285895228386, + 0.03285714238882065, + 0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + 0.022142847999930382, + 0.04857141897082329, + 0.08714287728071213, + -0.015714289620518684, + -0.022857163101434708, + 0.2971428632736206, + -1.0 + ], + "delta_full_state_norm": [ + 0.7199063058531789, + 0.4131017589828312, + -0.9884075443298087, + 0.06090355394559088, + 0.9661014811262187, + 0.03396650691481673, + 0.9999999900000001 + ], + "movement_text": "move forward 19 mm; move left 17 mm; move downward 23 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 22 mm; move left 49 mm; move upward 87 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 17 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 269, + "segment_id": 40537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned over the sink with a yellow object (apple) inside, and there is no visible motion or grasp action occurring, indicating the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink with a yellow object (apple) inside, and there is no visible motion or grasp action occurring, indicating the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move left 16 mm; move downward 23 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 14 mm; move left 26 mm; move upward 144 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 16 degrees; close gripper;\nSubtask Movement: move forward 83 mm; move left 73 mm; move downward 114 mm; roll downward 2 degrees; pitch upward 9 degrees; yaw counterclockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [108,150], [113,156]\n", + "gripper_2d": [ + 93, + 147 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 108, + 150, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.018571428954601288, + 0.016428573057055473, + -0.022857142612338066, + -0.012857142835855484, + 0.03285714238882065, + 0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + -0.014285723678767681, + 0.02607143297791481, + 0.14392857253551483, + -6.984919309616089e-10, + -0.09857142716646194, + 0.2785714268684387, + -1.0 + ], + "delta_full_state_norm": [ + 0.6932307680642018, + 0.39656942979329113, + -0.976204959413818, + 0.1394890118733909, + 0.9661014811262187, + 0.03396650691481673, + 0.9999999900000001 + ], + "movement_text": "move forward 19 mm; move left 16 mm; move downward 23 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 14 mm; move left 26 mm; move upward 144 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 16 degrees; close gripper;", + "subtask_movement_text": "move forward 83 mm; move left 73 mm; move downward 114 mm; roll downward 2 degrees; pitch upward 9 degrees; yaw counterclockwise 6 degrees; open gripper;" + }, + { + "frame_index": 270, + "segment_id": 40537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned over the sink with a yellow object (apple) inside, and there is no visible motion or grasp action occurring, indicating the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink with a yellow object (apple) inside, and there is no visible motion or grasp action occurring, indicating the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move left 16 mm; move downward 23 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 51 mm; move left 6 mm; move upward 200 mm; roll upward 1 degrees; pitch downward 10 degrees; yaw counterclockwise 15 degrees; close gripper;\nSubtask Movement: move forward 64 mm; move left 56 mm; move downward 91 mm; roll downward 1 degrees; pitch upward 7 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [108,150], [113,156]\n", + "gripper_2d": [ + 92, + 148 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 108, + 150, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.018214285373687744, + 0.01607142947614193, + -0.022857142612338066, + -0.009999999776482582, + 0.034285712987184525, + 0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + -0.05071428045630455, + 0.0057142917066812515, + 0.1996428668498993, + 0.012857142835855484, + -0.17571429908275604, + 0.25999999046325684, + -1.0 + ], + "delta_full_state_norm": [ + 0.6798929643887504, + 0.38830324364280444, + -0.976204959413818, + 0.21807446980119094, + 0.9999997627118911, + 0.03396650691481673, + 0.9999999900000001 + ], + "movement_text": "move forward 18 mm; move left 16 mm; move downward 23 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 51 mm; move left 6 mm; move upward 200 mm; roll upward 1 degrees; pitch downward 10 degrees; yaw counterclockwise 15 degrees; close gripper;", + "subtask_movement_text": "move forward 64 mm; move left 56 mm; move downward 91 mm; roll downward 1 degrees; pitch upward 7 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 271, + "segment_id": 40537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned over the sink with a yellow object (apple) inside, and there is no visible motion or grasp action occurring, indicating the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink with a yellow object (apple) inside, and there is no visible motion or grasp action occurring, indicating the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move left 15 mm; move downward 22 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 87 mm; move right 14 mm; move upward 255 mm; roll upward 1 degrees; pitch downward 15 degrees; yaw counterclockwise 14 degrees; close gripper;\nSubtask Movement: move forward 46 mm; move left 40 mm; move downward 68 mm; roll downward 1 degrees; pitch upward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [107,149], [113,156]\n", + "gripper_2d": [ + 91, + 149 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 107, + 149, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.01607142947614193, + 0.015000000596046448, + -0.022499999031424522, + -0.008571428246796131, + 0.03142857179045677, + 0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + -0.08749999850988388, + -0.0135714216157794, + 0.2546428442001343, + 0.022857138887047768, + -0.2571428716182709, + 0.24142858386039734, + -1.0 + ], + "delta_full_state_norm": [ + 0.599866351021819, + 0.3635047283027777, + -0.9640023744978272, + 0.25736719876509095, + 0.9322031995405462, + 0.08002292475343409, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move left 15 mm; move downward 22 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 87 mm; move right 14 mm; move upward 255 mm; roll upward 1 degrees; pitch downward 15 degrees; yaw counterclockwise 14 degrees; close gripper;", + "subtask_movement_text": "move forward 46 mm; move left 40 mm; move downward 68 mm; roll downward 1 degrees; pitch upward 5 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 272, + "segment_id": 40537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned over the sink with a yellow object (apple) inside, and there is no visible motion or grasp action occurring, indicating the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink with a yellow object (apple) inside, and there is no visible motion or grasp action occurring, indicating the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move left 13 mm; move downward 23 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 124 mm; move right 31 mm; move upward 310 mm; roll upward 2 degrees; pitch downward 19 degrees; yaw counterclockwise 13 degrees; close gripper;\nSubtask Movement: move forward 30 mm; move left 25 mm; move downward 46 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [107,149], [113,156]\n", + "gripper_2d": [ + 91, + 149 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 107, + 149, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.015357143245637417, + 0.013214285485446453, + -0.022857142612338066, + -0.004285714123398066, + 0.02857142873108387, + 0.022857142612338066, + 1.0 + ], + "delta_next_20": [ + -0.12357143312692642, + -0.03142857179045677, + 0.30964288115501404, + 0.03142856806516647, + -0.3385714590549469, + 0.2199999988079071, + -1.0 + ], + "delta_full_state_norm": [ + 0.5731907784518788, + 0.3221738622174941, + -0.976204959413818, + 0.3752453728488201, + 0.8644065921708468, + 0.10305111866006023, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move left 13 mm; move downward 23 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 124 mm; move right 31 mm; move upward 310 mm; roll upward 2 degrees; pitch downward 19 degrees; yaw counterclockwise 13 degrees; close gripper;", + "subtask_movement_text": "move forward 30 mm; move left 25 mm; move downward 46 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 273, + "segment_id": 40537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned over the sink with a yellow object (apple) inside, and there is no visible motion or grasp action occurring, indicating the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink with a yellow object (apple) inside, and there is no visible motion or grasp action occurring, indicating the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move left 12 mm; move downward 23 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 160 mm; move right 46 mm; move upward 365 mm; roll upward 2 degrees; pitch downward 24 degrees; yaw counterclockwise 11 degrees; close gripper;\nSubtask Movement: move forward 14 mm; move left 12 mm; move downward 23 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [107,149], [113,156]\n", + "gripper_2d": [ + 90, + 150 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 107, + 149, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.01428571529686451, + 0.012142857536673546, + -0.022857142612338066, + -0.0028571428265422583, + 0.02857142873108387, + 0.02428571507334709, + 1.0 + ], + "delta_next_20": [ + -0.16035716235637665, + -0.04642857238650322, + 0.3646428883075714, + 0.0357142835855484, + -0.4171428680419922, + 0.19714286923408508, + -1.0 + ], + "delta_full_state_norm": [ + 0.533177471768413, + 0.2973753684331837, + -0.976204959413818, + 0.41453809540873476, + 0.8644065921708468, + 0.12607934259205145, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move left 12 mm; move downward 23 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 160 mm; move right 46 mm; move upward 365 mm; roll upward 2 degrees; pitch downward 24 degrees; yaw counterclockwise 11 degrees; close gripper;", + "subtask_movement_text": "move forward 14 mm; move left 12 mm; move downward 23 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 274, + "segment_id": 40537, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned over the sink with a yellow object (apple) inside, and there is no visible motion or grasp action occurring, indicating the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink with a yellow object (apple) inside, and there is no visible motion or grasp action occurring, indicating the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move left 11 mm; move downward 21 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 197 mm; move right 60 mm; move upward 420 mm; roll upward 2 degrees; pitch downward 28 degrees; yaw counterclockwise 10 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [107,149], [113,156]\n", + "gripper_2d": [ + 90, + 150 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 107, + 149, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.012857143767178059, + 0.010714286006987095, + -0.02142857201397419, + 0.0, + 0.03142857179045677, + 0.027142856270074844, + 1.0 + ], + "delta_next_20": [ + -0.19678571820259094, + -0.05964285880327225, + 0.4196428954601288, + 0.038571424782276154, + -0.49571433663368225, + 0.1728571355342865, + -1.0 + ], + "delta_full_state_norm": [ + 0.47982636140949597, + 0.2643106884983868, + -0.9273947470324763, + 0.49312354693254923, + 0.9322031995405462, + 0.17213573040530394, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move left 11 mm; move downward 21 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 197 mm; move right 60 mm; move upward 420 mm; roll upward 2 degrees; pitch downward 28 degrees; yaw counterclockwise 10 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 275, + "segment_id": 40675, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move left 8 mm; move downward 21 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 233 mm; move right 71 mm; move upward 474 mm; roll upward 2 degrees; pitch downward 33 degrees; yaw counterclockwise 8 degrees; close gripper;\nSubtask Movement: move backward 77 mm; move right 46 mm; move upward 211 mm; roll upward 2 degrees; pitch downward 12 degrees; yaw counterclockwise 8 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [106,149], [113,156]\n", + "gripper_2d": [ + 90, + 150 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 106, + 149, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + 0.007857142947614193, + -0.02071428671479225, + 0.0, + 0.03142857179045677, + 0.02857142873108387, + 1.0 + ], + "delta_next_20": [ + -0.23250000178813934, + -0.07071428745985031, + 0.47357144951820374, + 0.038571424782276154, + -0.5771428942680359, + 0.14571428298950195, + -1.0 + ], + "delta_full_state_norm": [ + 0.37312414069166144, + 0.19818132862879279, + -0.9029896408418054, + 0.49312354693254923, + 0.9322031995405462, + 0.19516395433729516, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move left 8 mm; move downward 21 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 233 mm; move right 71 mm; move upward 474 mm; roll upward 2 degrees; pitch downward 33 degrees; yaw counterclockwise 8 degrees; close gripper;", + "subtask_movement_text": "move backward 77 mm; move right 46 mm; move upward 211 mm; roll upward 2 degrees; pitch downward 12 degrees; yaw counterclockwise 8 degrees; close gripper;" + }, + { + "frame_index": 276, + "segment_id": 40675, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 5 mm; move downward 20 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 266 mm; move right 79 mm; move upward 527 mm; roll upward 2 degrees; pitch downward 38 degrees; yaw counterclockwise 7 degrees; close gripper;\nSubtask Movement: move backward 87 mm; move right 54 mm; move upward 232 mm; roll upward 2 degrees; pitch downward 13 degrees; yaw counterclockwise 7 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,115]\ndistr_sink: [106,149], [113,156]\n", + "gripper_2d": [ + 90, + 150 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 115 + ], + [ + 106, + 149, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + 0.005000000353902578, + -0.020357143133878708, + 0.0, + 0.027142856270074844, + 0.03142857179045677, + -1.0 + ], + "delta_next_20": [ + -0.2660714089870453, + -0.07857143133878708, + 0.5267857909202576, + 0.038571424782276154, + -0.6585714817047119, + 0.11714285612106323, + -1.0 + ], + "delta_full_state_norm": [ + 0.33311079922723263, + 0.13205197953705716, + -0.8907870559258146, + 0.49312354693254923, + 0.83050826638682, + 0.24122037217591252, + -1.0 + ], + "movement_text": "move forward 9 mm; move left 5 mm; move downward 20 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 266 mm; move right 79 mm; move upward 527 mm; roll upward 2 degrees; pitch downward 38 degrees; yaw counterclockwise 7 degrees; close gripper;", + "subtask_movement_text": "move backward 87 mm; move right 54 mm; move upward 232 mm; roll upward 2 degrees; pitch downward 13 degrees; yaw counterclockwise 7 degrees; close gripper;" + }, + { + "frame_index": 277, + "segment_id": 40675, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 300 mm; move right 84 mm; move upward 579 mm; roll upward 2 degrees; pitch downward 42 degrees; yaw counterclockwise 5 degrees; close gripper;\nSubtask Movement: move backward 96 mm; move right 59 mm; move upward 253 mm; roll upward 2 degrees; pitch downward 15 degrees; yaw counterclockwise 5 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,116]\ndistr_sink: [106,149], [113,156]\n", + "gripper_2d": [ + 90, + 150 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 116 + ], + [ + 106, + 149, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0039285714738070965, + 0.0, + -0.008928571827709675, + 0.0, + 0.012857142835855484, + 0.034285712987184525, + -1.0 + ], + "delta_next_20": [ + -0.2996428608894348, + -0.0835714265704155, + 0.5792858004570007, + 0.038571424782276154, + -0.7385714650154114, + 0.08571428805589676, + -1.0 + ], + "delta_full_state_norm": [ + 0.14638191297102243, + 0.016325599765267818, + -0.5003051341304934, + 0.49312354693254923, + 0.49152527373667754, + 0.287276759989165, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 300 mm; move right 84 mm; move upward 579 mm; roll upward 2 degrees; pitch downward 42 degrees; yaw counterclockwise 5 degrees; close gripper;", + "subtask_movement_text": "move backward 96 mm; move right 59 mm; move upward 253 mm; roll upward 2 degrees; pitch downward 15 degrees; yaw counterclockwise 5 degrees; close gripper;" + }, + { + "frame_index": 278, + "segment_id": 40675, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 329 mm; move right 84 mm; move upward 620 mm; roll upward 2 degrees; pitch downward 46 degrees; yaw counterclockwise 3 degrees; close gripper;\nSubtask Movement: move backward 100 mm; move right 59 mm; move upward 261 mm; roll upward 2 degrees; pitch downward 16 degrees; yaw counterclockwise 3 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,116]\ndistr_sink: [106,149], [113,156]\n", + "gripper_2d": [ + 90, + 150 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 116 + ], + [ + 106, + 149, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.04857143014669418, + -1.0 + ], + "delta_next_20": [ + -0.32928571105003357, + -0.0835714265704155, + 0.6200000643730164, + 0.038571424782276154, + -0.8042857646942139, + 0.051428571343421936, + -1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + 0.5175588792076169, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 329 mm; move right 84 mm; move upward 620 mm; roll upward 2 degrees; pitch downward 46 degrees; yaw counterclockwise 3 degrees; close gripper;", + "subtask_movement_text": "move backward 100 mm; move right 59 mm; move upward 261 mm; roll upward 2 degrees; pitch downward 16 degrees; yaw counterclockwise 3 degrees; close gripper;" + }, + { + "frame_index": 279, + "segment_id": 40675, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 3 mm; move upward 22 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 355 mm; move right 84 mm; move upward 651 mm; roll upward 2 degrees; pitch downward 49 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move backward 100 mm; move right 59 mm; move upward 261 mm; roll upward 2 degrees; pitch downward 16 degrees; yaw counterclockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,116]\ndistr_sink: [106,149], [113,156]\n", + "gripper_2d": [ + 90, + 150 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 116 + ], + [ + 106, + 149, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.008571429178118706, + -0.002500000176951289, + 0.022499999031424522, + 0.009999999776482582, + 0.0, + 0.0028571428265422583, + -1.0 + ], + "delta_next_20": [ + -0.35499998927116394, + -0.0835714265704155, + 0.6514286398887634, + 0.038571424782276154, + -0.8557143211364746, + 0.0028571428265422583, + -1.0 + ], + "delta_full_state_norm": [ + -0.3204402939742629, + -0.041537590120626855, + 0.5735201428514762, + 0.7681726240639075, + 0.18644056267220743, + -0.2193437799380673, + -1.0 + ], + "movement_text": "move backward 9 mm; move right 3 mm; move upward 22 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 355 mm; move right 84 mm; move upward 651 mm; roll upward 2 degrees; pitch downward 49 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 100 mm; move right 59 mm; move upward 261 mm; roll upward 2 degrees; pitch downward 16 degrees; yaw counterclockwise 0 degrees; close gripper;" + }, + { + "frame_index": 280, + "segment_id": 40675, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 9 mm; move upward 33 mm; roll upward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 372 mm; move right 81 mm; move upward 660 mm; roll upward 2 degrees; pitch downward 52 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 91 mm; move right 57 mm; move upward 239 mm; roll upward 2 degrees; pitch downward 16 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,116]\ndistr_sink: [105,149], [113,156]\n", + "gripper_2d": [ + 90, + 150 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 116 + ], + [ + 105, + 149, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.011071428656578064, + -0.009285714477300644, + 0.03321428596973419, + 0.0057142856530845165, + -0.03285714238882065, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.3724999725818634, + -0.08107142895460129, + 0.6600000262260437, + 0.02857142500579357, + -0.9057143330574036, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.41380471101664584, + -0.19859480903305415, + 0.939596990276782, + 0.6502944499801784, + -0.5932203557818037, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 9 mm; move upward 33 mm; roll upward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 372 mm; move right 81 mm; move upward 660 mm; roll upward 2 degrees; pitch downward 52 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 91 mm; move right 57 mm; move upward 239 mm; roll upward 2 degrees; pitch downward 16 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 281, + "segment_id": 40675, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 9 mm; move upward 33 mm; roll upward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 388 mm; move right 72 mm; move upward 659 mm; roll upward 1 degrees; pitch downward 53 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 80 mm; move right 47 mm; move upward 206 mm; roll upward 1 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,116]\ndistr_sink: [105,148], [113,156]\n", + "gripper_2d": [ + 90, + 149 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 116 + ], + [ + 105, + 148, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.010714286006987095, + -0.009285714477300644, + 0.03321428596973419, + 0.0071428571827709675, + -0.03285714238882065, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.38821426033973694, + -0.07178571820259094, + 0.658928632736206, + 0.022857138887047768, + -0.9228572249412537, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.4004669421221573, + -0.19859480903305415, + 0.939596990276782, + 0.6895871789440784, + -0.5932203557818037, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 9 mm; move upward 33 mm; roll upward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 388 mm; move right 72 mm; move upward 659 mm; roll upward 1 degrees; pitch downward 53 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 80 mm; move right 47 mm; move upward 206 mm; roll upward 1 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 282, + "segment_id": 40675, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 9 mm; move upward 33 mm; roll upward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 404 mm; move right 63 mm; move upward 659 mm; roll upward 1 degrees; pitch downward 54 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 69 mm; move right 38 mm; move upward 173 mm; roll upward 1 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,116]\ndistr_sink: [105,148], [113,156]\n", + "gripper_2d": [ + 90, + 148 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 116 + ], + [ + 105, + 148, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.011071428656578064, + -0.008928571827709675, + 0.03321428596973419, + 0.004285714123398066, + -0.037142857909202576, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.404285728931427, + -0.0625000074505806, + 0.6589285731315613, + 0.015714285895228386, + -0.9400001168251038, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.41380471101664584, + -0.190328644438284, + 0.939596990276782, + 0.6110017210162784, + -0.69491528893553, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 9 mm; move upward 33 mm; roll upward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 404 mm; move right 63 mm; move upward 659 mm; roll upward 1 degrees; pitch downward 54 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 69 mm; move right 38 mm; move upward 173 mm; roll upward 1 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 283, + "segment_id": 40675, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 9 mm; move upward 35 mm; roll upward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 420 mm; move right 54 mm; move upward 658 mm; roll upward 1 degrees; pitch downward 55 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 58 mm; move right 29 mm; move upward 139 mm; roll upward 1 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,116]\ndistr_sink: [105,148], [113,156]\n", + "gripper_2d": [ + 90, + 147 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 116 + ], + [ + 105, + 148, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.012500000186264515, + -0.008571429178118706, + 0.03464285656809807, + 0.0057142856530845165, + -0.03857142850756645, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.41999998688697815, + -0.0535714328289032, + 0.658214271068573, + 0.011428571306169033, + -0.9514286518096924, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.4671558213755631, + -0.18206247984351387, + 0.9884072026581237, + 0.6502944499801784, + -0.7288135705212024, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 9 mm; move upward 35 mm; roll upward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 420 mm; move right 54 mm; move upward 658 mm; roll upward 1 degrees; pitch downward 55 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 58 mm; move right 29 mm; move upward 139 mm; roll upward 1 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 284, + "segment_id": 40675, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 7 mm; move upward 35 mm; roll upward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 434 mm; move right 45 mm; move upward 659 mm; roll upward 0 degrees; pitch downward 55 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 46 mm; move right 21 mm; move upward 105 mm; roll upward 0 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,116]\ndistr_sink: [104,148], [113,156]\n", + "gripper_2d": [ + 91, + 146 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 116 + ], + [ + 104, + 148, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.01428571529686451, + -0.007142857648432255, + 0.03500000014901161, + 0.0014285714132711291, + -0.04285714402794838, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.4342857003211975, + -0.044999998062849045, + 0.6585714221000671, + 0.0057142856530845165, + -0.9628572463989258, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.5338447354099318, + -0.14899779990871698, + 1.0, + 0.5324162726944566, + -0.8305085036749288, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 7 mm; move upward 35 mm; roll upward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 434 mm; move right 45 mm; move upward 659 mm; roll upward 0 degrees; pitch downward 55 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 46 mm; move right 21 mm; move upward 105 mm; roll upward 0 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 285, + "segment_id": 40675, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 7 mm; move upward 35 mm; roll upward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 446 mm; move right 39 mm; move upward 659 mm; roll upward 0 degrees; pitch downward 55 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 31 mm; move right 14 mm; move upward 70 mm; roll upward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,116]\ndistr_sink: [104,148], [113,156]\n", + "gripper_2d": [ + 91, + 145 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 116 + ], + [ + 104, + 148, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.015714285895228386, + -0.006785714533179998, + 0.03500000014901161, + 0.0014285714132711291, + -0.044285714626312256, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.446428507566452, + -0.03857142850756645, + 0.6592857241630554, + 0.004285714123398066, + -0.9657143354415894, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.5871958109878861, + -0.14073162453608856, + 1.0, + 0.5324162726944566, + -0.8644067852606012, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 7 mm; move upward 35 mm; roll upward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 446 mm; move right 39 mm; move upward 659 mm; roll upward 0 degrees; pitch downward 55 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 31 mm; move right 14 mm; move upward 70 mm; roll upward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 286, + "segment_id": 40675, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 7 mm; move upward 35 mm; roll upward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 456 mm; move right 33 mm; move upward 661 mm; roll upward 0 degrees; pitch downward 55 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 16 mm; move right 7 mm; move upward 35 mm; roll upward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [203,109], [210,116]\ndistr_sink: [104,148], [113,156]\n", + "gripper_2d": [ + 91, + 144 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 116 + ], + [ + 104, + 148, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.015714285895228386, + -0.006785714533179998, + 0.03464285656809807, + 0.0014285714132711291, + -0.044285714626312256, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.45571428537368774, + -0.03321428596973419, + 0.6607142686843872, + 0.0028571428265422583, + -0.9671428799629211, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.5871958109878861, + -0.14073162453608856, + 0.9884072026581237, + 0.5324162726944566, + -0.8644067852606012, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 7 mm; move upward 35 mm; roll upward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 456 mm; move right 33 mm; move upward 661 mm; roll upward 0 degrees; pitch downward 55 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 16 mm; move right 7 mm; move upward 35 mm; roll upward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 287, + "segment_id": 40675, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and the end-effector remains stationary on top of the white object (the apple) inside the basin, indicating the completion of a placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 6 mm; move upward 34 mm; roll upward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 440 mm; move right 26 mm; move upward 626 mm; roll upward 0 degrees; pitch downward 53 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [94,150], [95,152]\ndistr_counter: [203,109], [210,116]\ndistr_sink: [102,148], [113,156]\n", + "gripper_2d": [ + 92, + 143 + ], + "task_obj_bbox": [ + 94, + 150, + 95, + 152 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 116 + ], + [ + 102, + 148, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.015714285895228386, + -0.0057142856530845165, + 0.03428571671247482, + 0.0014285714132711291, + -0.041428569704294205, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.4399999678134918, + -0.026428574696183205, + 0.6260714530944824, + 0.0014285714132711291, + -0.9228571057319641, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.5871958109878861, + -0.11593310919606181, + 0.9762047450247544, + 0.5324162726944566, + -0.7966101336925473, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 6 mm; move upward 34 mm; roll upward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 440 mm; move right 26 mm; move upward 626 mm; roll upward 0 degrees; pitch downward 53 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 288, + "segment_id": 50675, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its gripper making contact with the yellow object, indicating it is releasing or adjusting the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its gripper making contact with the yellow object, indicating it is releasing or adjusting the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 5 mm; move upward 34 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 424 mm; move right 21 mm; move upward 592 mm; roll downward 0 degrees; pitch downward 51 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 188 mm; move right 19 mm; move upward 292 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [94,150], [95,152]\ndistr_counter: [203,109], [210,116]\ndistr_sink: [102,148], [113,156]\n", + "gripper_2d": [ + 92, + 143 + ], + "task_obj_bbox": [ + 94, + 150, + 95, + 152 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 116 + ], + [ + 102, + 148, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.01714285835623741, + -0.0053571430034935474, + 0.033571429550647736, + 0.0, + -0.04285714402794838, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.4242857098579407, + -0.0207142885774374, + 0.591785728931427, + 0.0, + -0.8814285397529602, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.6405469561277664, + -0.10766694460129167, + 0.9517995751927728, + 0.49312354693254923, + -0.8305085036749288, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 17 mm; move right 5 mm; move upward 34 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 424 mm; move right 21 mm; move upward 592 mm; roll downward 0 degrees; pitch downward 51 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 188 mm; move right 19 mm; move upward 292 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 289, + "segment_id": 50675, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its gripper making contact with the yellow object, indicating it is releasing or adjusting the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its gripper making contact with the yellow object, indicating it is releasing or adjusting the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 18 mm; move right 4 mm; move upward 33 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 407 mm; move right 15 mm; move upward 558 mm; roll downward 0 degrees; pitch downward 48 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 171 mm; move right 13 mm; move upward 259 mm; roll downward 0 degrees; pitch downward 23 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [90,149], [95,152]\ndistr_counter: [203,109], [210,116]\ndistr_sink: [100,149], [113,156]\n", + "gripper_2d": [ + 92, + 142 + ], + "task_obj_bbox": [ + 90, + 149, + 95, + 152 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 116 + ], + [ + 100, + 149, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.01785714365541935, + -0.0039285714738070965, + 0.03285714611411095, + 0.0, + -0.044285714626312256, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.40714284777641296, + -0.015357144176959991, + 0.5582143068313599, + 0.0, + -0.8385713696479797, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.6672224939167435, + -0.07460226466649467, + 0.9273945326434125, + 0.49312354693254923, + -0.8644067852606012, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 18 mm; move right 4 mm; move upward 33 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 407 mm; move right 15 mm; move upward 558 mm; roll downward 0 degrees; pitch downward 48 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 171 mm; move right 13 mm; move upward 259 mm; roll downward 0 degrees; pitch downward 23 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 290, + "segment_id": 50675, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its gripper making contact with the yellow object, indicating it is releasing or adjusting the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its gripper making contact with the yellow object, indicating it is releasing or adjusting the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 19 mm; move right 3 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 389 mm; move right 11 mm; move upward 525 mm; roll downward 0 degrees; pitch downward 46 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 153 mm; move right 9 mm; move upward 226 mm; roll downward 0 degrees; pitch downward 20 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [90,148], [96,152]\ndistr_counter: [203,109], [210,116]\ndistr_sink: [100,149], [113,156]\n", + "gripper_2d": [ + 93, + 141 + ], + "task_obj_bbox": [ + 90, + 148, + 96, + 152 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 116 + ], + [ + 100, + 149, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.018571428954601288, + -0.0032142859417945147, + 0.03214285895228386, + 0.0, + -0.04714285582304001, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.38928571343421936, + -0.011428571306169033, + 0.525357186794281, + 0.0, + -0.7942856550216675, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.6938980317057206, + -0.0580699300880253, + 0.9029893628114309, + 0.49312354693254923, + -0.9322033484319461, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 19 mm; move right 3 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 389 mm; move right 11 mm; move upward 525 mm; roll downward 0 degrees; pitch downward 46 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 153 mm; move right 9 mm; move upward 226 mm; roll downward 0 degrees; pitch downward 20 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 291, + "segment_id": 50675, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its gripper making contact with the yellow object, indicating it is releasing or adjusting the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its gripper making contact with the yellow object, indicating it is releasing or adjusting the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 3 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 371 mm; move right 8 mm; move upward 493 mm; roll downward 0 degrees; pitch downward 43 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 135 mm; move right 6 mm; move upward 194 mm; roll downward 0 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [90,148], [96,152]\ndistr_counter: [96,109], [210,148]\ndistr_sink: [97,149], [113,156]\n", + "gripper_2d": [ + 93, + 141 + ], + "task_obj_bbox": [ + 90, + 148, + 96, + 152 + ], + "distractor_bboxes": [ + [ + 96, + 109, + 210, + 148 + ], + [ + 97, + 149, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.020000001415610313, + -0.0028571428265422583, + 0.032499998807907104, + 0.0, + -0.05000000074505806, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.3707142770290375, + -0.008214286528527737, + 0.49321433901786804, + 0.0, + -0.7471427917480469, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.7472491768456009, + -0.049803754715397, + 0.9151918204448004, + 0.49312354693254923, + -1.0, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 20 mm; move right 3 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 371 mm; move right 8 mm; move upward 493 mm; roll downward 0 degrees; pitch downward 43 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 135 mm; move right 6 mm; move upward 194 mm; roll downward 0 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 292, + "segment_id": 50675, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its gripper making contact with the yellow object, indicating it is releasing or adjusting the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its gripper making contact with the yellow object, indicating it is releasing or adjusting the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 2 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 351 mm; move right 5 mm; move upward 461 mm; roll downward 0 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 115 mm; move right 3 mm; move upward 161 mm; roll downward 0 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [89,148], [96,152]\ndistr_counter: [96,109], [210,148]\ndistr_sink: [96,147], [113,156]\n", + "gripper_2d": [ + 93, + 140 + ], + "task_obj_bbox": [ + 89, + 148, + 96, + 152 + ], + "distractor_bboxes": [ + [ + 96, + 109, + 210, + 148 + ], + [ + 96, + 147, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.02142857201397419, + -0.0017857144121080637, + 0.03214285895228386, + 0.0, + -0.05000000074505806, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.3507142961025238, + -0.0053571430034935474, + 0.4607142508029938, + 0.0, + -0.6971428394317627, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8006002524235551, + -0.02500525015322841, + 0.9029893628114309, + 0.49312354693254923, + -1.0, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 21 mm; move right 2 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 351 mm; move right 5 mm; move upward 461 mm; roll downward 0 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 115 mm; move right 3 mm; move upward 161 mm; roll downward 0 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 293, + "segment_id": 50675, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its gripper making contact with the yellow object, indicating it is releasing or adjusting the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its gripper making contact with the yellow object, indicating it is releasing or adjusting the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 1 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 329 mm; move right 4 mm; move upward 429 mm; roll downward 0 degrees; pitch downward 37 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 93 mm; move right 1 mm; move upward 129 mm; roll downward 0 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [89,148], [96,152]\ndistr_counter: [96,109], [210,148]\ndistr_sink: [96,146], [113,156]\n", + "gripper_2d": [ + 93, + 139 + ], + "task_obj_bbox": [ + 89, + 148, + 96, + 152 + ], + "distractor_bboxes": [ + [ + 96, + 109, + 210, + 148 + ], + [ + 96, + 146, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.022142857313156128, + -0.0010714286472648382, + 0.03214285895228386, + 0.0, + -0.05000000074505806, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.32928571105003357, + -0.0035714288242161274, + 0.4285714328289032, + 0.0, + -0.6471428275108337, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8272757902125323, + -0.008472910185829852, + 0.9029893628114309, + 0.49312354693254923, + -1.0, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 1 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 329 mm; move right 4 mm; move upward 429 mm; roll downward 0 degrees; pitch downward 37 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 93 mm; move right 1 mm; move upward 129 mm; roll downward 0 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 294, + "segment_id": 50675, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its gripper making contact with the yellow object, indicating it is releasing or adjusting the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its gripper making contact with the yellow object, indicating it is releasing or adjusting the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 23 mm; move right 0 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 307 mm; move right 3 mm; move upward 396 mm; roll downward 0 degrees; pitch downward 34 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 71 mm; move right 0 mm; move upward 97 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [89,148], [96,152]\ndistr_counter: [96,109], [210,148]\ndistr_sink: [96,146], [113,156]\n", + "gripper_2d": [ + 93, + 139 + ], + "task_obj_bbox": [ + 89, + 148, + 96, + 152 + ], + "distractor_bboxes": [ + [ + 96, + 109, + 210, + 148 + ], + [ + 96, + 146, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.022857142612338066, + -0.0003571428533177823, + 0.032499998807907104, + 0.0, + -0.05000000074505806, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.30714285373687744, + -0.002500000176951289, + 0.39642855525016785, + 0.0, + -0.5971428155899048, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8539513280015094, + 0.008059430455184646, + 0.9151918204448004, + 0.49312354693254923, + -1.0, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 23 mm; move right 0 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 307 mm; move right 3 mm; move upward 396 mm; roll downward 0 degrees; pitch downward 34 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 71 mm; move right 0 mm; move upward 97 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 295, + "segment_id": 50675, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its gripper making contact with the yellow object, indicating it is releasing or adjusting the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its gripper making contact with the yellow object, indicating it is releasing or adjusting the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 24 mm; move right 0 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 284 mm; move right 2 mm; move upward 364 mm; roll downward 0 degrees; pitch downward 31 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 48 mm; move right 0 mm; move upward 65 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [89,148], [96,152]\ndistr_counter: [96,109], [210,148]\ndistr_sink: [96,146], [113,156]\n", + "gripper_2d": [ + 94, + 138 + ], + "task_obj_bbox": [ + 89, + 148, + 96, + 152 + ], + "distractor_bboxes": [ + [ + 96, + 109, + 210, + 148 + ], + [ + 96, + 146, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.023571429774165154, + 0.0, + 0.032499998807907104, + 0.0, + -0.05000000074505806, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.2842857241630554, + -0.0021428572945296764, + 0.36392858624458313, + 0.0, + -0.5471428632736206, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8806269353524124, + 0.016325599765267818, + 0.9151918204448004, + 0.49312354693254923, + -1.0, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 24 mm; move right 0 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 284 mm; move right 2 mm; move upward 364 mm; roll downward 0 degrees; pitch downward 31 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 48 mm; move right 0 mm; move upward 65 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 296, + "segment_id": 50675, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its gripper making contact with the yellow object, indicating it is releasing or adjusting the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its gripper making contact with the yellow object, indicating it is releasing or adjusting the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 25 mm; move right 0 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 261 mm; move right 2 mm; move upward 331 mm; roll downward 0 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 25 mm; move right 0 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [89,148], [96,152]\ndistr_counter: [96,109], [210,148]\ndistr_sink: [96,145], [113,156]\n", + "gripper_2d": [ + 94, + 138 + ], + "task_obj_bbox": [ + 89, + 148, + 96, + 152 + ], + "distractor_bboxes": [ + [ + 96, + 109, + 210, + 148 + ], + [ + 96, + 145, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.024642856791615486, + 0.0, + 0.03214285895228386, + 0.0, + -0.05285714194178581, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.26071426272392273, + -0.0021428572945296764, + 0.33142855763435364, + 0.0, + -0.49714288115501404, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.9206402072549152, + 0.016325599765267818, + 0.9029893628114309, + 0.49312354693254923, + -1.0, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 25 mm; move right 0 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 261 mm; move right 2 mm; move upward 331 mm; roll downward 0 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 25 mm; move right 0 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 297, + "segment_id": 50675, + "subtask": "place the apple in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its gripper making contact with the yellow object, indicating it is releasing or adjusting the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its gripper making contact with the yellow object, indicating it is releasing or adjusting the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 26 mm; move right 0 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 236 mm; move right 2 mm; move upward 299 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [89,148], [96,152]\ndistr_counter: [96,109], [210,148]\ndistr_sink: [96,144], [113,156]\n", + "gripper_2d": [ + 94, + 137 + ], + "task_obj_bbox": [ + 89, + 148, + 96, + 152 + ], + "distractor_bboxes": [ + [ + 96, + 109, + 210, + 148 + ], + [ + 96, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.025714287534356117, + 0.0, + 0.031785715371370316, + 0.0, + -0.05285714194178581, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.2360714226961136, + -0.0021428572945296764, + 0.2992857098579407, + 0.0, + -0.4442857503890991, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.9606536182812698, + 0.016325599765267818, + 0.8907867778954404, + 0.49312354693254923, + -1.0, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 26 mm; move right 0 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 236 mm; move right 2 mm; move upward 299 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 298, + "segment_id": 60675, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with a white object (the apple) visible inside, indicating the final placement action. The arm maintains this static pose relative to the sink across all frames.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with a white object (the apple) visible inside, indicating the final placement action. The arm maintains this static pose relative to the sink across all frames.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 26 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 210 mm; move right 2 mm; move upward 268 mm; roll downward 0 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 185 mm; move right 1 mm; move upward 231 mm; roll downward 0 degrees; pitch downward 20 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [89,148], [96,152]\ndistr_counter: [96,109], [210,148]\ndistr_sink: [96,144], [113,156]\n", + "gripper_2d": [ + 94, + 137 + ], + "task_obj_bbox": [ + 89, + 148, + 96, + 152 + ], + "distractor_bboxes": [ + [ + 96, + 109, + 210, + 148 + ], + [ + 96, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.025714287534356117, + 0.0, + 0.03142857179045677, + 0.0, + -0.051428571343421936, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.21035714447498322, + -0.0021428572945296764, + 0.26750001311302185, + 0.0, + -0.3914285898208618, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.9606536182812698, + 0.016325599765267818, + 0.8785841929794496, + 0.49312354693254923, + -1.0, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 26 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 210 mm; move right 2 mm; move upward 268 mm; roll downward 0 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 185 mm; move right 1 mm; move upward 231 mm; roll downward 0 degrees; pitch downward 20 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 299, + "segment_id": 60675, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with a white object (the apple) visible inside, indicating the final placement action. The arm maintains this static pose relative to the sink across all frames.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with a white object (the apple) visible inside, indicating the final placement action. The arm maintains this static pose relative to the sink across all frames.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 26 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 185 mm; move right 2 mm; move upward 236 mm; roll downward 0 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 160 mm; move right 1 mm; move upward 200 mm; roll downward 0 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [89,147], [96,152]\ndistr_counter: [96,109], [210,148]\ndistr_sink: [97,144], [113,156]\n", + "gripper_2d": [ + 94, + 137 + ], + "task_obj_bbox": [ + 89, + 147, + 96, + 152 + ], + "distractor_bboxes": [ + [ + 96, + 109, + 210, + 148 + ], + [ + 97, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.02607142925262451, + 0.0, + 0.031071428209543228, + 0.0, + -0.05000000074505806, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.18464285135269165, + -0.0021428572945296764, + 0.2360714226961136, + 0.0, + -0.3400000035762787, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.9739913523947954, + 0.016325599765267818, + 0.8663816080634588, + 0.49312354693254923, + -1.0, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 26 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 185 mm; move right 2 mm; move upward 236 mm; roll downward 0 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 160 mm; move right 1 mm; move upward 200 mm; roll downward 0 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 300, + "segment_id": 60675, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with a white object (the apple) visible inside, indicating the final placement action. The arm maintains this static pose relative to the sink across all frames.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with a white object (the apple) visible inside, indicating the final placement action. The arm maintains this static pose relative to the sink across all frames.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 27 mm; move right 0 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 159 mm; move right 2 mm; move upward 205 mm; roll downward 0 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 134 mm; move right 1 mm; move upward 169 mm; roll downward 0 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [89,147], [96,152]\ndistr_counter: [96,109], [210,148]\ndistr_sink: [97,144], [113,156]\n", + "gripper_2d": [ + 94, + 136 + ], + "task_obj_bbox": [ + 89, + 147, + 96, + 152 + ], + "distractor_bboxes": [ + [ + 96, + 109, + 210, + 148 + ], + [ + 97, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.02678571455180645, + 0.0, + 0.03214285895228386, + 0.0, + -0.05000000074505806, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.15857142210006714, + -0.0021428572945296764, + 0.20499999821186066, + 0.0, + -0.28999999165534973, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.016325599765267818, + 0.9029893628114309, + 0.49312354693254923, + -1.0, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 27 mm; move right 0 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 159 mm; move right 2 mm; move upward 205 mm; roll downward 0 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 134 mm; move right 1 mm; move upward 169 mm; roll downward 0 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 301, + "segment_id": 60675, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with a white object (the apple) visible inside, indicating the final placement action. The arm maintains this static pose relative to the sink across all frames.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with a white object (the apple) visible inside, indicating the final placement action. The arm maintains this static pose relative to the sink across all frames.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 27 mm; move right 0 mm; move upward 33 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 132 mm; move right 2 mm; move upward 173 mm; roll downward 0 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 107 mm; move right 1 mm; move upward 136 mm; roll downward 0 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [89,147], [96,152]\ndistr_counter: [203,109], [210,116]\ndistr_sink: [97,144], [113,156]\n", + "gripper_2d": [ + 94, + 136 + ], + "task_obj_bbox": [ + 89, + 147, + 96, + 152 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 116 + ], + [ + 97, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.02678571455180645, + 0.0, + 0.03321428596973419, + 0.0, + -0.05000000074505806, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.13178572058677673, + -0.0021428572945296764, + 0.1728571504354477, + 0.0, + -0.24000000953674316, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.016325599765267818, + 0.939596990276782, + 0.49312354693254923, + -1.0, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 27 mm; move right 0 mm; move upward 33 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 132 mm; move right 2 mm; move upward 173 mm; roll downward 0 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 107 mm; move right 1 mm; move upward 136 mm; roll downward 0 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 302, + "segment_id": 60675, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with a white object (the apple) visible inside, indicating the final placement action. The arm maintains this static pose relative to the sink across all frames.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with a white object (the apple) visible inside, indicating the final placement action. The arm maintains this static pose relative to the sink across all frames.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 27 mm; move right 0 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 105 mm; move right 2 mm; move upward 140 mm; roll downward 0 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 80 mm; move right 1 mm; move upward 103 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [89,147], [96,152]\ndistr_counter: [203,109], [210,116]\ndistr_sink: [97,144], [113,156]\n", + "gripper_2d": [ + 94, + 136 + ], + "task_obj_bbox": [ + 89, + 147, + 96, + 152 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 116 + ], + [ + 97, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.02678571455180645, + 0.0, + 0.032499998807907104, + 0.0, + -0.04857143014669418, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.10499999672174454, + -0.0021428572945296764, + 0.1396428644657135, + 0.0, + -0.1900000125169754, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.016325599765267818, + 0.9151918204448004, + 0.49312354693254923, + -0.9661017184143276, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 27 mm; move right 0 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 105 mm; move right 2 mm; move upward 140 mm; roll downward 0 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 80 mm; move right 1 mm; move upward 103 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 303, + "segment_id": 60675, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with a white object (the apple) visible inside, indicating the final placement action. The arm maintains this static pose relative to the sink across all frames.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with a white object (the apple) visible inside, indicating the final placement action. The arm maintains this static pose relative to the sink across all frames.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 27 mm; move right 0 mm; move upward 35 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 78 mm; move right 2 mm; move upward 107 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 53 mm; move right 1 mm; move upward 71 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [89,147], [96,152]\ndistr_counter: [203,109], [210,116]\ndistr_sink: [97,144], [113,156]\n", + "gripper_2d": [ + 95, + 136 + ], + "task_obj_bbox": [ + 89, + 147, + 96, + 152 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 116 + ], + [ + 97, + 144, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.02678571455180645, + 0.0, + 0.03500000014901161, + 0.0, + -0.05000000074505806, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.07821428775787354, + -0.0021428572945296764, + 0.1071428582072258, + 0.0, + -0.14142857491970062, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.016325599765267818, + 1.0, + 0.49312354693254923, + -1.0, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 27 mm; move right 0 mm; move upward 35 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 78 mm; move right 2 mm; move upward 107 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 53 mm; move right 1 mm; move upward 71 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 304, + "segment_id": 60675, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with a white object (the apple) visible inside, indicating the final placement action. The arm maintains this static pose relative to the sink across all frames.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with a white object (the apple) visible inside, indicating the final placement action. The arm maintains this static pose relative to the sink across all frames.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 26 mm; move right 1 mm; move upward 36 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 51 mm; move right 2 mm; move upward 72 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 26 mm; move right 1 mm; move upward 36 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [89,147], [96,152]\ndistr_counter: [203,109], [210,116]\ndistr_sink: [97,145], [113,156]\n", + "gripper_2d": [ + 95, + 135 + ], + "task_obj_bbox": [ + 89, + 147, + 96, + 152 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 116 + ], + [ + 97, + 145, + 113, + 156 + ] + ], + "delta_full_state": [ + -0.026428570970892906, + -0.0007142857066355646, + 0.0357142873108387, + 0.0, + -0.04571428522467613, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.05142856761813164, + -0.0021428572945296764, + 0.07214286178350449, + 0.0, + -0.09142857044935226, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.9873290865083211, + -0.00020673885489841393, + 1.0, + 0.49312354693254923, + -0.8983050668462736, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 26 mm; move right 1 mm; move upward 36 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 51 mm; move right 2 mm; move upward 72 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 26 mm; move right 1 mm; move upward 36 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 305, + "segment_id": 60675, + "subtask": "place the apple in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin with a white object (the apple) visible inside, indicating the final placement action. The arm maintains this static pose relative to the sink across all frames.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the apple from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the apple\n2. move to the sink\n3. place the apple in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the apple in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin with a white object (the apple) visible inside, indicating the final placement action. The arm maintains this static pose relative to the sink across all frames.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 25 mm; move right 1 mm; move upward 36 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [89,147], [96,152]\ndistr_counter: [203,109], [210,116]\ndistr_sink: [97,145], [113,156]\n", + "gripper_2d": [ + 95, + 135 + ], + "task_obj_bbox": [ + 89, + 147, + 96, + 152 + ], + "distractor_bboxes": [ + [ + 203, + 109, + 210, + 116 + ], + [ + 97, + 145, + 113, + 156 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.02500000037252903, + -0.0014285714132711291, + 0.03642857074737549, + 0.0, + -0.04571428522467613, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.0003336318207594058, + 0.016325599765267818, + -0.1952411158231755, + 0.49312354693254923, + 0.18644056267220743, + -0.2654001940235141, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 25 mm; move right 1 mm; move upward 36 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + } + ], + "all_object_names": [ + "obj", + "distr_counter", + "distr_sink" + ], + "obj_cat": "obj", + "distr_cats": [ + "distr_counter", + "distr_sink" + ], + "grounding_camera": "robot0_agentview_left", + "grounding_method": "self_render_selfconsistent" +} \ No newline at end of file diff --git a/grounding_cot/PnPCounterToSink/extras/episode_000008/cot_annotations.json b/grounding_cot/PnPCounterToSink/extras/episode_000008/cot_annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..53eefa949b6f5bd1c28604576ef568b56e28ee09 --- /dev/null +++ b/grounding_cot/PnPCounterToSink/extras/episode_000008/cot_annotations.json @@ -0,0 +1,27327 @@ +{ + "sample_key": "PnPCounterToSink|8", + "subtask_list": [ + "approach the green cup", + "grasp the green cup", + "lift the green cup", + "move to the sink", + "place the green cup in the sink" + ], + "segment_labels_raw": { + "1": [ + "approach the green cup", + "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped." + ], + "2": [ + "grasp the green cup", + "The robot's end-effector is positioned directly over the green cup on the counter with its gripper closed, indicating a grasping action." + ], + "3": [ + "lift the green cup", + "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object." + ], + "4": [ + "lift the green cup", + "The robot's arm is positioned directly over the counter, holding the green cup in a static pose consistent with maintaining a grasp after lifting it from the surface." + ], + "5": [ + "move to the sink", + "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object." + ], + "6": [ + "move to the sink", + "The robot arm is positioned at the sink, moving towards the faucet handle, consistent with the action of approaching the sink area." + ], + "7": [ + "move to the sink", + "The robot's arm is positioned near the sink area, approaching the faucet handle and the blue object within the basin. The end-effector has not yet made contact with the cup or grasped it, indicating the motion phase of moving towards the target location." + ], + "8": [ + "move to the sink", + "The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet." + ], + "9": [ + "place the green cup in the sink", + "The robot's end-effector is positioned directly over the sink basin, holding the green cup. The arm is angled downwards into the sink area, consistent with the motion required to release the object into the target location." + ], + "10": [ + "place the green cup in the sink", + "The robot arm is positioned over the sink with the end-effector in contact with the green cup, holding it directly above the basin to release it." + ], + "11": [ + "place the green cup in the sink", + "The robot arm is positioned directly over the sink basin with the end-effector holding the green cup. The hand is oriented downwards towards the sink, consistent with the action of releasing or placing the object into the target location." + ], + "12": [ + "place the green cup in the sink", + "The robot's end-effector is positioned directly over the sink basin, holding the green cup steady. The arm orientation suggests a static placement or final adjustment phase rather than active lifting or lateral movement." + ], + "13": [ + "place the green cup in the sink", + "The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action." + ], + "14": [ + "place the green cup in the sink", + "The robot arm is positioned directly over the sink basin with its gripper closed, indicating it is performing the action of placing or releasing an object into the sink." + ], + "15": [ + "place the green cup in the sink", + "The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location." + ], + "16": [ + "place the green cup in the sink", + "The robot arm is positioned directly over the sink with the green cup held at a low height, consistent with the final placement action." + ], + "17": [ + "place the green cup in the sink", + "The robot's end-effector is positioned directly over the sink, holding the green cup. The object remains stationary within the basin across all frames, indicating the completion of the placement action." + ], + "18": [ + "place the green cup in the sink", + "The robot arm is positioned over the sink with the green cup resting inside the basin. The end-effector appears stationary or settling, indicating the completion of the placement action." + ], + "19": [ + "place the green cup in the sink", + "The robot arm is positioned over the sink with its end-effector in contact with the green cup, which is resting inside the basin; this matches the final placement action." + ], + "20": [ + "place the green cup in the sink", + "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task." + ] + }, + "instruction": "pick the cup from the counter and place it in the sink", + "suite": "PnPCounterToSink", + "num_frames": 445, + "segment_count": 20, + "movement_statistics": { + "mean": [ + 0.002509630929738848, + -0.001991171801261332, + -0.0017231140981606218, + -0.0018908507182796518, + 0.002866773690316784, + 0.023252006451170263, + -0.24044943820224718 + ], + "std": [ + 0.00940285566484798, + 0.01311021176749487, + 0.012378373581032233, + 0.009029342020144928, + 0.022197853244108706, + 0.040957861763148945, + 0.9706616648803102 + ], + "Q1": [ + -0.016785714775323868, + -0.0254000011831522, + -0.020200000777840614, + -0.03857142850756645, + -0.09445714384317398, + -0.05428571254014969, + -1.0 + ], + "Q99": [ + 0.01877142831683159, + 0.030200000554323196, + 0.03968571648001671, + 0.02142857201397419, + 0.07080000191926956, + 0.11222857117652893, + 1.0 + ] + }, + "frames": [ + { + "frame_index": 0, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 175 mm; move right 127 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 473 mm; move right 551 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,121], [167,137]\n", + "gripper_2d": [ + 147, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 121, + 167, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.17499999701976776, + -0.1267857402563095, + 0.0, + 0.0, + 0.0, + -0.004285714123398066, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.0991779480882704, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 175 mm; move right 127 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 473 mm; move right 551 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 1, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 188 mm; move right 143 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 473 mm; move right 551 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,122], [167,137]\n", + "gripper_2d": [ + 147, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 122, + 167, + 137 + ] + ], + "delta_full_state": [ + -0.0028571428265422583, + -0.0010714286472648382, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.18785713613033295, + -0.1428571492433548, + 0.0, + 0.0, + 0.0, + -0.004285714123398066, + -1.0 + ], + "delta_full_state_norm": [ + -0.21655302871508564, + -0.12487167625939655, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 3 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 188 mm; move right 143 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 473 mm; move right 551 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 2, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 198 mm; move right 159 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 470 mm; move right 550 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,122], [167,137]\n", + "gripper_2d": [ + 147, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 122, + 167, + 137 + ] + ], + "delta_full_state": [ + -0.0039285714738070965, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.19785714149475098, + -0.15928570926189423, + 0.0, + 0.0, + 0.0, + -0.004285714123398066, + -1.0 + ], + "delta_full_state_norm": [ + -0.2768181823671768, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 198 mm; move right 159 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 470 mm; move right 550 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 3, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 207 mm; move right 177 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 466 mm; move right 550 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,122], [167,137]\n", + "gripper_2d": [ + 148, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 122, + 167, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.20678570866584778, + -0.17714285850524902, + 0.0, + 0.0, + 0.0, + -0.004285714123398066, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 207 mm; move right 177 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 466 mm; move right 550 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 4, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 220 mm; move right 195 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 466 mm; move right 550 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,122], [167,137]\n", + "gripper_2d": [ + 148, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 122, + 167, + 137 + ] + ], + "delta_full_state": [ + -0.0032142859417945147, + -0.0007142857066355646, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.21964286267757416, + -0.19535714387893677, + 0.0, + 0.0, + 0.0, + -0.004285714123398066, + -1.0 + ], + "delta_full_state_norm": [ + -0.23664142636191798, + -0.11202481060348324, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 3 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 220 mm; move right 195 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 466 mm; move right 550 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 5, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 229 mm; move right 215 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 463 mm; move right 549 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,122], [167,137]\n", + "gripper_2d": [ + 148, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 122, + 167, + 137 + ] + ], + "delta_full_state": [ + -0.0057142856530845165, + -0.0017857144121080637, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.22928574681282043, + -0.21464286744594574, + 0.0, + 0.0, + 0.0, + -0.004285714123398066, + -1.0 + ], + "delta_full_state_norm": [ + -0.3772600920245268, + -0.15056540338362245, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 6 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 229 mm; move right 215 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 463 mm; move right 549 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 6, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 236 mm; move right 233 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 457 mm; move right 547 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,122], [167,137]\n", + "gripper_2d": [ + 148, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 122, + 167, + 137 + ] + ], + "delta_full_state": [ + -0.006785714533179998, + -0.0014285714132711291, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.2360714226961136, + -0.23321425914764404, + 0.0, + 0.0, + 0.0, + -0.004285714123398066, + -1.0 + ], + "delta_full_state_norm": [ + -0.43752525877275317, + -0.1377185356339089, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 7 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 236 mm; move right 233 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 457 mm; move right 547 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 7, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 242 mm; move right 252 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 450 mm; move right 546 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,122], [167,137]\n", + "gripper_2d": [ + 148, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 122, + 167, + 137 + ] + ], + "delta_full_state": [ + -0.008214286528527737, + -0.002500000176951289, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.24249999225139618, + -0.2524999976158142, + 0.0, + 0.0, + 0.0, + -0.00714285671710968, + -1.0 + ], + "delta_full_state_norm": [ + -0.517878823167812, + -0.17625913050784836, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 8 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 242 mm; move right 252 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 450 mm; move right 546 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 8, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 250 mm; move right 272 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nSubtask Movement: move backward 442 mm; move right 543 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,122], [167,137]\n", + "gripper_2d": [ + 148, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 122, + 167, + 137 + ] + ], + "delta_full_state": [ + -0.009642857126891613, + -0.0035714288242161274, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.24964283406734467, + -0.271785706281662, + 0.0, + 0.0, + 0.0, + -0.019999999552965164, + -1.0 + ], + "delta_full_state_norm": [ + -0.5982323089860591, + -0.21479972119418722, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 10 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 250 mm; move right 272 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "subtask_movement_text": "move backward 442 mm; move right 543 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 9, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 257 mm; move right 291 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nSubtask Movement: move backward 432 mm; move right 540 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,122], [167,137]\n", + "gripper_2d": [ + 148, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 122, + 167, + 137 + ] + ], + "delta_full_state": [ + -0.010357143357396126, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.25678569078445435, + -0.29071423411369324, + 0.0, + 0.0, + 0.0, + -0.04285714030265808, + -1.0 + ], + "delta_full_state_norm": [ + -0.6384091042797237, + -0.24049344831841313, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 10 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 257 mm; move right 291 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "subtask_movement_text": "move backward 432 mm; move right 540 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 10, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 263 mm; move right 309 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; close gripper;\nSubtask Movement: move backward 422 mm; move right 535 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,122], [167,137]\n", + "gripper_2d": [ + 149, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 122, + 167, + 137 + ] + ], + "delta_full_state": [ + -0.011071428656578064, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.26321426033973694, + -0.3085714280605316, + 0.0, + 0.0, + 0.0, + -0.07428571581840515, + -1.0 + ], + "delta_full_state_norm": [ + -0.6785858471888473, + -0.2790340306295508, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 263 mm; move right 309 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; close gripper;", + "subtask_movement_text": "move backward 422 mm; move right 535 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 11, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 269 mm; move right 326 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; close gripper;\nSubtask Movement: move backward 411 mm; move right 530 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,121], [167,137]\n", + "gripper_2d": [ + 149, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 121, + 167, + 137 + ] + ], + "delta_full_state": [ + -0.011071428656578064, + -0.0057142856530845165, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.26892855763435364, + -0.32607144117355347, + 0.0, + 0.0, + 0.0, + -0.1071428582072258, + -1.0 + ], + "delta_full_state_norm": [ + -0.6785858471888473, + -0.29188088581646243, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 269 mm; move right 326 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; close gripper;", + "subtask_movement_text": "move backward 411 mm; move right 530 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 12, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 7 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 275 mm; move right 343 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; close gripper;\nSubtask Movement: move backward 400 mm; move right 524 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,121], [167,137]\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 121, + 167, + 137 + ] + ], + "delta_full_state": [ + -0.011428571306169033, + -0.007142857648432255, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.2750000059604645, + -0.3432142734527588, + 0.0, + 0.0, + 0.0, + -0.14142857491970062, + -1.0 + ], + "delta_full_state_norm": [ + -0.698674218643409, + -0.34326835681531676, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 7 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 275 mm; move right 343 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; close gripper;", + "subtask_movement_text": "move backward 400 mm; move right 524 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 13, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 9 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 280 mm; move right 359 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 10 degrees; close gripper;\nSubtask Movement: move backward 388 mm; move right 517 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,121], [167,137]\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 121, + 167, + 137 + ] + ], + "delta_full_state": [ + -0.012500000186264515, + -0.008928571827709675, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.28035715222358704, + -0.35928571224212646, + 0.0, + 0.0, + 0.0, + -0.1785714328289032, + -1.0 + ], + "delta_full_state_norm": [ + -0.7589393853916354, + -0.4075026662506803, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 9 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 280 mm; move right 359 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 10 degrees; close gripper;", + "subtask_movement_text": "move backward 388 mm; move right 517 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 14, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 11 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 285 mm; move right 374 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; close gripper;\nSubtask Movement: move backward 376 mm; move right 508 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,120], [167,137]\n", + "gripper_2d": [ + 151, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 120, + 167, + 137 + ] + ], + "delta_full_state": [ + -0.013571429066359997, + -0.011071428656578064, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.28464290499687195, + -0.37392857670783997, + 0.0, + 0.0, + 0.0, + -0.21571429073810577, + -1.0 + ], + "delta_full_state_norm": [ + -0.8192045521398619, + -0.48458383087295565, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 11 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 285 mm; move right 374 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; close gripper;", + "subtask_movement_text": "move backward 376 mm; move right 508 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 15, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 12 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 287 mm; move right 386 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 14 degrees; close gripper;\nSubtask Movement: move backward 362 mm; move right 497 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,120], [167,137]\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 120, + 167, + 137 + ] + ], + "delta_full_state": [ + -0.013214285485446453, + -0.012142857536673546, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.28714290261268616, + -0.38607144355773926, + 0.0, + 0.0, + 0.0, + -0.25285714864730835, + -1.0 + ], + "delta_full_state_norm": [ + -0.799116128300759, + -0.5231244299344957, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 12 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 287 mm; move right 386 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 14 degrees; close gripper;", + "subtask_movement_text": "move backward 362 mm; move right 497 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 16, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 14 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 290 mm; move right 397 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 17 degrees; close gripper;\nSubtask Movement: move backward 349 mm; move right 485 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,120], [167,137]\n", + "gripper_2d": [ + 153, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 120, + 167, + 137 + ] + ], + "delta_full_state": [ + -0.012857143767178059, + -0.013571429066359997, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.2900000512599945, + -0.39714285731315613, + 0.0, + 0.0, + 0.0, + -0.2914285659790039, + -1.0 + ], + "delta_full_state_norm": [ + -0.7790278092307383, + -0.5745118841829475, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 14 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 290 mm; move right 397 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 17 degrees; close gripper;", + "subtask_movement_text": "move backward 349 mm; move right 485 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 17, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 15 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 293 mm; move right 406 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 19 degrees; close gripper;\nSubtask Movement: move backward 336 mm; move right 471 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,120], [167,137]\n", + "gripper_2d": [ + 154, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 120, + 167, + 137 + ] + ], + "delta_full_state": [ + -0.013214285485446453, + -0.015000000596046448, + 0.0, + 0.0, + 0.0, + -0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + -0.2925000488758087, + -0.40642857551574707, + 0.0, + 0.0, + 0.0, + -0.32999998331069946, + -1.0 + ], + "delta_full_state_norm": [ + -0.799116128300759, + -0.6258993384313993, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3651338879434082, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 15 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 293 mm; move right 406 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 19 degrees; close gripper;", + "subtask_movement_text": "move backward 336 mm; move right 471 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 18, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 16 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 294 mm; move right 414 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 21 degrees; close gripper;\nSubtask Movement: move backward 323 mm; move right 456 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,119], [167,137]\n", + "gripper_2d": [ + 155, + 103 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 119, + 167, + 137 + ] + ], + "delta_full_state": [ + -0.012857143767178059, + -0.016428573057055473, + 0.0, + 0.0, + 0.0, + -0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + -0.29428574442863464, + -0.41357144713401794, + 0.0, + 0.0, + 0.0, + -0.36714282631874084, + -1.0 + ], + "delta_full_state_norm": [ + -0.7790278092307383, + -0.6772868261806562, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3651338879434082, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 16 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 294 mm; move right 414 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 21 degrees; close gripper;", + "subtask_movement_text": "move backward 323 mm; move right 456 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 19, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 16 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 296 mm; move right 419 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 23 degrees; close gripper;\nSubtask Movement: move backward 310 mm; move right 440 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,119], [167,137]\n", + "gripper_2d": [ + 156, + 103 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 119, + 167, + 137 + ] + ], + "delta_full_state": [ + -0.012500000186264515, + -0.015714285895228386, + 0.0, + 0.0, + 0.0, + -0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + -0.29607146978378296, + -0.41928574442863464, + 0.0, + 0.0, + 0.0, + -0.4057142436504364, + -1.0 + ], + "delta_full_state_norm": [ + -0.7589393853916354, + -0.6515930488052228, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3651338879434082, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 16 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 296 mm; move right 419 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 23 degrees; close gripper;", + "subtask_movement_text": "move backward 310 mm; move right 440 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 20, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 16 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 298 mm; move right 424 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\nSubtask Movement: move backward 298 mm; move right 424 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,118], [167,137]\n", + "gripper_2d": [ + 157, + 103 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 118, + 167, + 137 + ] + ], + "delta_full_state": [ + -0.012857143767178059, + -0.016428573057055473, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.29750004410743713, + -0.4242857098579407, + 0.0, + 0.0, + 0.0, + -0.44999995827674866, + -1.0 + ], + "delta_full_state_norm": [ + -0.7790278092307383, + -0.6772868261806562, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 16 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 298 mm; move right 424 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;", + "subtask_movement_text": "move backward 298 mm; move right 424 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 21, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 298 mm; move right 429 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 29 degrees; close gripper;\nSubtask Movement: move backward 285 mm; move right 408 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,118], [168,137]\n", + "gripper_2d": [ + 158, + 103 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 118, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.012857143767178059, + -0.017500000074505806, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.298214316368103, + -0.4285714626312256, + 0.0, + 0.0, + 0.0, + -0.49857139587402344, + -1.0 + ], + "delta_full_state_norm": [ + -0.7790278092307383, + -0.7158273582405864, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 298 mm; move right 429 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 29 degrees; close gripper;", + "subtask_movement_text": "move backward 285 mm; move right 408 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 22, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 300 mm; move right 432 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 32 degrees; close gripper;\nSubtask Movement: move backward 272 mm; move right 390 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 159, + 104 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.012857143767178059, + -0.01785714365541935, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.2996428906917572, + -0.4317857325077057, + 0.0, + 0.0, + 0.0, + -0.5499999523162842, + -1.0 + ], + "delta_full_state_norm": [ + -0.7790278092307383, + -0.7286742469283031, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 300 mm; move right 432 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 32 degrees; close gripper;", + "subtask_movement_text": "move backward 272 mm; move right 390 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 23, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 301 mm; move right 435 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 34 degrees; close gripper;\nSubtask Movement: move backward 259 mm; move right 373 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 160, + 104 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.012857143767178059, + -0.018214285373687744, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.3014286160469055, + -0.43464288115501404, + 0.0, + 0.0, + 0.0, + -0.6014285087585449, + -1.0 + ], + "delta_full_state_norm": [ + -0.7790278092307383, + -0.7415210686144098, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 301 mm; move right 435 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 34 degrees; close gripper;", + "subtask_movement_text": "move backward 259 mm; move right 373 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 24, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 303 mm; move right 437 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 37 degrees; close gripper;\nSubtask Movement: move backward 246 mm; move right 354 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 162, + 104 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.012857143767178059, + -0.020000001415610313, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.30321431159973145, + -0.43714290857315063, + 0.0, + 0.0, + 0.0, + -0.6528570652008057, + -1.0 + ], + "delta_full_state_norm": [ + -0.7790278092307383, + -0.8057554450513833, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 303 mm; move right 437 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 37 degrees; close gripper;", + "subtask_movement_text": "move backward 246 mm; move right 354 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 25, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 305 mm; move right 437 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 40 degrees; close gripper;\nSubtask Movement: move backward 233 mm; move right 334 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 163, + 105 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.012500000186264515, + -0.020357143133878708, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.30500003695487976, + -0.43714284896850586, + 0.0, + 0.0, + 0.0, + -0.7042856216430664, + -1.0 + ], + "delta_full_state_norm": [ + -0.7589393853916354, + -0.81860226673749, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 305 mm; move right 437 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 40 degrees; close gripper;", + "subtask_movement_text": "move backward 233 mm; move right 334 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 26, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 307 mm; move right 437 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 43 degrees; close gripper;\nSubtask Movement: move backward 221 mm; move right 314 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 164, + 105 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.013214285485446453, + -0.02071428671479225, + 0.0, + 0.0, + 0.0, + -0.0028571428265422583, + -1.0 + ], + "delta_next_20": [ + -0.3067857027053833, + -0.4367856979370117, + 0.0, + 0.0, + 0.0, + -0.7571427822113037, + -1.0 + ], + "delta_full_state_norm": [ + -0.799116128300759, + -0.8314491554252067, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.38229243189041406, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 307 mm; move right 437 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 43 degrees; close gripper;", + "subtask_movement_text": "move backward 221 mm; move right 314 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 27, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 22 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 308 mm; move right 436 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 46 degrees; close gripper;\nSubtask Movement: move backward 208 mm; move right 293 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 166, + 105 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.015357143245637417, + -0.021785713732242584, + 0.0, + 0.0, + 0.0, + -0.012857142835855484, + -1.0 + ], + "delta_next_20": [ + -0.30785712599754333, + -0.43607139587402344, + 0.0, + 0.0, + 0.0, + -0.8071428537368774, + -1.0 + ], + "delta_full_state_norm": [ + -0.9196464617972118, + -0.8699896874851369, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.5024022409177167, + -1.0 + ], + "movement_text": "move backward 15 mm; move right 22 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 308 mm; move right 436 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 46 degrees; close gripper;", + "subtask_movement_text": "move backward 208 mm; move right 293 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 28, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 22 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 307 mm; move right 434 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 49 degrees; close gripper;\nSubtask Movement: move backward 192 mm; move right 271 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 25 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 167, + 105 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.016785714775323868, + -0.022499999031424522, + 0.0, + 0.0, + 0.0, + -0.022857142612338066, + -1.0 + ], + "delta_next_20": [ + -0.30714282393455505, + -0.4335714280605316, + 0.0, + 0.0, + 0.0, + -0.8471428155899048, + -1.0 + ], + "delta_full_state_norm": [ + -1.0, + -0.8956833978589603, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.6225120471484948, + -1.0 + ], + "movement_text": "move backward 17 mm; move right 22 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 307 mm; move right 434 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 49 degrees; close gripper;", + "subtask_movement_text": "move backward 192 mm; move right 271 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 25 degrees; close gripper;" + }, + { + "frame_index": 29, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 22 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 305 mm; move right 430 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 50 degrees; close gripper;\nSubtask Movement: move backward 175 mm; move right 249 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 24 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 169, + 106 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.016785714775323868, + -0.022142857313156128, + 0.0, + 0.0, + 0.0, + -0.03142857179045677, + -1.0 + ], + "delta_next_20": [ + -0.304999977350235, + -0.4303571879863739, + 0.0, + 0.0, + 0.0, + -0.8771428465843201, + -1.0 + ], + "delta_full_state_norm": [ + -1.0, + -0.8828365761728536, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.7254633192201028, + -1.0 + ], + "movement_text": "move backward 17 mm; move right 22 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 305 mm; move right 430 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 50 degrees; close gripper;", + "subtask_movement_text": "move backward 175 mm; move right 249 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 24 degrees; close gripper;" + }, + { + "frame_index": 30, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 302 mm; move right 428 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 52 degrees; close gripper;\nSubtask Movement: move backward 159 mm; move right 227 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 22 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,119], [168,137]\n", + "gripper_2d": [ + 171, + 106 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 119, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.016785714775323868, + -0.022857142612338066, + 0.0, + 0.0, + 0.0, + -0.03285714238882065, + -1.0 + ], + "delta_next_20": [ + -0.3024999797344208, + -0.4278571605682373, + 0.0, + 0.0, + 0.0, + -0.9000000357627869, + -1.0 + ], + "delta_full_state_norm": [ + -1.0, + -0.908530286546677, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.7426218533792732, + -1.0 + ], + "movement_text": "move backward 17 mm; move right 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 302 mm; move right 428 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 52 degrees; close gripper;", + "subtask_movement_text": "move backward 159 mm; move right 227 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 22 degrees; close gripper;" + }, + { + "frame_index": 31, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 300 mm; move right 425 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 53 degrees; close gripper;\nSubtask Movement: move backward 142 mm; move right 204 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 20 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [159,117], [168,137]\n", + "gripper_2d": [ + 172, + 107 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 159, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.01714285835623741, + -0.022857142612338066, + 0.0, + 0.0, + 0.0, + -0.034285712987184525, + -1.0 + ], + "delta_next_20": [ + -0.2996428608894348, + -0.4246428906917572, + 0.0, + 0.0, + 0.0, + -0.9214285612106323, + -1.0 + ], + "delta_full_state_norm": [ + -1.0, + -0.908530286546677, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.7597803875384435, + -1.0 + ], + "movement_text": "move backward 17 mm; move right 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 300 mm; move right 425 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 53 degrees; close gripper;", + "subtask_movement_text": "move backward 142 mm; move right 204 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 20 degrees; close gripper;" + }, + { + "frame_index": 32, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 296 mm; move right 421 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 54 degrees; close gripper;\nSubtask Movement: move backward 125 mm; move right 181 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 18 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 174, + 107 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.016785714775323868, + -0.02321428619325161, + 0.0, + 0.0, + 0.0, + -0.037142857909202576, + -1.0 + ], + "delta_next_20": [ + -0.2964285910129547, + -0.42107143998146057, + 0.0, + 0.0, + 0.0, + -0.9414286017417908, + -1.0 + ], + "delta_full_state_norm": [ + -1.0, + -0.9213771752343938, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.7940975006011748, + -1.0 + ], + "movement_text": "move backward 17 mm; move right 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 296 mm; move right 421 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 54 degrees; close gripper;", + "subtask_movement_text": "move backward 125 mm; move right 181 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 18 degrees; close gripper;" + }, + { + "frame_index": 33, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 24 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 294 mm; move right 417 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 55 degrees; close gripper;\nSubtask Movement: move backward 108 mm; move right 158 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 16 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 176, + 107 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.016785714775323868, + -0.023571429774165154, + 0.0, + 0.0, + 0.0, + -0.037142857909202576, + -1.0 + ], + "delta_next_20": [ + -0.29357147216796875, + -0.4171428680419922, + 0.0, + 0.0, + 0.0, + -0.9585714340209961, + -1.0 + ], + "delta_full_state_norm": [ + -1.0, + -0.9342240639221104, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.7940975006011748, + -1.0 + ], + "movement_text": "move backward 17 mm; move right 24 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 294 mm; move right 417 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 55 degrees; close gripper;", + "subtask_movement_text": "move backward 108 mm; move right 158 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 16 degrees; close gripper;" + }, + { + "frame_index": 34, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 291 mm; move right 413 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 56 degrees; close gripper;\nSubtask Movement: move backward 91 mm; move right 134 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 14 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [167,137]\n", + "gripper_2d": [ + 177, + 108 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 167, + 137 + ] + ], + "delta_full_state": [ + -0.01607142947614193, + -0.02321428619325161, + 0.0, + 0.0, + 0.0, + -0.037142857909202576, + -1.0 + ], + "delta_next_20": [ + -0.29107147455215454, + -0.4125000536441803, + 0.0, + 0.0, + 0.0, + -0.9757142663002014, + -1.0 + ], + "delta_full_state_norm": [ + -0.9598232570908765, + -0.9213771752343938, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.7940975006011748, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 291 mm; move right 413 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 56 degrees; close gripper;", + "subtask_movement_text": "move backward 91 mm; move right 134 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 14 degrees; close gripper;" + }, + { + "frame_index": 35, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 288 mm; move right 408 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 57 degrees; close gripper;\nSubtask Movement: move backward 75 mm; move right 111 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 179, + 108 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.01607142947614193, + -0.02321428619325161, + 0.0, + 0.0, + 0.0, + -0.03857142850756645, + -1.0 + ], + "delta_next_20": [ + -0.28785717487335205, + -0.4075000286102295, + 0.0, + 0.0, + 0.0, + -0.9928570985794067, + -1.0 + ], + "delta_full_state_norm": [ + -0.9598232570908765, + -0.9213771752343938, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.8112560347603451, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 288 mm; move right 408 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 57 degrees; close gripper;", + "subtask_movement_text": "move backward 75 mm; move right 111 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; close gripper;" + }, + { + "frame_index": 36, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 284 mm; move right 403 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 58 degrees; close gripper;\nSubtask Movement: move backward 59 mm; move right 88 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 181, + 109 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.015357143245637417, + -0.022857142612338066, + 0.0, + 0.0, + 0.0, + -0.03857142850756645, + -1.0 + ], + "delta_next_20": [ + -0.2842857539653778, + -0.4025000035762787, + 0.0, + 0.0, + 0.0, + -1.0085713863372803, + -1.0 + ], + "delta_full_state_norm": [ + -0.9196464617972118, + -0.908530286546677, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.8112560347603451, + -1.0 + ], + "movement_text": "move backward 15 mm; move right 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 284 mm; move right 403 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 58 degrees; close gripper;", + "subtask_movement_text": "move backward 59 mm; move right 88 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; close gripper;" + }, + { + "frame_index": 37, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 22 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 280 mm; move right 398 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 59 degrees; close gripper;\nSubtask Movement: move backward 44 mm; move right 65 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 183, + 109 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.015000000596046448, + -0.022142857313156128, + 0.0, + 0.0, + 0.0, + -0.03857142850756645, + -1.0 + ], + "delta_next_20": [ + -0.2803571820259094, + -0.39821431040763855, + 0.0, + 0.0, + 0.0, + -1.0242856740951538, + -1.0 + ], + "delta_full_state_norm": [ + -0.8995580903426501, + -0.8828365761728536, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.8112560347603451, + -1.0 + ], + "movement_text": "move backward 15 mm; move right 22 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 280 mm; move right 398 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 59 degrees; close gripper;", + "subtask_movement_text": "move backward 44 mm; move right 65 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; close gripper;" + }, + { + "frame_index": 38, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 22 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 276 mm; move right 395 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 60 degrees; close gripper;\nSubtask Movement: move backward 29 mm; move right 43 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 184, + 109 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.014642857015132904, + -0.022142857313156128, + 0.0, + 0.0, + 0.0, + -0.03999999910593033, + -1.0 + ], + "delta_next_20": [ + -0.27642858028411865, + -0.3953571915626526, + 0.0, + 0.0, + 0.0, + -1.0414284467697144, + -1.0 + ], + "delta_full_state_norm": [ + -0.8794696665035471, + -0.8828365761728536, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.8284145689195155, + -1.0 + ], + "movement_text": "move backward 15 mm; move right 22 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 276 mm; move right 395 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 60 degrees; close gripper;", + "subtask_movement_text": "move backward 29 mm; move right 43 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; close gripper;" + }, + { + "frame_index": 39, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 273 mm; move right 393 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 61 degrees; close gripper;\nSubtask Movement: move backward 14 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 186, + 110 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.013928571715950966, + -0.02071428671479225, + 0.0, + 0.0, + 0.0, + -0.04571428522467613, + -1.0 + ], + "delta_next_20": [ + -0.27250000834465027, + -0.392857164144516, + 0.0, + 0.0, + 0.0, + -1.057142734527588, + -1.0 + ], + "delta_full_state_norm": [ + -0.8392929235944236, + -0.8314491554252067, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.8970487503005874, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 273 mm; move right 393 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 61 degrees; close gripper;", + "subtask_movement_text": "move backward 14 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;" + }, + { + "frame_index": 40, + "segment_id": 20000, + "subtask": "approach the green cup", + "reason": "The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the green cup\nSubtask Reasoning: The robot's end-effector is moving towards the green cup located on the right side of the counter, while the cup remains stationary and ungrasped.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 269 mm; move right 393 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 61 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 188, + 110 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.013571429066359997, + -0.02071428671479225, + 0.0, + 0.0, + 0.0, + -0.04857143014669418, + -1.0 + ], + "delta_next_20": [ + -0.268928587436676, + -0.39250001311302185, + 0.0, + 0.0, + 0.0, + -1.0671427249908447, + -1.0 + ], + "delta_full_state_norm": [ + -0.8192045521398619, + -0.8314491554252067, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.9313658633633186, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 269 mm; move right 393 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 61 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 41, + "segment_id": 80000, + "subtask": "grasp the green cup", + "reason": "The robot's end-effector is positioned directly over the green cup on the counter with its gripper closed, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the green cup\nSubtask Reasoning: The robot's end-effector is positioned directly over the green cup on the counter with its gripper closed, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 265 mm; move right 393 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 61 degrees; close gripper;\nSubtask Movement: move backward 44 mm; move right 62 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 189, + 111 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.01428571529686451, + -0.02071428671479225, + 0.0, + 0.0, + 0.0, + -0.051428571343421936, + -1.0 + ], + "delta_next_20": [ + -0.265357106924057, + -0.39321428537368774, + 0.0, + 0.0, + 0.0, + -1.072857141494751, + -1.0 + ], + "delta_full_state_norm": [ + -0.8593813474335266, + -0.8314491554252067, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.9656829316816593, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 265 mm; move right 393 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 61 degrees; close gripper;", + "subtask_movement_text": "move backward 44 mm; move right 62 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; close gripper;" + }, + { + "frame_index": 42, + "segment_id": 80000, + "subtask": "grasp the green cup", + "reason": "The robot's end-effector is positioned directly over the green cup on the counter with its gripper closed, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the green cup\nSubtask Reasoning: The robot's end-effector is positioned directly over the green cup on the counter with its gripper closed, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 261 mm; move right 394 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 61 degrees; close gripper;\nSubtask Movement: move backward 29 mm; move right 41 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 191, + 111 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.014642857015132904, + -0.02071428671479225, + 0.0, + 0.0, + 0.0, + -0.051428571343421936, + -1.0 + ], + "delta_next_20": [ + -0.26071426272392273, + -0.39392849802970886, + 0.0, + 0.0, + 0.0, + -1.072857141494751, + -1.0 + ], + "delta_full_state_norm": [ + -0.8794696665035471, + -0.8314491554252067, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.9656829316816593, + -1.0 + ], + "movement_text": "move backward 15 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 261 mm; move right 394 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 61 degrees; close gripper;", + "subtask_movement_text": "move backward 29 mm; move right 41 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; close gripper;" + }, + { + "frame_index": 43, + "segment_id": 80000, + "subtask": "grasp the green cup", + "reason": "The robot's end-effector is positioned directly over the green cup on the counter with its gripper closed, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the green cup\nSubtask Reasoning: The robot's end-effector is positioned directly over the green cup on the counter with its gripper closed, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 255 mm; move right 396 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 61 degrees; close gripper;\nSubtask Movement: move backward 15 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 192, + 111 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.014642857015132904, + -0.02071428671479225, + 0.0, + 0.0, + 0.0, + -0.051428571343421936, + -1.0 + ], + "delta_next_20": [ + -0.2549999952316284, + -0.3960713744163513, + 0.0, + 0.0, + 0.0, + -1.0714285373687744, + -1.0 + ], + "delta_full_state_norm": [ + -0.8794696665035471, + -0.8314491554252067, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.9656829316816593, + -1.0 + ], + "movement_text": "move backward 15 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 255 mm; move right 396 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 61 degrees; close gripper;", + "subtask_movement_text": "move backward 15 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;" + }, + { + "frame_index": 44, + "segment_id": 80000, + "subtask": "grasp the green cup", + "reason": "The robot's end-effector is positioned directly over the green cup on the counter with its gripper closed, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the green cup\nSubtask Reasoning: The robot's end-effector is positioned directly over the green cup on the counter with its gripper closed, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 248 mm; move right 400 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 61 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 194, + 112 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.014642857015132904, + -0.020000001415610313, + 0.0, + 0.0, + 0.0, + -0.051428571343421936, + -1.0 + ], + "delta_next_20": [ + -0.24785713851451874, + -0.4003571569919586, + 0.0, + 0.0, + 0.0, + -1.059999942779541, + -1.0 + ], + "delta_full_state_norm": [ + -0.8794696665035471, + -0.8057554450513833, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.9656829316816593, + -1.0 + ], + "movement_text": "move backward 15 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 248 mm; move right 400 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 61 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 45, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 240 mm; move right 406 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 60 degrees; close gripper;\nSubtask Movement: move backward 252 mm; move right 627 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 66 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 196, + 112 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.01428571529686451, + -0.020000001415610313, + 0.0, + 0.0, + 0.0, + -0.05285714194178581, + -1.0 + ], + "delta_next_20": [ + -0.24000000953674316, + -0.40607139468193054, + 0.0, + 0.0, + 0.0, + -1.0442856550216675, + -1.0 + ], + "delta_full_state_norm": [ + -0.8593813474335266, + -0.8057554450513833, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.9828414658408297, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 240 mm; move right 406 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 60 degrees; close gripper;", + "subtask_movement_text": "move backward 252 mm; move right 627 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 66 degrees; close gripper;" + }, + { + "frame_index": 46, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 231 mm; move right 412 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 59 degrees; close gripper;\nSubtask Movement: move backward 238 mm; move right 607 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 63 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 197, + 112 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.01428571529686451, + -0.020000001415610313, + 0.0, + 0.0, + 0.0, + -0.05285714194178581, + -1.0 + ], + "delta_next_20": [ + -0.23071424663066864, + -0.41178569197654724, + 0.0, + 0.0, + 0.0, + -1.0214285850524902, + -1.0 + ], + "delta_full_state_norm": [ + -0.8593813474335266, + -0.8057554450513833, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.9828414658408297, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 231 mm; move right 412 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 59 degrees; close gripper;", + "subtask_movement_text": "move backward 238 mm; move right 607 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 63 degrees; close gripper;" + }, + { + "frame_index": 47, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 220 mm; move right 417 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 57 degrees; close gripper;\nSubtask Movement: move backward 224 mm; move right 587 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 60 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 199, + 113 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.014642857015132904, + -0.019285714253783226, + 0.0, + 0.0, + 0.0, + -0.05285714194178581, + -1.0 + ], + "delta_next_20": [ + -0.22035710513591766, + -0.41749992966651917, + 0.0, + 0.0, + 0.0, + -0.9957143068313599, + -1.0 + ], + "delta_full_state_norm": [ + -0.8794696665035471, + -0.78006166767595, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.9828414658408297, + -1.0 + ], + "movement_text": "move backward 15 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 220 mm; move right 417 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 57 degrees; close gripper;", + "subtask_movement_text": "move backward 224 mm; move right 587 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 60 degrees; close gripper;" + }, + { + "frame_index": 48, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 209 mm; move right 424 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 55 degrees; close gripper;\nSubtask Movement: move backward 209 mm; move right 567 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 57 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 200, + 113 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.014642857015132904, + -0.019285714253783226, + 0.0, + 0.0, + 0.0, + -0.05285714194178581, + -1.0 + ], + "delta_next_20": [ + -0.2085714191198349, + -0.4242856502532959, + 0.0, + 0.0, + 0.0, + -0.9657142758369446, + -1.0 + ], + "delta_full_state_norm": [ + -0.8794696665035471, + -0.78006166767595, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.9828414658408297, + -1.0 + ], + "movement_text": "move backward 15 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 209 mm; move right 424 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 55 degrees; close gripper;", + "subtask_movement_text": "move backward 209 mm; move right 567 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 57 degrees; close gripper;" + }, + { + "frame_index": 49, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 195 mm; move right 431 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 53 degrees; close gripper;\nSubtask Movement: move backward 195 mm; move right 548 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 54 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 202, + 114 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.01428571529686451, + -0.01964285783469677, + 0.0, + 0.0, + 0.0, + -0.05428571254014969, + -1.0 + ], + "delta_next_20": [ + -0.19464288651943207, + -0.43107137084007263, + 0.0, + 0.0, + 0.0, + -0.9314285516738892, + -1.0 + ], + "delta_full_state_norm": [ + -0.8593813474335266, + -0.7929085563636666, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -1.0, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 195 mm; move right 431 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 53 degrees; close gripper;", + "subtask_movement_text": "move backward 195 mm; move right 548 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 54 degrees; close gripper;" + }, + { + "frame_index": 50, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 180 mm; move right 435 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 51 degrees; close gripper;\nSubtask Movement: move backward 180 mm; move right 529 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 51 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 204, + 114 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.013928571715950966, + -0.01964285783469677, + 0.0, + 0.0, + 0.0, + -0.05428571254014969, + -1.0 + ], + "delta_next_20": [ + -0.18035714328289032, + -0.43535709381103516, + 0.0, + 0.0, + 0.0, + -0.8814284801483154, + -1.0 + ], + "delta_full_state_norm": [ + -0.8392929235944236, + -0.7929085563636666, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -1.0, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 180 mm; move right 435 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 51 degrees; close gripper;", + "subtask_movement_text": "move backward 180 mm; move right 529 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 51 degrees; close gripper;" + }, + { + "frame_index": 51, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 166 mm; move right 440 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 47 degrees; close gripper;\nSubtask Movement: move backward 166 mm; move right 509 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 47 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 205, + 114 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.013928571715950966, + -0.019285714253783226, + 0.0, + 0.0, + 0.0, + -0.05428571254014969, + -1.0 + ], + "delta_next_20": [ + -0.1664285659790039, + -0.4396428167819977, + 0.0, + 0.0, + 0.0, + -0.8271427750587463, + -1.0 + ], + "delta_full_state_norm": [ + -0.8392929235944236, + -0.78006166767595, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -1.0, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 166 mm; move right 440 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 47 degrees; close gripper;", + "subtask_movement_text": "move backward 166 mm; move right 509 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 47 degrees; close gripper;" + }, + { + "frame_index": 52, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 153 mm; move right 444 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 44 degrees; close gripper;\nSubtask Movement: move backward 153 mm; move right 490 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 44 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 207, + 115 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.013928571715950966, + -0.019285714253783226, + 0.0, + 0.0, + 0.0, + -0.05428571254014969, + -1.0 + ], + "delta_next_20": [ + -0.15250001847743988, + -0.4439285695552826, + 0.0, + 0.0, + 0.0, + -0.7728570699691772, + -1.0 + ], + "delta_full_state_norm": [ + -0.8392929235944236, + -0.78006166767595, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -1.0, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 153 mm; move right 444 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 44 degrees; close gripper;", + "subtask_movement_text": "move backward 153 mm; move right 490 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 44 degrees; close gripper;" + }, + { + "frame_index": 53, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 139 mm; move right 448 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 41 degrees; close gripper;\nSubtask Movement: move backward 139 mm; move right 470 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 41 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 208, + 115 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.01428571529686451, + -0.018928570672869682, + 0.0, + 0.0, + 0.0, + -0.05428571254014969, + -1.0 + ], + "delta_next_20": [ + -0.13857144117355347, + -0.4482142925262451, + 0.0, + 0.0, + 0.0, + -0.7185713648796082, + -1.0 + ], + "delta_full_state_norm": [ + -0.8593813474335266, + -0.7672147789882333, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -1.0, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 139 mm; move right 448 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 41 degrees; close gripper;", + "subtask_movement_text": "move backward 139 mm; move right 470 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 41 degrees; close gripper;" + }, + { + "frame_index": 54, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 124 mm; move right 451 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 38 degrees; close gripper;\nSubtask Movement: move backward 124 mm; move right 451 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 38 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 210, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.012857143767178059, + -0.018214285373687744, + 0.0, + 0.0, + 0.0, + -0.05428571254014969, + -1.0 + ], + "delta_next_20": [ + -0.12428572028875351, + -0.4514285624027252, + 0.0, + 0.0, + 0.0, + -0.6642856597900391, + -1.0 + ], + "delta_full_state_norm": [ + -0.7790278092307383, + -0.7415210686144098, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -1.0, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 124 mm; move right 451 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 38 degrees; close gripper;", + "subtask_movement_text": "move backward 124 mm; move right 451 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 38 degrees; close gripper;" + }, + { + "frame_index": 55, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 111 mm; move right 455 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 35 degrees; close gripper;\nSubtask Movement: move backward 111 mm; move right 433 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 35 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 212, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.012500000186264515, + -0.018214285373687744, + 0.0, + 0.0, + 0.0, + -0.05428571254014969, + -1.0 + ], + "delta_next_20": [ + -0.11142858117818832, + -0.45535707473754883, + 0.0, + 0.0, + 0.0, + -0.60999995470047, + -1.0 + ], + "delta_full_state_norm": [ + -0.7589393853916354, + -0.7415210686144098, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -1.0, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 111 mm; move right 455 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 35 degrees; close gripper;", + "subtask_movement_text": "move backward 111 mm; move right 433 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 35 degrees; close gripper;" + }, + { + "frame_index": 56, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 99 mm; move right 460 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 32 degrees; close gripper;\nSubtask Movement: move backward 99 mm; move right 415 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 32 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 213, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.011428571306169033, + -0.018571428954601288, + 0.0, + 0.0, + 0.0, + -0.05428571254014969, + -1.0 + ], + "delta_next_20": [ + -0.09892857819795609, + -0.45964279770851135, + 0.0, + 0.0, + 0.0, + -0.5557142496109009, + -1.0 + ], + "delta_full_state_norm": [ + -0.698674218643409, + -0.7543679573021265, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -1.0, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 99 mm; move right 460 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 32 degrees; close gripper;", + "subtask_movement_text": "move backward 99 mm; move right 415 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 32 degrees; close gripper;" + }, + { + "frame_index": 57, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 88 mm; move right 464 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 29 degrees; close gripper;\nSubtask Movement: move backward 88 mm; move right 396 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 29 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 215, + 117 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.011071428656578064, + -0.019285714253783226, + 0.0, + 0.0, + 0.0, + -0.055714286863803864, + -1.0 + ], + "delta_next_20": [ + -0.08750000596046448, + -0.46392855048179626, + 0.0, + 0.0, + 0.0, + -0.5014285445213318, + -1.0 + ], + "delta_full_state_norm": [ + -0.6785858471888473, + -0.78006166767595, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -1.0, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 88 mm; move right 464 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 29 degrees; close gripper;", + "subtask_movement_text": "move backward 88 mm; move right 396 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 29 degrees; close gripper;" + }, + { + "frame_index": 58, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 76 mm; move right 468 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\nSubtask Movement: move backward 76 mm; move right 377 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 216, + 117 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.010714286006987095, + -0.01964285783469677, + 0.0, + 0.0, + 0.0, + -0.055714286863803864, + -1.0 + ], + "delta_next_20": [ + -0.07642856985330582, + -0.4675000309944153, + 0.0, + 0.0, + 0.0, + -0.4457142949104309, + -1.0 + ], + "delta_full_state_norm": [ + -0.6584974757342854, + -0.7929085563636666, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -1.0, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 76 mm; move right 468 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;", + "subtask_movement_text": "move backward 76 mm; move right 377 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 26 degrees; close gripper;" + }, + { + "frame_index": 59, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 66 mm; move right 470 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 22 degrees; close gripper;\nSubtask Movement: move backward 66 mm; move right 357 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 22 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 218, + 117 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.010357143357396126, + -0.020357143133878708, + 0.0, + 0.0, + 0.0, + -0.055714286863803864, + -1.0 + ], + "delta_next_20": [ + -0.0657142922282219, + -0.4699999988079071, + 0.0, + 0.0, + 0.0, + -0.39000001549720764, + -1.0 + ], + "delta_full_state_norm": [ + -0.6384091042797237, + -0.81860226673749, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -1.0, + -1.0 + ], + "movement_text": "move backward 10 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 66 mm; move right 470 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 22 degrees; close gripper;", + "subtask_movement_text": "move backward 66 mm; move right 357 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 22 degrees; close gripper;" + }, + { + "frame_index": 60, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 55 mm; move right 472 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 19 degrees; close gripper;\nSubtask Movement: move backward 55 mm; move right 337 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 19 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 219, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.010000000707805157, + -0.02142857201397419, + 0.0, + 0.0, + 0.0, + -0.05428571254014969, + -1.0 + ], + "delta_next_20": [ + -0.05535713955760002, + -0.47178569436073303, + 0.0, + 0.0, + 0.0, + -0.334285706281662, + -1.0 + ], + "delta_full_state_norm": [ + -0.6183207328251619, + -0.8571428657990302, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -1.0, + -1.0 + ], + "movement_text": "move backward 10 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 55 mm; move right 472 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 19 degrees; close gripper;", + "subtask_movement_text": "move backward 55 mm; move right 337 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 19 degrees; close gripper;" + }, + { + "frame_index": 61, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 45 mm; move right 472 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 16 degrees; close gripper;\nSubtask Movement: move backward 45 mm; move right 316 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 16 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 221, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.009642857126891613, + -0.02142857201397419, + 0.0, + 0.0, + 0.0, + -0.051428571343421936, + -1.0 + ], + "delta_next_20": [ + -0.045357149094343185, + -0.47178569436073303, + 0.0, + 0.0, + 0.0, + -0.2800000011920929, + -1.0 + ], + "delta_full_state_norm": [ + -0.5982323089860591, + -0.8571428657990302, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.9656829316816593, + -1.0 + ], + "movement_text": "move backward 10 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 45 mm; move right 472 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 16 degrees; close gripper;", + "subtask_movement_text": "move backward 45 mm; move right 316 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 16 degrees; close gripper;" + }, + { + "frame_index": 62, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 36 mm; move right 472 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 13 degrees; close gripper;\nSubtask Movement: move backward 36 mm; move right 294 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 13 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 222, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.008928571827709675, + -0.022857142612338066, + 0.0, + 0.0, + 0.0, + -0.05000000074505806, + -1.0 + ], + "delta_next_20": [ + -0.035714291036129, + -0.4717857539653778, + 0.0, + 0.0, + 0.0, + -0.22857142984867096, + -1.0 + ], + "delta_full_state_norm": [ + -0.5580555660769355, + -0.908530286546677, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.948524397522489, + -1.0 + ], + "movement_text": "move backward 9 mm; move right 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 36 mm; move right 472 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 13 degrees; close gripper;", + "subtask_movement_text": "move backward 36 mm; move right 294 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 13 degrees; close gripper;" + }, + { + "frame_index": 63, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 25 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 27 mm; move right 470 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 10 degrees; close gripper;\nSubtask Movement: move backward 27 mm; move right 271 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 10 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 224, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.007500000298023224, + -0.02500000037252903, + 0.0, + 0.0, + 0.0, + -0.03999999910593033, + -1.0 + ], + "delta_next_20": [ + -0.0267857164144516, + -0.47035717964172363, + 0.0, + 0.0, + 0.0, + -0.178571417927742, + -1.0 + ], + "delta_full_state_norm": [ + -0.4777020278741473, + -0.9856114846697572, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.8284145689195155, + -1.0 + ], + "movement_text": "move backward 8 mm; move right 25 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 27 mm; move right 470 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 10 degrees; close gripper;", + "subtask_movement_text": "move backward 27 mm; move right 271 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 10 degrees; close gripper;" + }, + { + "frame_index": 64, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 26 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 19 mm; move right 467 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; close gripper;\nSubtask Movement: move backward 19 mm; move right 246 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 226, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.006785714533179998, + -0.025714287534356117, + 0.0, + 0.0, + 0.0, + -0.0357142873108387, + -1.0 + ], + "delta_next_20": [ + -0.019285714253783226, + -0.4667857587337494, + -0.0003571428533177823, + 0.0, + 0.0, + -0.13857142627239227, + -1.0 + ], + "delta_full_state_norm": [ + -0.43752525877275317, + -1.0, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.7769389664420044, + -1.0 + ], + "movement_text": "move backward 7 mm; move right 26 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 19 mm; move right 467 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; close gripper;", + "subtask_movement_text": "move backward 19 mm; move right 246 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; close gripper;" + }, + { + "frame_index": 65, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 26 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 13 mm; move right 462 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; close gripper;\nSubtask Movement: move backward 13 mm; move right 221 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 227, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.005000000353902578, + -0.025714287534356117, + 0.0, + 0.0, + 0.0, + -0.029999999329447746, + -1.0 + ], + "delta_next_20": [ + -0.012500000186264515, + -0.46178576350212097, + -0.0014285714132711291, + 0.0, + 0.0, + -0.10285714268684387, + -1.0 + ], + "delta_full_state_norm": [ + -0.3370833491154033, + -1.0, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.7083047626887372, + -1.0 + ], + "movement_text": "move backward 5 mm; move right 26 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 13 mm; move right 462 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; close gripper;", + "subtask_movement_text": "move backward 13 mm; move right 221 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; close gripper;" + }, + { + "frame_index": 66, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 26 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 8 mm; move right 457 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; close gripper;\nSubtask Movement: move backward 8 mm; move right 195 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 229, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.0039285714738070965, + -0.025714287534356117, + 0.0, + 0.0, + 0.0, + -0.027142856270074844, + -1.0 + ], + "delta_next_20": [ + -0.007500000298023224, + -0.4567856788635254, + -0.0032142859417945147, + 0.0, + 0.0, + -0.07285714149475098, + -1.0 + ], + "delta_full_state_norm": [ + -0.2768181823671768, + -1.0, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.6739876719982012, + -1.0 + ], + "movement_text": "move backward 4 mm; move right 26 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 8 mm; move right 457 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; close gripper;", + "subtask_movement_text": "move backward 8 mm; move right 195 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; close gripper;" + }, + { + "frame_index": 67, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 26 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 4 mm; move right 451 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\nSubtask Movement: move backward 4 mm; move right 169 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 230, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.0028571428265422583, + -0.02607142925262451, + 0.0, + 0.0, + 0.0, + -0.022857142612338066, + -1.0 + ], + "delta_next_20": [ + -0.0035714288242161274, + -0.4514285624027252, + -0.005000000353902578, + 0.0, + 0.0, + -0.04571428894996643, + -1.0 + ], + "delta_full_state_norm": [ + -0.21655302871508564, + -1.0, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.6225120471484948, + -1.0 + ], + "movement_text": "move backward 3 mm; move right 26 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 4 mm; move right 451 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;", + "subtask_movement_text": "move backward 4 mm; move right 169 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; close gripper;" + }, + { + "frame_index": 68, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move right 26 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move right 445 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nSubtask Movement: move backward 1 mm; move right 143 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 232, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + -0.0007142857066355646, + -0.02607142925262451, + 0.0, + 0.0, + 0.0, + -0.018571428954601288, + -1.0 + ], + "delta_next_20": [ + -0.0007142857066355646, + -0.44535714387893677, + -0.007142857648432255, + 0.0, + 0.0, + -0.022857142612338066, + -1.0 + ], + "delta_full_state_norm": [ + -0.09602273123300487, + -1.0, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.5710364222987886, + -1.0 + ], + "movement_text": "move backward 1 mm; move right 26 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move right 445 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "subtask_movement_text": "move backward 1 mm; move right 143 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;" + }, + { + "frame_index": 69, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 24 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 439 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 117 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 233, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.023928571492433548, + 0.0, + 0.0, + 0.0, + -0.004285714123398066, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.43928566575050354, + -0.009285714477300644, + 0.0, + 0.0, + -0.004285714123398066, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.9470708856082172, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.39945097443915756, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 24 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 439 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 117 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 70, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 24 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 434 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 93 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 235, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.023928571492433548, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.43428564071655273, + -0.012142857536673546, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.9470708856082172, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 24 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 434 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 93 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 71, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 24 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 430 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 69 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 236, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.023571429774165154, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.42964282631874084, + -0.015714285895228386, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.9342240639221104, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 24 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 430 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 69 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 72, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 24 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 425 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 46 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 237, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.023571429774165154, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.4253571033477783, + -0.01964285783469677, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.9342240639221104, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 24 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 425 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 46 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 73, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 22 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 420 mm; move downward 24 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 22 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 238, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.022142857313156128, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.4203571379184723, + -0.023928573355078697, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.8828365761728536, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 22 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 420 mm; move downward 24 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 22 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 74, + "segment_id": 90000, + "subtask": "lift the green cup", + "reason": "The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The end-effector is positioned directly over the green cup on the counter with fingers extended, indicating the transition from grasping to lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 22 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 416 mm; move downward 28 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 240, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.022142857313156128, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.41607141494750977, + -0.028214288875460625, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.8828365761728536, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 22 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 416 mm; move downward 28 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 75, + "segment_id": 100000, + "subtask": "lift the green cup", + "reason": "The robot's arm is positioned directly over the counter, holding the green cup in a static pose consistent with maintaining a grasp after lifting it from the surface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The robot's arm is positioned directly over the counter, holding the green cup in a static pose consistent with maintaining a grasp after lifting it from the surface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 22 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 412 mm; move downward 33 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 45 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 241, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.022499999031424522, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.411785751581192, + -0.03285714611411095, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.8956833978589603, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 22 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 412 mm; move downward 33 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 45 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 76, + "segment_id": 100000, + "subtask": "lift the green cup", + "reason": "The robot's arm is positioned directly over the counter, holding the green cup in a static pose consistent with maintaining a grasp after lifting it from the surface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The robot's arm is positioned directly over the counter, holding the green cup in a static pose consistent with maintaining a grasp after lifting it from the surface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 407 mm; move downward 38 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 242, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.022857142612338066, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.40714287757873535, + -0.03750000149011612, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.908530286546677, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 407 mm; move downward 38 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 77, + "segment_id": 100000, + "subtask": "lift the green cup", + "reason": "The robot's arm is positioned directly over the counter, holding the green cup in a static pose consistent with maintaining a grasp after lifting it from the surface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the green cup\nSubtask Reasoning: The robot's arm is positioned directly over the counter, holding the green cup in a static pose consistent with maintaining a grasp after lifting it from the surface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 402 mm; move downward 43 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 243, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.022857142612338066, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.4017857611179352, + -0.04321428760886192, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.908530286546677, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 402 mm; move downward 43 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 78, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 22 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 396 mm; move downward 49 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 891 mm; move downward 855 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 244, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.022142857313156128, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.3964286148548126, + -0.04928571358323097, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.8828365761728536, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 22 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 396 mm; move downward 49 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 891 mm; move downward 855 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 79, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 22 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 392 mm; move downward 56 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 869 mm; move downward 855 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 246, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.022142857313156128, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.39178571105003357, + -0.055714286863803864, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.8828365761728536, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 22 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 392 mm; move downward 56 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 869 mm; move downward 855 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 80, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 386 mm; move downward 63 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 847 mm; move downward 855 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 247, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.02142857201397419, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.38607144355773926, + -0.06321428716182709, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.8571428657990302, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 386 mm; move downward 63 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 847 mm; move downward 855 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 81, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 380 mm; move downward 72 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 826 mm; move downward 855 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 248, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.02142857201397419, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.38035714626312256, + -0.07178571075201035, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.8571428657990302, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 380 mm; move downward 72 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 826 mm; move downward 855 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 82, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 374 mm; move downward 81 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 804 mm; move downward 855 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 249, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.02142857201397419, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.37392857670783997, + -0.08071428537368774, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.8571428657990302, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 374 mm; move downward 81 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 804 mm; move downward 855 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 83, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 367 mm; move downward 90 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 783 mm; move downward 855 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [28,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 250, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 28, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.02142857201397419, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.3667857348918915, + -0.08999999612569809, + 0.0, + 0.0, + 0.0028571428265422583, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.8571428657990302, + -0.33730927774883646, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 367 mm; move downward 90 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 783 mm; move downward 855 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 84, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 21 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 359 mm; move downward 99 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 761 mm; move downward 855 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 251, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.02071428671479225, + -0.0010714286472648382, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.3585714101791382, + -0.09928571432828903, + 0.0, + 0.0, + 0.008571428246796131, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.8314491554252067, + -0.36116423707400147, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 21 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 359 mm; move downward 99 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 761 mm; move downward 855 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 85, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 21 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 351 mm; move downward 109 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 741 mm; move downward 854 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 252, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.02071428671479225, + -0.0017857144121080637, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.35107138752937317, + -0.10892856121063232, + 0.0, + 0.0, + 0.01428571343421936, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.8314491554252067, + -0.38501919542718754, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 21 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 351 mm; move downward 109 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 741 mm; move downward 854 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 86, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 20 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 342 mm; move downward 119 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 720 mm; move downward 852 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 253, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.020357143133878708, + -0.0017857144121080637, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.3424999713897705, + -0.11857142299413681, + 0.0, + 0.0, + 0.02142857015132904, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.81860226673749, + -0.38501919542718754, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 20 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 342 mm; move downward 119 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 720 mm; move downward 852 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 87, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 20 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 334 mm; move downward 128 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 700 mm; move downward 850 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 254, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.020000001415610313, + -0.0021428572945296764, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.3335714042186737, + -0.1282142847776413, + 0.0, + 0.0, + 0.03285714238882065, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.8057554450513833, + -0.39694667460378064, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 20 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 334 mm; move downward 128 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 700 mm; move downward 850 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 88, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 20 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 325 mm; move downward 137 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 680 mm; move downward 848 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 255, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.020000001415610313, + -0.0021428572945296764, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.3246428370475769, + -0.1371428519487381, + 0.0, + 0.0, + 0.04571428522467613, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.8057554450513833, + -0.39694667460378064, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 20 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 325 mm; move downward 137 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 680 mm; move downward 848 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 89, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 19 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 315 mm; move downward 146 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 660 mm; move downward 846 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 256, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.018928570672869682, + -0.0028571428265422583, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + -0.31535711884498596, + -0.1460714340209961, + 0.0, + 0.0, + 0.05714285746216774, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.7672147789882333, + -0.42080162518113595, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 19 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 315 mm; move downward 146 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 660 mm; move downward 846 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 90, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 19 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 0 mm; move right 306 mm; move downward 155 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 641 mm; move downward 843 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 257, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.019285714253783226, + -0.0035714288242161274, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0003571428533177823, + -0.306071400642395, + -0.15464286506175995, + 0.0, + 0.0, + 0.06857142597436905, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.78006166767595, + -0.444656591310153, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 19 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 0 mm; move right 306 mm; move downward 155 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 641 mm; move downward 843 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 91, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 19 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 1 mm; move right 295 mm; move downward 163 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 621 mm; move downward 839 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 258, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.019285714253783226, + -0.0039285714738070965, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0014285714132711291, + -0.29499998688697815, + -0.163214311003685, + 0.0, + 0.0, + 0.07999999821186066, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.78006166767595, + -0.4565840627109151, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 19 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 1 mm; move right 295 mm; move downward 163 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 621 mm; move downward 839 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 92, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 19 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 3 mm; move right 284 mm; move downward 171 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 602 mm; move downward 835 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 259, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.018571428954601288, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0032142859417945147, + -0.28392860293388367, + -0.1714285910129547, + 0.0, + 0.0, + 0.09142857044935226, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.7543679573021265, + -0.4685115496633391, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 19 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 3 mm; move right 284 mm; move downward 171 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 602 mm; move downward 835 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 93, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 6 mm; move right 272 mm; move downward 179 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 584 mm; move downward 831 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 260, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.01785714365541935, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.00607142923399806, + -0.271785706281662, + -0.17928573489189148, + 0.0, + 0.0, + 0.1014285683631897, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.7286742469283031, + -0.4685115496633391, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 6 mm; move right 272 mm; move downward 179 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 584 mm; move downward 831 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 94, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 9 mm; move right 260 mm; move downward 187 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 566 mm; move downward 827 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 261, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.01785714365541935, + -0.004642857238650322, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.009285715408623219, + -0.2600000500679016, + -0.18714289367198944, + 0.0, + 0.0, + 0.10999999940395355, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.7286742469283031, + -0.4804390210641013, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 9 mm; move right 260 mm; move downward 187 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 566 mm; move downward 827 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 95, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 14 mm; move right 248 mm; move downward 195 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 548 mm; move downward 822 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 262, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.01785714365541935, + -0.004642857238650322, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.01392857264727354, + -0.24750001728534698, + -0.19464288651943207, + 0.0, + 0.0, + 0.11571428179740906, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.7286742469283031, + -0.4804390210641013, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 14 mm; move right 248 mm; move downward 195 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 548 mm; move downward 822 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 96, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 19 mm; move right 234 mm; move downward 202 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 530 mm; move downward 818 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 262, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.017500000074505806, + -0.0057142856530845165, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.019285716116428375, + -0.23428574204444885, + -0.2021428793668747, + 0.0, + 0.0, + 0.12142856419086456, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.7158273582405864, + -0.5162214508180496, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 19 mm; move right 234 mm; move downward 202 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 530 mm; move downward 818 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 97, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 26 mm; move right 221 mm; move downward 208 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 512 mm; move downward 812 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 263, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.017500000074505806, + -0.006071428768336773, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.025714287534356117, + -0.22142858803272247, + -0.20821431279182434, + 0.0, + 0.0, + 0.12428570538759232, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.7158273582405864, + -0.5281489377704736, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 26 mm; move right 221 mm; move downward 208 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 512 mm; move downward 812 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 98, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 34 mm; move right 207 mm; move downward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 495 mm; move downward 806 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 264, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.017500000074505806, + -0.006428571883589029, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.033571433275938034, + -0.20714285969734192, + -0.21392861008644104, + 0.0, + 0.0, + 0.12428570538759232, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.7158273582405864, + -0.5400764247228975, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 34 mm; move right 207 mm; move downward 214 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 495 mm; move downward 806 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 99, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 16 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 43 mm; move right 192 mm; move downward 219 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 477 mm; move downward 799 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 265, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.016428573057055473, + -0.007500000298023224, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.042500000447034836, + -0.19178572297096252, + -0.2192857563495636, + 0.0, + 0.0, + 0.12428570538759232, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.6772868261806562, + -0.5758588544768459, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 16 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 43 mm; move right 192 mm; move downward 219 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 477 mm; move downward 799 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 100, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 16 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 53 mm; move right 176 mm; move downward 224 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 461 mm; move downward 792 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 265, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.015714285895228386, + -0.008571429178118706, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.05285714194178581, + -0.17642855644226074, + -0.22357146441936493, + 0.0, + 0.0, + 0.12428570538759232, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.6515930488052228, + -0.6116412997824561, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 16 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 53 mm; move right 176 mm; move downward 224 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 461 mm; move downward 792 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 101, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 63 mm; move right 162 mm; move downward 226 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 445 mm; move downward 783 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 266, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.015000000596046448, + -0.008928571827709675, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.06321428716182709, + -0.16249999403953552, + -0.22642861306667328, + 0.0, + 0.0, + 0.12428570538759232, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.6258993384313993, + -0.6235687711832182, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 63 mm; move right 162 mm; move downward 226 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 445 mm; move downward 783 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 102, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 74 mm; move right 150 mm; move downward 229 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 430 mm; move downward 774 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 266, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.01428571529686451, + -0.009285714477300644, + 0.0, + 0.0, + 0.0028571428265422583, + -1.0 + ], + "delta_next_20": [ + 0.07357142865657806, + -0.14964286983013153, + -0.2289285659790039, + 0.0, + 0.0, + 0.12428570538759232, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.600205628057576, + -0.6354962425839804, + 0.2857140581240032, + 0.14315344963283438, + -0.31365825610239084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 74 mm; move right 150 mm; move downward 229 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 430 mm; move downward 774 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 103, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 84 mm; move right 138 mm; move downward 231 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 416 mm; move downward 765 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 267, + 120 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.013214285485446453, + -0.009642857126891613, + 0.0, + 0.0, + 0.0057142856530845165, + -1.0 + ], + "delta_next_20": [ + 0.08392857015132904, + -0.13750001788139343, + -0.23071427643299103, + 0.0, + 0.0, + 0.12142856419086456, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.5616649954952309, + -0.6474237139847425, + 0.2857140581240032, + 0.14315344963283438, + -0.2793411682083793, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 84 mm; move right 138 mm; move downward 231 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 416 mm; move downward 765 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 104, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 94 mm; move right 127 mm; move downward 232 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 403 mm; move downward 755 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 267, + 120 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.013214285485446453, + -0.010714286006987095, + 0.0, + 0.0, + 0.0057142856530845165, + -1.0 + ], + "delta_next_20": [ + 0.09392856806516647, + -0.12678572535514832, + -0.232142835855484, + 0.0, + 0.0, + 0.11571428179740906, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.5616649954952309, + -0.6832061592903527, + 0.2857140581240032, + 0.14315344963283438, + -0.2793411682083793, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 94 mm; move right 127 mm; move downward 232 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 403 mm; move downward 755 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 105, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 12 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 103 mm; move right 117 mm; move downward 232 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 390 mm; move downward 745 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 268, + 120 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.012142857536673546, + -0.011428571306169033, + 0.0, + 0.0, + 0.0071428571827709675, + -1.0 + ], + "delta_next_20": [ + 0.10321428626775742, + -0.11714285612106323, + -0.232142835855484, + 0.0, + 0.0, + 0.10999999195337296, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.5231244299344957, + -0.7070611020918771, + 0.2857140581240032, + 0.14315344963283438, + -0.26218262286311134, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 12 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 103 mm; move right 117 mm; move downward 232 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 390 mm; move downward 745 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 72 degrees; open gripper;" + }, + { + "frame_index": 106, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 11 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 113 mm; move right 109 mm; move downward 232 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 378 mm; move downward 733 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 71 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 268, + 121 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.011428571306169033, + -0.011428571306169033, + 0.0, + 0.0, + 0.011428571306169033, + -1.0 + ], + "delta_next_20": [ + 0.11250000447034836, + -0.10892856121063232, + -0.23178568482398987, + 0.0, + 0.0, + 0.10285713523626328, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.4974306860598673, + -0.7070611020918771, + 0.2857140581240032, + 0.14315344963283438, + -0.21070699242035618, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 11 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 113 mm; move right 109 mm; move downward 232 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 378 mm; move downward 733 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 71 degrees; open gripper;" + }, + { + "frame_index": 107, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 11 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 122 mm; move right 101 mm; move downward 231 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 366 mm; move downward 722 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 71 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 269, + 121 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.011071428656578064, + -0.011071428656578064, + 0.0, + 0.0, + 0.012857142835855484, + -1.0 + ], + "delta_next_20": [ + 0.1217857152223587, + -0.1014285683631897, + -0.23107139766216278, + 0.0, + 0.0, + 0.09142857044935226, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.48458383087295565, + -0.6951336306911149, + 0.2857140581240032, + 0.14315344963283438, + -0.19354844707508823, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 11 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 122 mm; move right 101 mm; move downward 231 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 366 mm; move downward 722 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 71 degrees; open gripper;" + }, + { + "frame_index": 108, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 11 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 130 mm; move right 95 mm; move downward 231 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 355 mm; move downward 711 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 70 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 269, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.010714286006987095, + -0.011071428656578064, + 0.0, + 0.0, + 0.011428571306169033, + -1.0 + ], + "delta_next_20": [ + 0.13035714626312256, + -0.09464286267757416, + -0.23071427643299103, + 0.0, + 0.0, + 0.07857142388820648, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.4717369756860439, + -0.6951336306911149, + 0.2857140581240032, + 0.14315344963283438, + -0.21070699242035618, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 11 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 130 mm; move right 95 mm; move downward 231 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 355 mm; move downward 711 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 70 degrees; open gripper;" + }, + { + "frame_index": 109, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 0 mm; move right 10 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 139 mm; move right 89 mm; move downward 230 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; close gripper;\nSubtask Movement: move forward 877 mm; move right 344 mm; move downward 700 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 69 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 269, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0003571428533177823, + -0.009642857126891613, + -0.011428571306169033, + 0.0, + 0.0, + 0.011428571306169033, + -1.0 + ], + "delta_next_20": [ + 0.1389285773038864, + -0.0892857238650322, + -0.23000000417232513, + 0.0, + 0.0, + 0.06714285165071487, + -1.0 + ], + "delta_full_state_norm": [ + -0.03575758249196448, + -0.43319637662450383, + -0.7070611020918771, + 0.2857140581240032, + 0.14315344963283438, + -0.21070699242035618, + -1.0 + ], + "movement_text": "move forward 0 mm; move right 10 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 139 mm; move right 89 mm; move downward 230 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; close gripper;", + "subtask_movement_text": "move forward 877 mm; move right 344 mm; move downward 700 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 69 degrees; open gripper;" + }, + { + "frame_index": 110, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 8 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 147 mm; move right 85 mm; move downward 229 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; close gripper;\nSubtask Movement: move forward 876 mm; move right 335 mm; move downward 688 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 69 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 269, + 123 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0010714286472648382, + -0.008214286528527737, + -0.012142857536673546, + 0.0, + 0.0, + 0.011428571306169033, + -1.0 + ], + "delta_next_20": [ + 0.14678572118282318, + -0.08500000089406967, + -0.22928571701049805, + 0.0, + 0.0, + 0.055714283138513565, + -1.0 + ], + "delta_full_state_norm": [ + 0.004419188246446604, + -0.3818089558768569, + -0.730916075996725, + 0.2857140581240032, + 0.14315344963283438, + -0.21070699242035618, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 8 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 147 mm; move right 85 mm; move downward 229 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; close gripper;", + "subtask_movement_text": "move forward 876 mm; move right 335 mm; move downward 688 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 69 degrees; open gripper;" + }, + { + "frame_index": 111, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 8 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 154 mm; move right 83 mm; move downward 228 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; close gripper;\nSubtask Movement: move forward 875 mm; move right 326 mm; move downward 676 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 68 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 270, + 123 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0017857144121080637, + -0.008214286528527737, + -0.012142857536673546, + 0.0, + 0.0, + 0.011428571306169033, + -1.0 + ], + "delta_next_20": [ + 0.15392857789993286, + -0.08250000327825546, + -0.22785715758800507, + 0.0, + 0.0, + 0.04428571090102196, + -1.0 + ], + "delta_full_state_norm": [ + 0.04459595734784072, + -0.3818089558768569, + -0.730916075996725, + 0.2857140581240032, + 0.14315344963283438, + -0.21070699242035618, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 8 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 154 mm; move right 83 mm; move downward 228 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; close gripper;", + "subtask_movement_text": "move forward 875 mm; move right 326 mm; move downward 676 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 68 degrees; open gripper;" + }, + { + "frame_index": 112, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 6 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move forward 160 mm; move right 80 mm; move downward 226 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nSubtask Movement: move forward 874 mm; move right 318 mm; move downward 664 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 67 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 270, + 123 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0028571428265422583, + -0.006428571883589029, + -0.012142857536673546, + 0.0, + 0.0, + 0.009999999776482582, + -1.0 + ], + "delta_next_20": [ + 0.1600000113248825, + -0.0803571492433548, + -0.22607143223285675, + 0.0, + 0.0, + 0.03285714238882065, + -1.0 + ], + "delta_full_state_norm": [ + 0.1048610979037965, + -0.31757462969109085, + -0.730916075996725, + 0.2857140581240032, + 0.14315344963283438, + -0.22786553776562424, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 6 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move forward 160 mm; move right 80 mm; move downward 226 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "subtask_movement_text": "move forward 874 mm; move right 318 mm; move downward 664 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 67 degrees; open gripper;" + }, + { + "frame_index": 113, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 6 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 165 mm; move right 80 mm; move downward 224 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nSubtask Movement: move forward 871 mm; move right 312 mm; move downward 652 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 67 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 270, + 124 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0032142859417945147, + -0.006071428768336773, + -0.012142857536673546, + 0.0, + 0.0, + 0.008571428246796131, + -1.0 + ], + "delta_next_20": [ + 0.16500000655651093, + -0.08000000566244125, + -0.2239285558462143, + 0.0, + 0.0, + 0.022857142612338066, + -1.0 + ], + "delta_full_state_norm": [ + 0.12494949555062895, + -0.3047277577537767, + -0.730916075996725, + 0.2857140581240032, + 0.14315344963283438, + -0.2450240831108922, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 6 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 165 mm; move right 80 mm; move downward 224 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 871 mm; move right 312 mm; move downward 652 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 67 degrees; open gripper;" + }, + { + "frame_index": 114, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 5 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 170 mm; move right 80 mm; move downward 222 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nSubtask Movement: move forward 868 mm; move right 306 mm; move downward 640 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 66 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 270, + 124 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.004642857238650322, + -0.0053571430034935474, + -0.012142857536673546, + 0.0, + 0.0, + 0.0057142856530845165, + -1.0 + ], + "delta_next_20": [ + 0.1696428656578064, + -0.08000000566244125, + -0.22178569436073303, + 0.0, + 0.0, + 0.014285714365541935, + -1.0 + ], + "delta_full_state_norm": [ + 0.20530302065728168, + -0.2790340306295508, + -0.730916075996725, + 0.2857140581240032, + 0.14315344963283438, + -0.2793411682083793, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 5 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 170 mm; move right 80 mm; move downward 222 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 868 mm; move right 306 mm; move downward 640 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 66 degrees; open gripper;" + }, + { + "frame_index": 115, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 5 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 173 mm; move right 80 mm; move downward 220 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 863 mm; move right 300 mm; move downward 628 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 66 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 269, + 125 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0053571430034935474, + -0.004642857238650322, + -0.012142857536673546, + 0.0, + 0.0, + 0.0057142856530845165, + -1.0 + ], + "delta_next_20": [ + 0.1728571504354477, + -0.0803571566939354, + -0.21964283287525177, + 0.0, + 0.0, + 0.008571428246796131, + -1.0 + ], + "delta_full_state_norm": [ + 0.2454797897586758, + -0.2533403035053249, + -0.730916075996725, + 0.2857140581240032, + 0.14315344963283438, + -0.2793411682083793, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 5 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 173 mm; move right 80 mm; move downward 220 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 863 mm; move right 300 mm; move downward 628 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 66 degrees; open gripper;" + }, + { + "frame_index": 116, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 5 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 176 mm; move right 81 mm; move downward 218 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 858 mm; move right 296 mm; move downward 615 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 269, + 125 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.006428571883589029, + -0.004642857238650322, + -0.011785714887082577, + 0.0, + 0.0, + 0.0028571428265422583, + -1.0 + ], + "delta_next_20": [ + 0.17571429908275604, + -0.08142857998609543, + -0.21785712242126465, + 0.0, + 0.0, + 0.0028571428265422583, + -1.0 + ], + "delta_full_state_norm": [ + 0.30574495650690237, + -0.2533403035053249, + -0.7189886045959628, + 0.2857140581240032, + 0.14315344963283438, + -0.31365825610239084, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 5 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 176 mm; move right 81 mm; move downward 218 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 858 mm; move right 296 mm; move downward 615 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 117, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 3 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 177 mm; move right 83 mm; move downward 216 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 851 mm; move right 291 mm; move downward 604 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 269, + 125 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + -0.0032142859417945147, + -0.011785714887082577, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17714285850524902, + -0.0828571543097496, + -0.21642856299877167, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3860984685174198, + -0.20195285763207427, + -0.7189886045959628, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 3 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 177 mm; move right 83 mm; move downward 216 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 851 mm; move right 291 mm; move downward 604 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 118, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 2 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 177 mm; move right 85 mm; move downward 215 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 843 mm; move right 288 mm; move downward 592 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 268, + 126 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.0021428572945296764, + -0.011785714887082577, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17749999463558197, + -0.08535715192556381, + -0.21464283764362335, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.1634122669457354, + -0.7189886045959628, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 2 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 177 mm; move right 85 mm; move downward 215 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 843 mm; move right 288 mm; move downward 592 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 119, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 1 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 177 mm; move right 89 mm; move downward 213 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 834 mm; move right 286 mm; move downward 580 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 268, + 126 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.010357143357396126, + -0.0010714286472648382, + -0.011785714887082577, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17714285850524902, + -0.08857142925262451, + -0.21321427822113037, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.5267171734684346, + -0.12487167625939655, + -0.7189886045959628, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 1 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 177 mm; move right 89 mm; move downward 213 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 834 mm; move right 286 mm; move downward 580 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 120, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 2 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 175 mm; move right 93 mm; move downward 212 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 824 mm; move right 285 mm; move downward 568 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 267, + 126 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.010357143357396126, + -0.0017857144121080637, + -0.011428571306169033, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1753571480512619, + -0.09285714477300644, + -0.2117857187986374, + -0.0014285714132711291, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.5267171734684346, + -0.15056540338362245, + -0.7070611020918771, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 2 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 175 mm; move right 93 mm; move downward 212 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 824 mm; move right 285 mm; move downward 568 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 121, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 2 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 174 mm; move right 96 mm; move downward 211 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 814 mm; move right 283 mm; move downward 557 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 267, + 126 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.010357143357396126, + -0.0021428572945296764, + -0.011428571306169033, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17392858862876892, + -0.09642856568098068, + -0.2110714465379715, + -0.004285714123398066, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.5267171734684346, + -0.1634122669457354, + -0.7070611020918771, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 2 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 174 mm; move right 96 mm; move downward 211 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 814 mm; move right 283 mm; move downward 557 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 122, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 2 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 173 mm; move right 100 mm; move downward 210 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 803 mm; move right 281 mm; move downward 545 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 266, + 126 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.010357143357396126, + -0.0021428572945296764, + -0.011071428656578064, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17250001430511475, + -0.09964285045862198, + -0.21035714447498322, + -0.009999999776482582, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.5267171734684346, + -0.1634122669457354, + -0.6951336306911149, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 2 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 173 mm; move right 100 mm; move downward 210 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 803 mm; move right 281 mm; move downward 545 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 123, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 3 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 171 mm; move right 103 mm; move downward 209 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 793 mm; move right 279 mm; move downward 534 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 265, + 126 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + -0.002500000176951289, + -0.011071428656578064, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17107145488262177, + -0.10285713523626328, + -0.20928572118282318, + -0.015714285895228386, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.5066288020138727, + -0.17625913050784836, + -0.6951336306911149, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 3 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 171 mm; move right 103 mm; move downward 209 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 793 mm; move right 279 mm; move downward 534 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 124, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 4 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 170 mm; move right 105 mm; move downward 209 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 783 mm; move right 276 mm; move downward 523 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 265, + 126 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + -0.0035714288242161274, + -0.010714286006987095, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17000001668930054, + -0.10535712540149689, + -0.2085714340209961, + -0.025714285671710968, + 0.0, + 0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + 0.46645200672020803, + -0.21479972119418722, + -0.6832061592903527, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 4 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 170 mm; move right 105 mm; move downward 209 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 783 mm; move right 276 mm; move downward 523 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 125, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 4 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 170 mm; move right 107 mm; move downward 208 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 774 mm; move right 273 mm; move downward 513 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 264, + 127 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + -0.0039285714738070965, + -0.011071428656578064, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1696428805589676, + -0.10678569227457047, + -0.20821428298950195, + -0.03999999910593033, + 0.0, + 0.0028571428265422583, + -1.0 + ], + "delta_full_state_norm": [ + 0.46645200672020803, + -0.22764657638109898, + -0.6951336306911149, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 4 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 170 mm; move right 107 mm; move downward 208 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 774 mm; move right 273 mm; move downward 513 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 126, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 4 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 169 mm; move right 108 mm; move downward 208 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 764 mm; move right 269 mm; move downward 501 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 264, + 127 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + -0.0039285714738070965, + -0.010714286006987095, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16928574442863464, + -0.1078571230173111, + -0.20750001072883606, + -0.05428571254014969, + 0.0, + 0.004285714123398066, + -1.0 + ], + "delta_full_state_norm": [ + 0.46645200672020803, + -0.22764657638109898, + -0.6832061592903527, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 4 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 169 mm; move right 108 mm; move downward 208 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 764 mm; move right 269 mm; move downward 501 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 127, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 4 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 169 mm; move right 109 mm; move downward 208 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 755 mm; move right 265 mm; move downward 491 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 263, + 127 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + -0.004285714589059353, + -0.010714286006987095, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1689285933971405, + -0.10928570479154587, + -0.20750001072883606, + -0.06857142597436905, + 0.0, + 0.0057142856530845165, + -1.0 + ], + "delta_full_state_norm": [ + 0.4262752638110845, + -0.24049344831841313, + -0.6832061592903527, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 4 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 169 mm; move right 109 mm; move downward 208 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 755 mm; move right 265 mm; move downward 491 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 128, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 169 mm; move right 111 mm; move downward 207 mm; roll downward 5 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 746 mm; move right 260 mm; move downward 480 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 263, + 127 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + -0.0053571430034935474, + -0.010357143357396126, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16928572952747345, + -0.11071427911520004, + -0.20749998092651367, + -0.08285713940858841, + 0.0014285714132711291, + 0.0071428571827709675, + -1.0 + ], + "delta_full_state_norm": [ + 0.4262752638110845, + -0.2790340306295508, + -0.6712786878895904, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 169 mm; move right 111 mm; move downward 207 mm; roll downward 5 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 746 mm; move right 260 mm; move downward 480 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 129, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 5 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 170 mm; move right 111 mm; move downward 208 mm; roll downward 6 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 738 mm; move right 255 mm; move downward 470 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 262, + 127 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008214286528527737, + -0.0053571430034935474, + -0.010714286006987095, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1696428805589676, + -0.11107142269611359, + -0.2078571319580078, + -0.09714285284280777, + 0.0028571428265422583, + 0.008571428246796131, + -1.0 + ], + "delta_full_state_norm": [ + 0.40618689235652283, + -0.2790340306295508, + -0.6832061592903527, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 5 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 170 mm; move right 111 mm; move downward 208 mm; roll downward 6 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 738 mm; move right 255 mm; move downward 470 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 130, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 6 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 170 mm; move right 111 mm; move downward 207 mm; roll downward 6 degrees; pitch upward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nSubtask Movement: move forward 730 mm; move right 250 mm; move downward 459 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 262, + 127 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008214286528527737, + -0.0057142856530845165, + -0.010714286006987095, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17035716772079468, + -0.11107142269611359, + -0.20749998092651367, + -0.1128571406006813, + 0.004285714123398066, + 0.009999999776482582, + -1.0 + ], + "delta_full_state_norm": [ + 0.40618689235652283, + -0.29188088581646243, + -0.6832061592903527, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 6 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 170 mm; move right 111 mm; move downward 207 mm; roll downward 6 degrees; pitch upward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 730 mm; move right 250 mm; move downward 459 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 131, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 6 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 171 mm; move right 111 mm; move downward 207 mm; roll downward 7 degrees; pitch upward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nSubtask Movement: move forward 721 mm; move right 244 mm; move downward 448 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 261, + 128 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + -0.006071428768336773, + -0.010357143357396126, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17107145488262177, + -0.11107142269611359, + -0.20714282989501953, + -0.12714286148548126, + 0.004285714123398066, + 0.011428571306169033, + -1.0 + ], + "delta_full_state_norm": [ + 0.3860984685174198, + -0.3047277577537767, + -0.6712786878895904, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 6 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 171 mm; move right 111 mm; move downward 207 mm; roll downward 7 degrees; pitch upward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 721 mm; move right 244 mm; move downward 448 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 132, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 6 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 172 mm; move right 111 mm; move downward 207 mm; roll downward 8 degrees; pitch upward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nSubtask Movement: move forward 714 mm; move right 238 mm; move downward 438 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 261, + 128 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + -0.006071428768336773, + -0.010000000707805157, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1721428781747818, + -0.11071427911520004, + -0.20714282989501953, + -0.1428571492433548, + 0.004285714123398066, + 0.012857142835855484, + -1.0 + ], + "delta_full_state_norm": [ + 0.3860984685174198, + -0.3047277577537767, + -0.6593512164888282, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 6 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 172 mm; move right 111 mm; move downward 207 mm; roll downward 8 degrees; pitch upward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 714 mm; move right 238 mm; move downward 438 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 133, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 6 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 173 mm; move right 110 mm; move downward 207 mm; roll downward 9 degrees; pitch upward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nSubtask Movement: move forward 706 mm; move right 232 mm; move downward 428 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 261, + 128 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + -0.006071428768336773, + -0.010000000707805157, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17321430146694183, + -0.11000000685453415, + -0.20714282989501953, + -0.16285714507102966, + 0.0057142856530845165, + 0.014285714365541935, + -1.0 + ], + "delta_full_state_norm": [ + 0.3860984685174198, + -0.3047277577537767, + -0.6593512164888282, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 6 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 173 mm; move right 110 mm; move downward 207 mm; roll downward 9 degrees; pitch upward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 706 mm; move right 232 mm; move downward 428 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 134, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 6 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 174 mm; move right 109 mm; move downward 207 mm; roll downward 11 degrees; pitch upward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nSubtask Movement: move forward 698 mm; move right 226 mm; move downward 418 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 260, + 128 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + -0.0057142856530845165, + -0.010000000707805157, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17428573966026306, + -0.10928571224212646, + -0.20714282989501953, + -0.1842857152223587, + 0.0057142856530845165, + 0.015714285895228386, + -1.0 + ], + "delta_full_state_norm": [ + 0.3860984685174198, + -0.29188088581646243, + -0.6593512164888282, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 6 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 174 mm; move right 109 mm; move downward 207 mm; roll downward 11 degrees; pitch upward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 698 mm; move right 226 mm; move downward 418 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 135, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 6 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 175 mm; move right 109 mm; move downward 207 mm; roll downward 12 degrees; pitch upward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nSubtask Movement: move forward 690 mm; move right 220 mm; move downward 408 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 260, + 128 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008214286528527737, + -0.0057142856530845165, + -0.010357143357396126, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1753571629524231, + -0.10928571224212646, + -0.20714282989501953, + -0.20714285969734192, + 0.0071428571827709675, + 0.018571428954601288, + -1.0 + ], + "delta_full_state_norm": [ + 0.40618689235652283, + -0.29188088581646243, + -0.6712786878895904, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 6 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 175 mm; move right 109 mm; move downward 207 mm; roll downward 12 degrees; pitch upward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 690 mm; move right 220 mm; move downward 408 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 136, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 6 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 176 mm; move right 109 mm; move downward 207 mm; roll downward 13 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; close gripper;\nSubtask Movement: move forward 682 mm; move right 214 mm; move downward 398 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 260, + 129 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + -0.006071428768336773, + -0.010357143357396126, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17571431398391724, + -0.10892857611179352, + -0.20714285969734192, + -0.23000000417232513, + 0.009999999776482582, + 0.02142857201397419, + -1.0 + ], + "delta_full_state_norm": [ + 0.3860984685174198, + -0.3047277577537767, + -0.6712786878895904, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 6 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 176 mm; move right 109 mm; move downward 207 mm; roll downward 13 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 682 mm; move right 214 mm; move downward 398 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 137, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 6 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 176 mm; move right 109 mm; move downward 207 mm; roll downward 14 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; close gripper;\nSubtask Movement: move forward 674 mm; move right 208 mm; move downward 387 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 259, + 129 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008214286528527737, + -0.0057142856530845165, + -0.010000000707805157, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17642860114574432, + -0.10857142508029938, + -0.20714285969734192, + -0.25285714864730835, + 0.012857142835855484, + 0.02428571507334709, + -1.0 + ], + "delta_full_state_norm": [ + 0.40618689235652283, + -0.29188088581646243, + -0.6593512164888282, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 6 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 176 mm; move right 109 mm; move downward 207 mm; roll downward 14 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 674 mm; move right 208 mm; move downward 387 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 138, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 177 mm; move right 109 mm; move downward 207 mm; roll downward 16 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;\nSubtask Movement: move forward 666 mm; move right 203 mm; move downward 377 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 259, + 129 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + -0.0053571430034935474, + -0.010357143357396126, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17678575217723846, + -0.10857142508029938, + -0.20714285969734192, + -0.27571427822113037, + 0.015714285895228386, + 0.027142858132719994, + -1.0 + ], + "delta_full_state_norm": [ + 0.4262752638110845, + -0.2790340306295508, + -0.6712786878895904, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 177 mm; move right 109 mm; move downward 207 mm; roll downward 16 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;", + "subtask_movement_text": "move forward 666 mm; move right 203 mm; move downward 377 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 139, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 177 mm; move right 109 mm; move downward 206 mm; roll downward 17 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;\nSubtask Movement: move forward 657 mm; move right 197 mm; move downward 367 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 259, + 129 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + -0.0053571430034935474, + -0.010357143357396126, + -0.0014285714132711291, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1771429032087326, + -0.10928570479154587, + -0.20642857253551483, + -0.29428571462631226, + 0.018571428954601288, + 0.030000001192092896, + -1.0 + ], + "delta_full_state_norm": [ + 0.4262752638110845, + -0.2790340306295508, + -0.6712786878895904, + 0.238095019365393, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 177 mm; move right 109 mm; move downward 206 mm; roll downward 17 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;", + "subtask_movement_text": "move forward 657 mm; move right 197 mm; move downward 367 mm; roll downward 53 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 140, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 178 mm; move right 110 mm; move downward 205 mm; roll downward 18 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;\nSubtask Movement: move forward 649 mm; move right 192 mm; move downward 356 mm; roll downward 52 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 258, + 129 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.0053571430034935474, + -0.010714286006987095, + -0.0028571428265422583, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17750003933906555, + -0.10999999195337296, + -0.2053571492433548, + -0.3085714280605316, + 0.019999999552965164, + 0.03285714238882065, + -1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.2790340306295508, + -0.6832061592903527, + 0.19047598060678284, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 178 mm; move right 110 mm; move downward 205 mm; roll downward 18 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;", + "subtask_movement_text": "move forward 649 mm; move right 192 mm; move downward 356 mm; roll downward 52 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 141, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 178 mm; move right 111 mm; move downward 203 mm; roll downward 18 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;\nSubtask Movement: move forward 640 mm; move right 186 mm; move downward 346 mm; roll downward 52 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 258, + 129 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.0053571430034935474, + -0.010714286006987095, + -0.0057142856530845165, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1778571754693985, + -0.11071427911520004, + -0.20321428775787354, + -0.3214285671710968, + 0.022857142612338066, + 0.034285712987184525, + -1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.2790340306295508, + -0.6832061592903527, + 0.0952379030895627, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 178 mm; move right 111 mm; move downward 203 mm; roll downward 18 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;", + "subtask_movement_text": "move forward 640 mm; move right 186 mm; move downward 346 mm; roll downward 52 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 142, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 179 mm; move right 111 mm; move downward 201 mm; roll downward 19 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;\nSubtask Movement: move forward 631 mm; move right 181 mm; move downward 335 mm; roll downward 52 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 257, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.0053571430034935474, + -0.010000000707805157, + -0.0057142856530845165, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17857146263122559, + -0.11107142269611359, + -0.20071430504322052, + -0.33000001311302185, + 0.024285713210701942, + 0.0357142835855484, + -1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.2790340306295508, + -0.6593512164888282, + 0.0952379030895627, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 179 mm; move right 111 mm; move downward 201 mm; roll downward 19 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;", + "subtask_movement_text": "move forward 631 mm; move right 181 mm; move downward 335 mm; roll downward 52 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 143, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 10 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 179 mm; move right 111 mm; move downward 199 mm; roll downward 19 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;\nSubtask Movement: move forward 622 mm; move right 176 mm; move downward 325 mm; roll downward 52 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 257, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.005000000353902578, + -0.010357143357396126, + -0.009999999776482582, + 0.0, + 0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + 0.17892859876155853, + -0.11142857372760773, + -0.1989285796880722, + -0.3385714292526245, + 0.024285713210701942, + 0.03714285418391228, + -1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.26618717544263903, + -0.6712786878895904, + -0.04761920930575758, + 0.14315344963283438, + -0.3308168000493966, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 10 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 179 mm; move right 111 mm; move downward 199 mm; roll downward 19 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;", + "subtask_movement_text": "move forward 622 mm; move right 176 mm; move downward 325 mm; roll downward 52 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 144, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 10 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 179 mm; move right 112 mm; move downward 196 mm; roll downward 19 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;\nSubtask Movement: move forward 613 mm; move right 171 mm; move downward 315 mm; roll downward 51 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 257, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.005000000353902578, + -0.010357143357396126, + -0.014285714365541935, + 0.0, + 0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + 0.17892859876155853, + -0.11214286088943481, + -0.196428582072258, + -0.3400000035762787, + 0.024285713210701942, + 0.0357142835855484, + -1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.26618717544263903, + -0.6712786878895904, + -0.19047633722311808, + 0.14315344963283438, + -0.3308168000493966, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 10 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 179 mm; move right 112 mm; move downward 196 mm; roll downward 19 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;", + "subtask_movement_text": "move forward 613 mm; move right 171 mm; move downward 315 mm; roll downward 51 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 145, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 10 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 179 mm; move right 113 mm; move downward 194 mm; roll downward 19 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;\nSubtask Movement: move forward 604 mm; move right 166 mm; move downward 304 mm; roll downward 50 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 256, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.005000000353902578, + -0.010357143357396126, + -0.014285714365541935, + 0.0, + 0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + 0.17892859876155853, + -0.1128571555018425, + -0.19357143342494965, + -0.3385714292526245, + 0.024285713210701942, + 0.034285712987184525, + -1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.26618717544263903, + -0.6712786878895904, + -0.19047633722311808, + 0.14315344963283438, + -0.3308168000493966, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 10 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 179 mm; move right 113 mm; move downward 194 mm; roll downward 19 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;", + "subtask_movement_text": "move forward 604 mm; move right 166 mm; move downward 304 mm; roll downward 50 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 146, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 11 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 179 mm; move right 114 mm; move downward 190 mm; roll downward 19 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;\nSubtask Movement: move forward 595 mm; move right 161 mm; move downward 294 mm; roll downward 49 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 256, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.0053571430034935474, + -0.010714286006987095, + -0.014285714365541935, + 0.0, + 0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + 0.1785714477300644, + -0.11357142776250839, + -0.19035714864730835, + -0.334285706281662, + 0.024285713210701942, + 0.03285714238882065, + -1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.2790340306295508, + -0.6832061592903527, + -0.19047633722311808, + 0.14315344963283438, + -0.3308168000493966, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 11 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 179 mm; move right 114 mm; move downward 190 mm; roll downward 19 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;", + "subtask_movement_text": "move forward 595 mm; move right 161 mm; move downward 294 mm; roll downward 49 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 147, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 6 mm; move downward 11 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 178 mm; move right 114 mm; move downward 187 mm; roll downward 19 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;\nSubtask Movement: move forward 586 mm; move right 155 mm; move downward 283 mm; roll downward 49 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 256, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.0057142856530845165, + -0.010714286006987095, + -0.014285714365541935, + 0.0014285714132711291, + 0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + 0.17821431159973145, + -0.11428572237491608, + -0.18714286386966705, + -0.3271428644657135, + 0.024285713210701942, + 0.03142857179045677, + -1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.29188088581646243, + -0.6832061592903527, + -0.19047633722311808, + 0.16044252140319326, + -0.3308168000493966, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 6 mm; move downward 11 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 178 mm; move right 114 mm; move downward 187 mm; roll downward 19 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;", + "subtask_movement_text": "move forward 586 mm; move right 155 mm; move downward 283 mm; roll downward 49 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 148, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 6 mm; move downward 11 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 178 mm; move right 114 mm; move downward 184 mm; roll downward 18 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;\nSubtask Movement: move forward 577 mm; move right 150 mm; move downward 273 mm; roll downward 48 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 255, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.0057142856530845165, + -0.010714286006987095, + -0.014285714365541935, + 0.0014285714132711291, + 0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + 0.1778571605682373, + -0.11428572237491608, + -0.1842857152223587, + -0.322857141494751, + 0.022857140749692917, + 0.029999997466802597, + -1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.29188088581646243, + -0.6832061592903527, + -0.19047633722311808, + 0.16044252140319326, + -0.3308168000493966, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 6 mm; move downward 11 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 178 mm; move right 114 mm; move downward 184 mm; roll downward 18 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;", + "subtask_movement_text": "move forward 577 mm; move right 150 mm; move downward 273 mm; roll downward 48 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 149, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 10 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 178 mm; move right 115 mm; move downward 181 mm; roll downward 18 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;\nSubtask Movement: move forward 568 mm; move right 144 mm; move downward 262 mm; roll downward 47 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 255, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.0053571430034935474, + -0.010357143357396126, + -0.015714285895228386, + 0.0014285714132711291, + 0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + 0.1778571754693985, + -0.11464285850524902, + -0.18071429431438446, + -0.3171428442001343, + 0.02142857015132904, + 0.02857142686843872, + -1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.2790340306295508, + -0.6712786878895904, + -0.23809537986223828, + 0.16044252140319326, + -0.3308168000493966, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 10 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 178 mm; move right 115 mm; move downward 181 mm; roll downward 18 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;", + "subtask_movement_text": "move forward 568 mm; move right 144 mm; move downward 262 mm; roll downward 47 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 150, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 6 mm; move downward 10 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 178 mm; move right 116 mm; move downward 177 mm; roll downward 17 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;\nSubtask Movement: move forward 559 mm; move right 139 mm; move downward 251 mm; roll downward 46 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 255, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.0057142856530845165, + -0.010357143357396126, + -0.014285714365541935, + 0.0, + 0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + 0.1778571605682373, + -0.11571428924798965, + -0.17714285850524902, + -0.3042857050895691, + 0.019999999552965164, + 0.027142854407429695, + -1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.29188088581646243, + -0.6712786878895904, + -0.19047633722311808, + 0.14315344963283438, + -0.3308168000493966, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 6 mm; move downward 10 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 178 mm; move right 116 mm; move downward 177 mm; roll downward 17 degrees; pitch upward 1 degrees; yaw counterclockwise 2 degrees; close gripper;", + "subtask_movement_text": "move forward 559 mm; move right 139 mm; move downward 251 mm; roll downward 46 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 151, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 6 mm; move downward 10 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 178 mm; move right 116 mm; move downward 173 mm; roll downward 17 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; close gripper;\nSubtask Movement: move forward 550 mm; move right 133 mm; move downward 241 mm; roll downward 45 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 254, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.0057142856530845165, + -0.010357143357396126, + -0.015714285895228386, + 0.0, + 0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + 0.17750003933906555, + -0.11571428924798965, + -0.17321430146694183, + -0.2914285659790039, + 0.022857142612338066, + 0.02571428380906582, + -1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.29188088581646243, + -0.6712786878895904, + -0.23809537986223828, + 0.14315344963283438, + -0.3308168000493966, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 6 mm; move downward 10 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 178 mm; move right 116 mm; move downward 173 mm; roll downward 17 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 550 mm; move right 133 mm; move downward 241 mm; roll downward 45 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 152, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 10 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 178 mm; move right 115 mm; move downward 169 mm; roll downward 16 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; close gripper;\nSubtask Movement: move forward 541 mm; move right 127 mm; move downward 231 mm; roll downward 44 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 254, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.0053571430034935474, + -0.010000000707805157, + -0.019999999552965164, + 0.0014285714132711291, + 0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + 0.17750002443790436, + -0.11535715311765671, + -0.16928572952747345, + -0.27571427822113037, + 0.024285713210701942, + 0.024285711348056793, + -1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.2790340306295508, + -0.6593512164888282, + -0.38095247673551835, + 0.16044252140319326, + -0.3308168000493966, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 10 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 178 mm; move right 115 mm; move downward 169 mm; roll downward 16 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 541 mm; move right 127 mm; move downward 231 mm; roll downward 44 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 153, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 10 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 178 mm; move right 115 mm; move downward 166 mm; roll downward 15 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; close gripper;\nSubtask Movement: move forward 533 mm; move right 122 mm; move downward 221 mm; roll downward 43 degrees; pitch upward 9 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 254, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.0053571430034935474, + -0.010000000707805157, + -0.02142857201397419, + 0.0, + 0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + 0.1778571605682373, + -0.11535715311765671, + -0.1657143086194992, + -0.2557142972946167, + 0.024285711348056793, + 0.022857140749692917, + -1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.2790340306295508, + -0.6593512164888282, + -0.42857155041871886, + 0.14315344963283438, + -0.3308168000493966, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 10 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 178 mm; move right 115 mm; move downward 166 mm; roll downward 15 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 533 mm; move right 122 mm; move downward 221 mm; roll downward 43 degrees; pitch upward 9 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 154, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 6 mm; move downward 10 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 178 mm; move right 115 mm; move downward 162 mm; roll downward 13 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; close gripper;\nSubtask Movement: move forward 524 mm; move right 116 mm; move downward 211 mm; roll downward 42 degrees; pitch upward 9 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 253, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.0057142856530845165, + -0.010000000707805157, + -0.022857142612338066, + 0.0014285714132711291, + 0.0028571428265422583, + -1.0 + ], + "delta_next_20": [ + 0.17821431159973145, + -0.11500000208616257, + -0.16214287281036377, + -0.23428572714328766, + 0.027142854407429695, + 0.02142856828868389, + -1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.29188088581646243, + -0.6593512164888282, + -0.47619056201375864, + 0.16044252140319326, + -0.31365825610239084, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 6 mm; move downward 10 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 178 mm; move right 115 mm; move downward 162 mm; roll downward 13 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 524 mm; move right 116 mm; move downward 211 mm; roll downward 42 degrees; pitch upward 9 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 155, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 10 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 179 mm; move right 114 mm; move downward 159 mm; roll downward 12 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; close gripper;\nSubtask Movement: move forward 515 mm; move right 111 mm; move downward 201 mm; roll downward 41 degrees; pitch upward 9 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 253, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + -0.0053571430034935474, + -0.010357143357396126, + -0.022857142612338066, + 0.0028571428265422583, + 0.0028571428265422583, + -1.0 + ], + "delta_next_20": [ + 0.17892859876155853, + -0.11392857134342194, + -0.15857146680355072, + -0.21142858266830444, + 0.029999997466802597, + 0.01857142709195614, + -1.0 + ], + "delta_full_state_norm": [ + 0.4262752638110845, + -0.2790340306295508, + -0.6712786878895904, + -0.47619056201375864, + 0.17773159317355214, + -0.31365825610239084, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 10 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 179 mm; move right 114 mm; move downward 159 mm; roll downward 12 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 515 mm; move right 111 mm; move downward 201 mm; roll downward 41 degrees; pitch upward 9 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 156, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 6 mm; move downward 10 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 180 mm; move right 113 mm; move downward 155 mm; roll downward 11 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; close gripper;\nSubtask Movement: move forward 506 mm; move right 105 mm; move downward 190 mm; roll downward 39 degrees; pitch upward 8 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 253, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + -0.0057142856530845165, + -0.010357143357396126, + -0.022857142612338066, + 0.0028571428265422583, + 0.0028571428265422583, + -1.0 + ], + "delta_next_20": [ + 0.18000002205371857, + -0.1128571406006813, + -0.15464287996292114, + -0.18857143819332123, + 0.03142856806516647, + 0.015714285895228386, + -1.0 + ], + "delta_full_state_norm": [ + 0.4262752638110845, + -0.29188088581646243, + -0.6712786878895904, + -0.47619056201375864, + 0.17773159317355214, + -0.31365825610239084, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 6 mm; move downward 10 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 180 mm; move right 113 mm; move downward 155 mm; roll downward 11 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 506 mm; move right 105 mm; move downward 190 mm; roll downward 39 degrees; pitch upward 8 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 157, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 6 mm; move downward 10 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 181 mm; move right 111 mm; move downward 151 mm; roll downward 9 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; close gripper;\nSubtask Movement: move forward 498 mm; move right 100 mm; move downward 180 mm; roll downward 38 degrees; pitch upward 8 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 253, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + -0.0057142856530845165, + -0.010000000707805157, + -0.022857142612338066, + 0.0028571428265422583, + 0.0028571428265422583, + -1.0 + ], + "delta_next_20": [ + 0.1810714453458786, + -0.11142858117818832, + -0.15071432292461395, + -0.1657143086194992, + 0.03285714238882065, + 0.012857142835855484, + -1.0 + ], + "delta_full_state_norm": [ + 0.4262752638110845, + -0.29188088581646243, + -0.6593512164888282, + -0.47619056201375864, + 0.17773159317355214, + -0.31365825610239084, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 6 mm; move downward 10 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 181 mm; move right 111 mm; move downward 151 mm; roll downward 9 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 498 mm; move right 100 mm; move downward 180 mm; roll downward 38 degrees; pitch upward 8 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 158, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 6 mm; move downward 10 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 182 mm; move right 111 mm; move downward 146 mm; roll downward 8 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; close gripper;\nSubtask Movement: move forward 489 mm; move right 94 mm; move downward 170 mm; roll downward 37 degrees; pitch upward 8 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 252, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.006071428768336773, + -0.009642857126891613, + -0.018571428954601288, + 0.0028571428265422583, + 0.0028571428265422583, + -1.0 + ], + "delta_next_20": [ + 0.1817857325077057, + -0.11071427911520004, + -0.14642859995365143, + -0.1428571492433548, + 0.03714285418391228, + 0.009999999776482582, + -1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.3047277577537767, + -0.6474237139847425, + -0.33333346514047857, + 0.17773159317355214, + -0.31365825610239084, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 6 mm; move downward 10 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 182 mm; move right 111 mm; move downward 146 mm; roll downward 8 degrees; pitch upward 2 degrees; yaw counterclockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 489 mm; move right 94 mm; move downward 170 mm; roll downward 37 degrees; pitch upward 8 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 159, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 6 mm; move downward 9 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 182 mm; move right 109 mm; move downward 143 mm; roll downward 7 degrees; pitch upward 2 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 480 mm; move right 88 mm; move downward 160 mm; roll downward 36 degrees; pitch upward 8 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 252, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.006071428768336773, + -0.009285714477300644, + -0.015714285895228386, + 0.0014285714132711291, + 0.0028571428265422583, + -1.0 + ], + "delta_next_20": [ + 0.18214288353919983, + -0.10928571224212646, + -0.14250002801418304, + -0.12428570538759232, + 0.041428569704294205, + 0.0071428571827709675, + -1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.3047277577537767, + -0.6354962425839804, + -0.23809537986223828, + 0.16044252140319326, + -0.31365825610239084, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 6 mm; move downward 9 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 182 mm; move right 109 mm; move downward 143 mm; roll downward 7 degrees; pitch upward 2 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 480 mm; move right 88 mm; move downward 160 mm; roll downward 36 degrees; pitch upward 8 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 160, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 6 mm; move downward 9 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 183 mm; move right 108 mm; move downward 139 mm; roll downward 6 degrees; pitch upward 3 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 471 mm; move right 82 mm; move downward 151 mm; roll downward 35 degrees; pitch upward 8 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 252, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + -0.006071428768336773, + -0.008571429178118706, + -0.015714285895228386, + 0.0028571428265422583, + 0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + 0.18250000476837158, + -0.10785714536905289, + -0.1389285773038864, + -0.10857143253087997, + 0.04571428522467613, + 0.004285714123398066, + -1.0 + ], + "delta_full_state_norm": [ + 0.46645200672020803, + -0.3047277577537767, + -0.6116412997824561, + -0.23809537986223828, + 0.17773159317355214, + -0.3308168000493966, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 6 mm; move downward 9 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 183 mm; move right 108 mm; move downward 139 mm; roll downward 6 degrees; pitch upward 3 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 471 mm; move right 82 mm; move downward 151 mm; roll downward 35 degrees; pitch upward 8 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 161, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 6 mm; move downward 8 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 183 mm; move right 107 mm; move downward 136 mm; roll downward 5 degrees; pitch upward 3 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 462 mm; move right 76 mm; move downward 143 mm; roll downward 34 degrees; pitch upward 8 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 251, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + -0.0057142856530845165, + -0.008214286528527737, + -0.014285714365541935, + 0.0014285714132711291, + 0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + 0.18250000476837158, + -0.10678571462631226, + -0.13607142865657806, + -0.09285714477300644, + 0.048571426421403885, + 0.0028571428265422583, + -1.0 + ], + "delta_full_state_norm": [ + 0.4865403781747699, + -0.29188088581646243, + -0.5997138283816938, + -0.19047633722311808, + 0.16044252140319326, + -0.3308168000493966, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 6 mm; move downward 8 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 183 mm; move right 107 mm; move downward 136 mm; roll downward 5 degrees; pitch upward 3 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 462 mm; move right 76 mm; move downward 143 mm; roll downward 34 degrees; pitch upward 8 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 162, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 6 mm; move downward 8 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 182 mm; move right 106 mm; move downward 134 mm; roll downward 5 degrees; pitch upward 3 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 452 mm; move right 70 mm; move downward 134 mm; roll downward 33 degrees; pitch upward 8 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 251, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + -0.0057142856530845165, + -0.008214286528527737, + -0.014285714365541935, + 0.0, + 0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + 0.1817857176065445, + -0.10607142746448517, + -0.1339285671710968, + -0.07857143133878708, + 0.05285714194178581, + 0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + 0.46645200672020803, + -0.29188088581646243, + -0.5997138283816938, + -0.19047633722311808, + 0.14315344963283438, + -0.3308168000493966, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 6 mm; move downward 8 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 182 mm; move right 106 mm; move downward 134 mm; roll downward 5 degrees; pitch upward 3 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 452 mm; move right 70 mm; move downward 134 mm; roll downward 33 degrees; pitch upward 8 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 163, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 6 mm; move downward 8 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 181 mm; move right 105 mm; move downward 132 mm; roll downward 4 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 443 mm; move right 64 mm; move downward 126 mm; roll downward 32 degrees; pitch upward 8 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 251, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.0057142856530845165, + -0.007857142947614193, + -0.011428571306169033, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1810714453458786, + -0.10499999672174454, + -0.13214285671710968, + -0.06428571790456772, + 0.05999999865889549, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.29188088581646243, + -0.5877863258776082, + -0.09523825194487778, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 6 mm; move downward 8 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 181 mm; move right 105 mm; move downward 132 mm; roll downward 4 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 443 mm; move right 64 mm; move downward 126 mm; roll downward 32 degrees; pitch upward 8 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 164, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 6 mm; move downward 8 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 180 mm; move right 105 mm; move downward 131 mm; roll downward 3 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 434 mm; move right 59 mm; move downward 118 mm; roll downward 32 degrees; pitch upward 8 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 250, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.0057142856530845165, + -0.007500000298023224, + -0.012857142835855484, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.18035714328289032, + -0.10464286804199219, + -0.13107143342494965, + -0.052857138216495514, + 0.07000000029802322, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.29188088581646243, + -0.5758588544768459, + -0.14285729458399798, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 6 mm; move downward 8 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 180 mm; move right 105 mm; move downward 131 mm; roll downward 3 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 434 mm; move right 59 mm; move downward 118 mm; roll downward 32 degrees; pitch upward 8 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 165, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 6 mm; move downward 7 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 179 mm; move right 105 mm; move downward 131 mm; roll downward 2 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 425 mm; move right 53 mm; move downward 111 mm; roll downward 31 degrees; pitch upward 8 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 250, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + -0.0057142856530845165, + -0.007142857648432255, + -0.009999999776482582, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1785714328289032, + -0.10500001162290573, + -0.1307142823934555, + -0.03999999538064003, + 0.07857143133878708, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4262752638110845, + -0.29188088581646243, + -0.5639313830760837, + -0.04761920930575758, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 6 mm; move downward 7 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 179 mm; move right 105 mm; move downward 131 mm; roll downward 2 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 425 mm; move right 53 mm; move downward 111 mm; roll downward 31 degrees; pitch upward 8 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 166, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 6 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 177 mm; move right 105 mm; move downward 131 mm; roll downward 2 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 416 mm; move right 47 mm; move downward 104 mm; roll downward 30 degrees; pitch upward 8 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 250, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + -0.006071428768336773, + -0.007500000298023224, + -0.0071428571827709675, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17678570747375488, + -0.10500001162290573, + -0.1314285695552826, + -0.029999999329447746, + 0.08714286237955093, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4262752638110845, + -0.3047277577537767, + -0.5758588544768459, + 0.04761886045044239, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 6 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 177 mm; move right 105 mm; move downward 131 mm; roll downward 2 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 416 mm; move right 47 mm; move downward 104 mm; roll downward 30 degrees; pitch upward 8 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 167, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 6 mm; move downward 8 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 175 mm; move right 105 mm; move downward 133 mm; roll downward 1 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 408 mm; move right 41 mm; move downward 96 mm; roll downward 30 degrees; pitch upward 8 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 250, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + -0.0057142856530845165, + -0.007857142947614193, + -0.009999999776482582, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17499999701976776, + -0.10464286059141159, + -0.13250000774860382, + -0.022857142612338066, + 0.09714286029338837, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4262752638110845, + -0.29188088581646243, + -0.5877863258776082, + -0.04761920930575758, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 6 mm; move downward 8 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 175 mm; move right 105 mm; move downward 133 mm; roll downward 1 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 408 mm; move right 41 mm; move downward 96 mm; roll downward 30 degrees; pitch upward 8 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 168, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 6 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 173 mm; move right 105 mm; move downward 133 mm; roll downward 1 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 399 mm; move right 35 mm; move downward 88 mm; roll downward 29 degrees; pitch upward 8 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 249, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.006071428768336773, + -0.007142857648432255, + -0.008571428246796131, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1728571504354477, + -0.10464286059141159, + -0.1332142949104309, + -0.012857142835855484, + 0.1071428582072258, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.3047277577537767, + -0.5639313830760837, + -1.6666663749109745e-07, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 6 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 173 mm; move right 105 mm; move downward 133 mm; roll downward 1 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 399 mm; move right 35 mm; move downward 88 mm; roll downward 29 degrees; pitch upward 8 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 169, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 6 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 170 mm; move right 104 mm; move downward 135 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 390 mm; move right 29 mm; move downward 81 mm; roll downward 29 degrees; pitch upward 8 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 249, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.006428571883589029, + -0.006785714533179998, + -0.0028571428265422583, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17035715281963348, + -0.10428571701049805, + -0.13500002026557922, + -0.004285714123398066, + 0.11857143044471741, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.31757462969109085, + -0.5520038961236597, + 0.19047598060678284, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 6 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 170 mm; move right 104 mm; move downward 135 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 390 mm; move right 29 mm; move downward 81 mm; roll downward 29 degrees; pitch upward 8 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 170, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 6 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 168 mm; move right 104 mm; move downward 138 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 381 mm; move right 23 mm; move downward 74 mm; roll downward 29 degrees; pitch upward 8 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 249, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + -0.0057142856530845165, + -0.006428571883589029, + -0.0014285714132711291, + 0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16785715520381927, + -0.1039285659790039, + -0.13750001788139343, + -0.0014285714132711291, + 0.12999999523162842, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4262752638110845, + -0.29188088581646243, + -0.5400764247228975, + 0.238095019365393, + 0.17773159317355214, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 6 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 168 mm; move right 104 mm; move downward 138 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 381 mm; move right 23 mm; move downward 74 mm; roll downward 29 degrees; pitch upward 8 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 171, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 166 mm; move right 104 mm; move downward 140 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 373 mm; move right 17 mm; move downward 68 mm; roll downward 29 degrees; pitch upward 7 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 248, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.0053571430034935474, + -0.006428571883589029, + 0.0, + 0.0014285714132711291, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16607144474983215, + -0.1039285808801651, + -0.14035716652870178, + 0.0, + 0.13857142627239227, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.2790340306295508, + -0.5400764247228975, + 0.2857140581240032, + 0.16044252140319326, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 166 mm; move right 104 mm; move downward 140 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 373 mm; move right 17 mm; move downward 68 mm; roll downward 29 degrees; pitch upward 7 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 172, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 164 mm; move right 104 mm; move downward 143 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 364 mm; move right 12 mm; move downward 61 mm; roll downward 29 degrees; pitch upward 7 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 248, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + -0.0053571430034935474, + -0.006428571883589029, + 0.0, + 0.0014285714132711291, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16428571939468384, + -0.10428571701049805, + -0.14321428537368774, + 0.0, + 0.14999999105930328, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.46645200672020803, + -0.2790340306295508, + -0.5400764247228975, + 0.2857140581240032, + 0.16044252140319326, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 164 mm; move right 104 mm; move downward 143 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 364 mm; move right 12 mm; move downward 61 mm; roll downward 29 degrees; pitch upward 7 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 173, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 163 mm; move right 104 mm; move downward 146 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 355 mm; move right 6 mm; move downward 55 mm; roll downward 29 degrees; pitch upward 7 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 248, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + -0.005000000353902578, + -0.006428571883589029, + 0.0, + 0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16250000894069672, + -0.10428571701049805, + -0.14642857015132904, + 0.0, + 0.15999998152256012, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.46645200672020803, + -0.26618717544263903, + -0.5400764247228975, + 0.2857140581240032, + 0.17773159317355214, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 163 mm; move right 104 mm; move downward 146 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 355 mm; move right 6 mm; move downward 55 mm; roll downward 29 degrees; pitch upward 7 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 174, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 5 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 161 mm; move right 105 mm; move downward 150 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 345 mm; move right 1 mm; move downward 49 mm; roll downward 29 degrees; pitch upward 7 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 248, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + -0.004642857238650322, + -0.006428571883589029, + 0.0, + 0.004285714123398066, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1607143133878708, + -0.10464286059141159, + -0.14964285492897034, + 0.0, + 0.16857141256332397, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4865403781747699, + -0.2533403035053249, + -0.5400764247228975, + 0.2857140581240032, + 0.1950206635350118, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 5 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 161 mm; move right 105 mm; move downward 150 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 345 mm; move right 1 mm; move downward 49 mm; roll downward 29 degrees; pitch upward 7 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 175, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 4 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 160 mm; move right 105 mm; move downward 153 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 336 mm; move left 3 mm; move downward 42 mm; roll downward 29 degrees; pitch upward 7 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 247, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + -0.004285714589059353, + -0.006428571883589029, + 0.0, + 0.004285714123398066, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.15964290499687195, + -0.10499999672174454, + -0.15285716950893402, + 0.0, + 0.17714282870292664, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4865403781747699, + -0.24049344831841313, + -0.5400764247228975, + 0.2857140581240032, + 0.1950206635350118, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 4 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 160 mm; move right 105 mm; move downward 153 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 336 mm; move left 3 mm; move downward 42 mm; roll downward 29 degrees; pitch upward 7 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 176, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 4 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 159 mm; move right 106 mm; move downward 156 mm; roll downward 0 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 326 mm; move left 7 mm; move downward 36 mm; roll downward 29 degrees; pitch upward 7 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 247, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + -0.004285714589059353, + -0.006428571883589029, + 0.0, + 0.004285714123398066, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.15892860293388367, + -0.10571427643299103, + -0.15607145428657532, + 0.0, + 0.18714283406734467, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4865403781747699, + -0.24049344831841313, + -0.5400764247228975, + 0.2857140581240032, + 0.1950206635350118, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 4 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 159 mm; move right 106 mm; move downward 156 mm; roll downward 0 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 326 mm; move left 7 mm; move downward 36 mm; roll downward 29 degrees; pitch upward 7 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 177, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 159 mm; move right 106 mm; move downward 159 mm; roll downward 0 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 316 mm; move left 12 mm; move downward 29 mm; roll downward 29 degrees; pitch upward 6 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 247, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + -0.005000000353902578, + -0.0057142856530845165, + 0.0, + 0.0071428571827709675, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.15857143700122833, + -0.10571428388357162, + -0.15892858803272247, + 0.0, + 0.19571426510810852, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.46645200672020803, + -0.26618717544263903, + -0.5162214508180496, + 0.2857140581240032, + 0.22959880989352754, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 159 mm; move right 106 mm; move downward 159 mm; roll downward 0 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 316 mm; move left 12 mm; move downward 29 mm; roll downward 29 degrees; pitch upward 6 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 178, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 159 mm; move right 105 mm; move downward 162 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 307 mm; move left 17 mm; move downward 24 mm; roll downward 29 degrees; pitch upward 6 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 246, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + -0.004642857238650322, + -0.0057142856530845165, + 0.0, + 0.0071428571827709675, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.15892858803272247, + -0.10499999672174454, + -0.16178575158119202, + 0.0, + 0.2028571218252182, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.46645200672020803, + -0.2533403035053249, + -0.5162214508180496, + 0.2857140581240032, + 0.22959880989352754, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 159 mm; move right 105 mm; move downward 162 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 307 mm; move left 17 mm; move downward 24 mm; roll downward 29 degrees; pitch upward 6 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 179, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 160 mm; move right 105 mm; move downward 165 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 298 mm; move left 21 mm; move downward 18 mm; roll downward 29 degrees; pitch upward 6 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 246, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + -0.004642857238650322, + -0.0057142856530845165, + 0.0, + 0.0057142856530845165, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1600000113248825, + -0.10464286059141159, + -0.16464288532733917, + 0.0, + 0.21142855286598206, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.46645200672020803, + -0.2533403035053249, + -0.5162214508180496, + 0.2857140581240032, + 0.21230973671426967, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 160 mm; move right 105 mm; move downward 165 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 298 mm; move left 21 mm; move downward 18 mm; roll downward 29 degrees; pitch upward 6 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 180, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 161 mm; move right 104 mm; move downward 168 mm; roll downward 0 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 289 mm; move left 26 mm; move downward 12 mm; roll downward 29 degrees; pitch upward 5 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 246, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + -0.005000000353902578, + -0.0057142856530845165, + 0.0, + 0.0057142856530845165, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1614285558462143, + -0.10357142984867096, + -0.16750001907348633, + 0.0, + 0.22142857313156128, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.46645200672020803, + -0.26618717544263903, + -0.5162214508180496, + 0.2857140581240032, + 0.21230973671426967, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 161 mm; move right 104 mm; move downward 168 mm; roll downward 0 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 289 mm; move left 26 mm; move downward 12 mm; roll downward 29 degrees; pitch upward 5 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 181, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 163 mm; move right 102 mm; move downward 170 mm; roll downward 0 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 279 mm; move left 31 mm; move downward 6 mm; roll downward 29 degrees; pitch upward 5 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 246, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.005000000353902578, + -0.006071428768336773, + 0.0, + 0.0057142856530845165, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16285713016986847, + -0.10214286297559738, + -0.17035718262195587, + 0.0, + 0.23142856359481812, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.26618717544263903, + -0.5281489377704736, + 0.2857140581240032, + 0.21230973671426967, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 163 mm; move right 102 mm; move downward 170 mm; roll downward 0 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 279 mm; move left 31 mm; move downward 6 mm; roll downward 29 degrees; pitch upward 5 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 182, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 165 mm; move right 101 mm; move downward 173 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 270 mm; move left 36 mm; move downward 0 mm; roll downward 29 degrees; pitch upward 5 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 245, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + -0.004642857238650322, + -0.006428571883589029, + 0.0, + 0.0071428571827709675, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16464285552501678, + -0.10107143223285675, + -0.1728571653366089, + 0.0, + 0.2385714203119278, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4262752638110845, + -0.2533403035053249, + -0.5400764247228975, + 0.2857140581240032, + 0.22959880989352754, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 165 mm; move right 101 mm; move downward 173 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 270 mm; move left 36 mm; move downward 0 mm; roll downward 29 degrees; pitch upward 5 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 183, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 5 mm; move downward 7 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 166 mm; move right 100 mm; move downward 175 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 262 mm; move left 41 mm; move upward 6 mm; roll downward 29 degrees; pitch upward 4 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,117], [168,137]\n", + "gripper_2d": [ + 245, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 117, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008214286528527737, + -0.0053571430034935474, + -0.006785714533179998, + 0.0, + 0.009999999776482582, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16607141494750977, + -0.10035713762044907, + -0.17500002682209015, + 0.0, + 0.24285712838172913, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.40618689235652283, + -0.2790340306295508, + -0.5520038961236597, + 0.2857140581240032, + 0.2641769506164473, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 5 mm; move downward 7 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 166 mm; move right 100 mm; move downward 175 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 262 mm; move left 41 mm; move upward 6 mm; roll downward 29 degrees; pitch upward 4 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 184, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 6 mm; move downward 7 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 168 mm; move right 99 mm; move downward 177 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 254 mm; move left 46 mm; move upward 13 mm; roll downward 29 degrees; pitch upward 4 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 245, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.007142857648432255, + -0.006071428768336773, + -0.007142857648432255, + 0.0, + 0.008571428246796131, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16750000417232513, + -0.09928572177886963, + -0.17678575217723846, + 0.0, + 0.2442857027053833, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3459217256082965, + -0.3047277577537767, + -0.5639313830760837, + 0.2857140581240032, + 0.24688787743718943, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 6 mm; move downward 7 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 168 mm; move right 99 mm; move downward 177 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 254 mm; move left 46 mm; move upward 13 mm; roll downward 29 degrees; pitch upward 4 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 185, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 6 mm; move downward 8 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 169 mm; move right 98 mm; move downward 179 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 246 mm; move left 52 mm; move upward 20 mm; roll downward 29 degrees; pitch upward 3 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 245, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.006785714533179998, + -0.0057142856530845165, + -0.007857142947614193, + 0.0, + 0.008571428246796131, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16928571462631226, + -0.0975000187754631, + -0.17928576469421387, + 0.0, + 0.24714283645153046, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.325833327961464, + -0.29188088581646243, + -0.5877863258776082, + 0.2857140581240032, + 0.24688787743718943, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 6 mm; move downward 8 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 169 mm; move right 98 mm; move downward 179 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 246 mm; move left 52 mm; move upward 20 mm; roll downward 29 degrees; pitch upward 3 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 186, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 6 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 171 mm; move right 96 mm; move downward 181 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 240 mm; move left 58 mm; move upward 28 mm; roll downward 29 degrees; pitch upward 3 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 244, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.006785714533179998, + -0.0057142856530845165, + -0.008571429178118706, + 0.0, + 0.009999999776482582, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17107142508029938, + -0.09607144445180893, + -0.18142861127853394, + 0.0, + 0.25285711884498596, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.325833327961464, + -0.29188088581646243, + -0.6116412997824561, + 0.2857140581240032, + 0.2641769506164473, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 6 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 171 mm; move right 96 mm; move downward 181 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 240 mm; move left 58 mm; move upward 28 mm; roll downward 29 degrees; pitch upward 3 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 187, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 6 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 173 mm; move right 96 mm; move downward 182 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 233 mm; move left 64 mm; move upward 36 mm; roll downward 29 degrees; pitch upward 2 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 244, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.006428571883589029, + -0.0057142856530845165, + -0.008571429178118706, + 0.0, + 0.009999999776482582, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1728571504354477, + -0.09571430087089539, + -0.18214289844036102, + 0.0, + 0.25999996066093445, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.30574495650690237, + -0.29188088581646243, + -0.6116412997824561, + 0.2857140581240032, + 0.2641769506164473, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 6 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 173 mm; move right 96 mm; move downward 182 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 233 mm; move left 64 mm; move upward 36 mm; roll downward 29 degrees; pitch upward 2 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 188, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 6 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 175 mm; move right 95 mm; move downward 183 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 226 mm; move left 69 mm; move upward 45 mm; roll downward 29 degrees; pitch upward 1 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 244, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.006428571883589029, + -0.0057142856530845165, + -0.008928571827709675, + 0.0, + 0.011428571306169033, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17464286088943481, + -0.09535714983940125, + -0.18285717070102692, + 0.0, + 0.26571425795555115, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.30574495650690237, + -0.29188088581646243, + -0.6235687711832182, + 0.2857140581240032, + 0.2814660237957052, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 6 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 175 mm; move right 95 mm; move downward 183 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 226 mm; move left 69 mm; move upward 45 mm; roll downward 29 degrees; pitch upward 1 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 189, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 6 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 175 mm; move right 95 mm; move downward 184 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 220 mm; move left 75 mm; move upward 54 mm; roll downward 29 degrees; pitch upward 1 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 244, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.006428571883589029, + -0.006071428768336773, + -0.009285714477300644, + 0.0, + 0.011428571306169033, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1753571480512619, + -0.09535714238882065, + -0.1835714429616928, + 0.0, + 0.2685714066028595, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.30574495650690237, + -0.3047277577537767, + -0.6354962425839804, + 0.2857140581240032, + 0.2814660237957052, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 6 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 175 mm; move right 95 mm; move downward 184 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 220 mm; move left 75 mm; move upward 54 mm; roll downward 29 degrees; pitch upward 1 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 190, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 6 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 176 mm; move right 96 mm; move downward 184 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 214 mm; move left 81 mm; move upward 63 mm; roll downward 29 degrees; pitch upward 0 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 244, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.006785714533179998, + -0.0057142856530845165, + -0.009285714477300644, + 0.0, + 0.011428571306169033, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17571429908275604, + -0.09571429342031479, + -0.1835714429616928, + 0.0, + 0.26999998092651367, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.325833327961464, + -0.29188088581646243, + -0.6354962425839804, + 0.2857140581240032, + 0.2814660237957052, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 6 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 176 mm; move right 96 mm; move downward 184 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 214 mm; move left 81 mm; move upward 63 mm; roll downward 29 degrees; pitch upward 0 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 191, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 6 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 176 mm; move right 97 mm; move downward 184 mm; roll downward 0 degrees; pitch upward 16 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 207 mm; move left 87 mm; move upward 73 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 243, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.007142857648432255, + -0.0057142856530845165, + -0.009285714477300644, + 0.0, + 0.012857142835855484, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17571429908275604, + -0.09714286774396896, + -0.1835714429616928, + 0.0, + 0.27142855525016785, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3459217256082965, + -0.29188088581646243, + -0.6354962425839804, + 0.2857140581240032, + 0.29875509697496305, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 6 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 176 mm; move right 97 mm; move downward 184 mm; roll downward 0 degrees; pitch upward 16 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 207 mm; move left 87 mm; move upward 73 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 192, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 5 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 175 mm; move right 99 mm; move downward 183 mm; roll downward 0 degrees; pitch upward 16 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 200 mm; move left 92 mm; move upward 82 mm; roll downward 29 degrees; pitch downward 1 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 243, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.007500000298023224, + -0.0053571430034935474, + -0.009642857126891613, + 0.0, + 0.011428571306169033, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1753571480512619, + -0.09928572177886963, + -0.18321427702903748, + 0.0, + 0.27142855525016785, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.36601009706285814, + -0.2790340306295508, + -0.6474237139847425, + 0.2857140581240032, + 0.2814660237957052, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 5 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 175 mm; move right 99 mm; move downward 183 mm; roll downward 0 degrees; pitch upward 16 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 200 mm; move left 92 mm; move upward 82 mm; roll downward 29 degrees; pitch downward 1 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 193, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 5 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 174 mm; move right 101 mm; move downward 183 mm; roll downward 0 degrees; pitch upward 16 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 192 mm; move left 98 mm; move upward 91 mm; roll downward 29 degrees; pitch downward 2 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 243, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.007500000298023224, + -0.0053571430034935474, + -0.009642857126891613, + 0.0, + 0.011428571306169033, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17392858862876892, + -0.10142858326435089, + -0.18250000476837158, + 0.0, + 0.27142855525016785, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.36601009706285814, + -0.2790340306295508, + -0.6474237139847425, + 0.2857140581240032, + 0.2814660237957052, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 5 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 174 mm; move right 101 mm; move downward 183 mm; roll downward 0 degrees; pitch upward 16 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 192 mm; move left 98 mm; move upward 91 mm; roll downward 29 degrees; pitch downward 2 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 194, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 172 mm; move right 104 mm; move downward 182 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 185 mm; move left 103 mm; move upward 101 mm; roll downward 29 degrees; pitch downward 3 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 243, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + -0.005000000353902578, + -0.009642857126891613, + 0.0, + 0.012857142835855484, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17178572714328766, + -0.10357142984867096, + -0.18214285373687744, + 0.0, + 0.26999998092651367, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4262752638110845, + -0.26618717544263903, + -0.6474237139847425, + 0.2857140581240032, + 0.29875509697496305, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 172 mm; move right 104 mm; move downward 182 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 185 mm; move left 103 mm; move upward 101 mm; roll downward 29 degrees; pitch downward 3 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 195, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 168 mm; move right 105 mm; move downward 181 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 176 mm; move left 108 mm; move upward 111 mm; roll downward 29 degrees; pitch downward 3 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 243, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.005000000353902578, + -0.009642857126891613, + 0.0, + 0.014285714365541935, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16821429133415222, + -0.10535714775323868, + -0.18071427941322327, + 0.0, + 0.26999998092651367, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.26618717544263903, + -0.6474237139847425, + 0.2857140581240032, + 0.3160441701542209, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 168 mm; move right 105 mm; move downward 181 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 176 mm; move left 108 mm; move upward 111 mm; roll downward 29 degrees; pitch downward 3 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 196, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 4 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 160 mm; move right 105 mm; move downward 174 mm; roll downward 0 degrees; pitch upward 16 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 167 mm; move left 113 mm; move upward 120 mm; roll downward 29 degrees; pitch downward 4 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 242, + 133 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + -0.004285714589059353, + -0.009285714477300644, + 0.0, + 0.012857142835855484, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16035714745521545, + -0.10499999672174454, + -0.17428572475910187, + 0.0, + 0.2742857336997986, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.46645200672020803, + -0.24049344831841313, + -0.6354962425839804, + 0.2857140581240032, + 0.29875509697496305, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 4 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 160 mm; move right 105 mm; move downward 174 mm; roll downward 0 degrees; pitch upward 16 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 167 mm; move left 113 mm; move upward 120 mm; roll downward 29 degrees; pitch downward 4 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 197, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 4 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 151 mm; move right 101 mm; move downward 165 mm; roll downward 0 degrees; pitch upward 16 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 158 mm; move left 117 mm; move upward 130 mm; roll downward 29 degrees; pitch downward 5 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 242, + 133 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + -0.004285714589059353, + -0.008571429178118706, + 0.0, + 0.014285714365541935, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1510714292526245, + -0.1007142886519432, + -0.16500000655651093, + 0.0, + 0.27571427822113037, + 0.0028571428265422583, + -1.0 + ], + "delta_full_state_norm": [ + 0.4865403781747699, + -0.24049344831841313, + -0.6116412997824561, + 0.2857140581240032, + 0.3160441701542209, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 4 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 151 mm; move right 101 mm; move downward 165 mm; roll downward 0 degrees; pitch upward 16 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 158 mm; move left 117 mm; move upward 130 mm; roll downward 29 degrees; pitch downward 5 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 198, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 4 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 141 mm; move right 96 mm; move downward 156 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 148 mm; move left 122 mm; move upward 138 mm; roll downward 29 degrees; pitch downward 6 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 242, + 133 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.010357143357396126, + -0.004285714589059353, + -0.008571429178118706, + 0.0, + 0.015714285895228386, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.14142857491970062, + -0.09642857313156128, + -0.15642857551574707, + 0.0, + 0.26999998092651367, + 0.004285714123398066, + -1.0 + ], + "delta_full_state_norm": [ + 0.5267171734684346, + -0.24049344831841313, + -0.6116412997824561, + 0.2857140581240032, + 0.3333332433334788, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 4 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 141 mm; move right 96 mm; move downward 156 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 148 mm; move left 122 mm; move upward 138 mm; roll downward 29 degrees; pitch downward 6 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 199, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 4 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 131 mm; move right 92 mm; move downward 148 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 138 mm; move left 126 mm; move upward 147 mm; roll downward 29 degrees; pitch downward 7 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 241, + 133 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.010714286006987095, + -0.0035714288242161274, + -0.008571429178118706, + 0.0, + 0.015714285895228386, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.13107143342494965, + -0.09214285761117935, + -0.14785714447498322, + 0.0, + 0.25428569316864014, + 0.004285714123398066, + -1.0 + ], + "delta_full_state_norm": [ + 0.5468055449229963, + -0.21479972119418722, + -0.6116412997824561, + 0.2857140581240032, + 0.3333332433334788, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 4 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 131 mm; move right 92 mm; move downward 148 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 138 mm; move left 126 mm; move upward 147 mm; roll downward 29 degrees; pitch downward 7 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 200, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 4 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 120 mm; move right 89 mm; move downward 139 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw counterclockwise 0 degrees; close gripper;\nSubtask Movement: move forward 127 mm; move left 130 mm; move upward 155 mm; roll downward 29 degrees; pitch downward 7 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 241, + 133 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.010714286006987095, + -0.0035714288242161274, + -0.008571429178118706, + 0.0, + 0.015714285895228386, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.12035713344812393, + -0.08857142925262451, + -0.13928571343421936, + 0.0, + 0.2385714203119278, + 0.004285714123398066, + -1.0 + ], + "delta_full_state_norm": [ + 0.5468055449229963, + -0.21479972119418722, + -0.6116412997824561, + 0.2857140581240032, + 0.3333332433334788, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 4 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 120 mm; move right 89 mm; move downward 139 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw counterclockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 127 mm; move left 130 mm; move upward 155 mm; roll downward 29 degrees; pitch downward 7 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 201, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 4 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 110 mm; move right 85 mm; move downward 131 mm; roll downward 0 degrees; pitch upward 13 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 116 mm; move left 133 mm; move upward 164 mm; roll downward 29 degrees; pitch downward 8 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 241, + 133 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.010714286006987095, + -0.0039285714738070965, + -0.008571429178118706, + 0.0, + 0.012857142835855484, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1096428632736206, + -0.08500000089406967, + -0.1307142823934555, + 0.0, + 0.22285713255405426, + 0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.5468055449229963, + -0.22764657638109898, + -0.6116412997824561, + 0.2857140581240032, + 0.29875509697496305, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 4 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 110 mm; move right 85 mm; move downward 131 mm; roll downward 0 degrees; pitch upward 13 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 116 mm; move left 133 mm; move upward 164 mm; roll downward 29 degrees; pitch downward 8 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 202, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 4 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 99 mm; move right 81 mm; move downward 122 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 106 mm; move left 137 mm; move upward 173 mm; roll downward 29 degrees; pitch downward 9 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 240, + 133 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + -0.0039285714738070965, + -0.008571429178118706, + 0.0, + 0.011428571306169033, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.09892857074737549, + -0.08107142895460129, + -0.12214285135269165, + 0.0, + 0.20999999344348907, + 0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.5066288020138727, + -0.22764657638109898, + -0.6116412997824561, + 0.2857140581240032, + 0.2814660237957052, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 4 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 99 mm; move right 81 mm; move downward 122 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 106 mm; move left 137 mm; move upward 173 mm; roll downward 29 degrees; pitch downward 9 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 203, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 4 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 89 mm; move right 77 mm; move downward 114 mm; roll downward 0 degrees; pitch upward 11 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 96 mm; move left 141 mm; move upward 181 mm; roll downward 29 degrees; pitch downward 10 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 240, + 133 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + -0.004285714589059353, + -0.008571429178118706, + 0.0, + 0.011428571306169033, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.08892857283353806, + -0.0771428570151329, + -0.11357142776250839, + 0.0, + 0.19857142865657806, + 0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.4865403781747699, + -0.24049344831841313, + -0.6116412997824561, + 0.2857140581240032, + 0.2814660237957052, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 4 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 89 mm; move right 77 mm; move downward 114 mm; roll downward 0 degrees; pitch upward 11 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 96 mm; move left 141 mm; move upward 181 mm; roll downward 29 degrees; pitch downward 10 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 204, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 4 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 79 mm; move right 73 mm; move downward 105 mm; roll downward 0 degrees; pitch upward 11 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 86 mm; move left 145 mm; move upward 190 mm; roll downward 29 degrees; pitch downward 10 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 240, + 133 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + -0.004285714589059353, + -0.009642857126891613, + 0.0, + 0.011428571306169033, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.07928571850061417, + -0.07285714149475098, + -0.10500001162290573, + 0.0, + 0.18714283406734467, + 0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.24049344831841313, + -0.6474237139847425, + 0.2857140581240032, + 0.2814660237957052, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 4 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 79 mm; move right 73 mm; move downward 105 mm; roll downward 0 degrees; pitch upward 11 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 86 mm; move left 145 mm; move upward 190 mm; roll downward 29 degrees; pitch downward 10 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 205, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 4 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 70 mm; move right 69 mm; move downward 95 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 77 mm; move left 150 mm; move upward 199 mm; roll downward 29 degrees; pitch downward 11 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 239, + 133 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + -0.004285714589059353, + -0.010000000707805157, + 0.0, + 0.014285714365541935, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.07035715132951736, + -0.06857143342494965, + -0.09535714238882065, + 0.0, + 0.17571426928043365, + 0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.4262752638110845, + -0.24049344831841313, + -0.6593512164888282, + 0.2857140581240032, + 0.3160441701542209, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 4 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 70 mm; move right 69 mm; move downward 95 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 77 mm; move left 150 mm; move upward 199 mm; roll downward 29 degrees; pitch downward 11 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 206, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 62 mm; move right 64 mm; move downward 85 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 69 mm; move left 154 mm; move upward 209 mm; roll downward 29 degrees; pitch downward 12 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 239, + 133 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + -0.0053571430034935474, + -0.009285714477300644, + 0.0, + 0.017142856493592262, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.06178571656346321, + -0.06428571790456772, + -0.08535715192556381, + 0.0, + 0.1614285558462143, + 0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.4262752638110845, + -0.2790340306295508, + -0.6354962425839804, + 0.2857140581240032, + 0.3506223052415445, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 62 mm; move right 64 mm; move downward 85 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 69 mm; move left 154 mm; move upward 209 mm; roll downward 29 degrees; pitch downward 12 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 207, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 5 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 53 mm; move right 59 mm; move downward 76 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 60 mm; move left 159 mm; move upward 219 mm; roll downward 29 degrees; pitch downward 13 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 239, + 133 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008214286528527737, + -0.0053571430034935474, + -0.009285714477300644, + 0.0, + 0.015714285895228386, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.053214289247989655, + -0.05892857536673546, + -0.07607143372297287, + 0.0, + 0.14428572356700897, + 0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.40618689235652283, + -0.2790340306295508, + -0.6354962425839804, + 0.2857140581240032, + 0.3333332433334788, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 5 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 53 mm; move right 59 mm; move downward 76 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 60 mm; move left 159 mm; move upward 219 mm; roll downward 29 degrees; pitch downward 13 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 208, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 6 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 45 mm; move right 54 mm; move downward 67 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move left 165 mm; move upward 228 mm; roll downward 29 degrees; pitch downward 14 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 133 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.007142857648432255, + -0.0057142856530845165, + -0.009642857126891613, + 0.0, + 0.014285714365541935, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.04500000178813934, + -0.0535714291036129, + -0.06678571552038193, + 0.0, + 0.12857142090797424, + 0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.3459217256082965, + -0.29188088581646243, + -0.6474237139847425, + 0.2857140581240032, + 0.3160441701542209, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 6 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 45 mm; move right 54 mm; move downward 67 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move left 165 mm; move upward 228 mm; roll downward 29 degrees; pitch downward 14 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 209, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 6 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 38 mm; move right 48 mm; move downward 57 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 45 mm; move left 170 mm; move upward 237 mm; roll downward 29 degrees; pitch downward 15 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 133 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.006785714533179998, + -0.006428571883589029, + -0.009285714477300644, + 0.0, + 0.012857142835855484, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.03785714507102966, + -0.047857142984867096, + -0.05714286118745804, + 0.0, + 0.11428571492433548, + 0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.325833327961464, + -0.31757462969109085, + -0.6354962425839804, + 0.2857140581240032, + 0.29875509697496305, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 6 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 38 mm; move right 48 mm; move downward 57 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 45 mm; move left 170 mm; move upward 237 mm; roll downward 29 degrees; pitch downward 15 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 210, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 7 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 31 mm; move right 41 mm; move downward 48 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 38 mm; move left 177 mm; move upward 247 mm; roll downward 29 degrees; pitch downward 15 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 133 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.006785714533179998, + -0.007142857648432255, + -0.009285714477300644, + 0.0, + 0.012857142835855484, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.031071430072188377, + -0.0414285734295845, + -0.047857146710157394, + 0.0, + 0.1014285683631897, + 0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.325833327961464, + -0.34326835681531676, + -0.6354962425839804, + 0.2857140581240032, + 0.29875509697496305, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 7 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 31 mm; move right 41 mm; move downward 48 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 38 mm; move left 177 mm; move upward 247 mm; roll downward 29 degrees; pitch downward 15 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 211, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 8 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 24 mm; move right 34 mm; move downward 39 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 31 mm; move left 184 mm; move upward 256 mm; roll downward 29 degrees; pitch downward 16 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 133 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.006785714533179998, + -0.007857142947614193, + -0.008928571827709675, + 0.0, + 0.012857142835855484, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.02428571693599224, + -0.034285712987184525, + -0.03857142850756645, + 0.0, + 0.08857142925262451, + 0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.325833327961464, + -0.36896206718914026, + -0.6235687711832182, + 0.2857140581240032, + 0.29875509697496305, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 8 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 24 mm; move right 34 mm; move downward 39 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 31 mm; move left 184 mm; move upward 256 mm; roll downward 29 degrees; pitch downward 16 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 212, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 8 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 18 mm; move right 26 mm; move downward 30 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 24 mm; move left 192 mm; move upward 265 mm; roll downward 29 degrees; pitch downward 17 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 133 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.006071428768336773, + -0.007500000298023224, + -0.008928571827709675, + 0.0, + 0.011428571306169033, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.017500001937150955, + -0.026428570970892906, + -0.029642855748534203, + 0.0, + 0.07571429014205933, + 0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.2856565588600699, + -0.3561152120022285, + -0.6235687711832182, + 0.2857140581240032, + 0.2814660237957052, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 8 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 18 mm; move right 26 mm; move downward 30 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 24 mm; move left 192 mm; move upward 265 mm; roll downward 29 degrees; pitch downward 17 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 213, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 8 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 11 mm; move right 19 mm; move downward 21 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 18 mm; move left 199 mm; move upward 274 mm; roll downward 29 degrees; pitch downward 17 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 133 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0053571430034935474, + -0.007500000298023224, + -0.009285714477300644, + 0.0, + 0.009999999776482582, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.011428571306169033, + -0.01892857253551483, + -0.0207142885774374, + 0.0, + 0.06428571790456772, + 0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.2454797897586758, + -0.3561152120022285, + -0.6354962425839804, + 0.2857140581240032, + 0.2641769506164473, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 8 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 11 mm; move right 19 mm; move downward 21 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 18 mm; move left 199 mm; move upward 274 mm; roll downward 29 degrees; pitch downward 17 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 214, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 7 mm; move downward 8 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 6 mm; move right 11 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 13 mm; move left 207 mm; move upward 283 mm; roll downward 29 degrees; pitch downward 18 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 133 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.005000000353902578, + -0.006785714533179998, + -0.008214286528527737, + 0.0, + 0.012857142835855484, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.006071428768336773, + -0.011428572237491608, + -0.011428572237491608, + 0.0, + 0.05428571254014969, + 0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.22539141830411413, + -0.3304214848780026, + -0.5997138283816938, + 0.2857140581240032, + 0.29875509697496305, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 7 mm; move downward 8 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 6 mm; move right 11 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 13 mm; move left 207 mm; move upward 283 mm; roll downward 29 degrees; pitch downward 18 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 215, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 5 mm; move downward 3 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 1 mm; move right 5 mm; move downward 3 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 8 mm; move left 214 mm; move upward 291 mm; roll downward 29 degrees; pitch downward 19 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0010714286472648382, + -0.004642857238650322, + -0.0032142859417945147, + 0.0, + 0.018571428954601288, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0010714286472648382, + -0.004642857238650322, + -0.0032142859417945147, + 0.0, + 0.041428569704294205, + 0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.004419188246446604, + -0.2533403035053249, + -0.4327291121335599, + 0.2857140581240032, + 0.36791138969199455, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 5 mm; move downward 3 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 1 mm; move right 5 mm; move downward 3 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 8 mm; move left 214 mm; move upward 291 mm; roll downward 29 degrees; pitch downward 19 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 216, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 20 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.014285714365541935, + 0.0028571428265422583, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.022857142612338066, + 0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.3160441701542209, + -0.31365825610239084, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 20 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 217, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.008571428246796131, + 0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.008571428246796131, + 0.0014285714132711291, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.24688787743718943, + -0.3308168000493966, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 218, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 132 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 219, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 220, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 221, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 222, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 223, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.0014285714132711291, + 0.0, + -0.0014285714132711291, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 224, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 3 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.002500000176951289, + 0.0035714288242161274, + -0.0014285714132711291, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 3 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 225, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 6 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.005714286118745804, + 0.010000000707805157, + -0.0028571428265422583, + -0.0014285714132711291, + 0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 6 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 226, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 11 mm; move upward 18 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.01071428693830967, + 0.018214287236332893, + -0.012857142835855484, + -0.009999999776482582, + 0.03142857179045677, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 11 mm; move upward 18 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 227, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 16 mm; move upward 29 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.01607142947614193, + 0.028928572311997414, + -0.025714285671710968, + -0.018571428954601288, + 0.0714285671710968, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 16 mm; move upward 29 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 228, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 22 mm; move upward 42 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 7 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.022142859175801277, + 0.04214285686612129, + -0.03999999910593033, + -0.027142856270074844, + 0.11857142299413681, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 22 mm; move upward 42 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 229, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 29 mm; move upward 56 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw counterclockwise 10 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.029285717755556107, + 0.05642857030034065, + -0.055714286863803864, + -0.03285714238882065, + 0.17571428418159485, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 29 mm; move upward 56 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw counterclockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 230, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 39 mm; move upward 72 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw counterclockwise 14 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.03857143223285675, + 0.07214286178350449, + -0.08142857253551483, + -0.04857143014669418, + 0.24285714328289032, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 39 mm; move upward 72 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw counterclockwise 14 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 231, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 48 mm; move upward 88 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 18 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.04750000312924385, + 0.08821428567171097, + -0.10571429133415222, + -0.06285714358091354, + 0.3100000023841858, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 48 mm; move upward 88 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 18 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 232, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 56 mm; move upward 105 mm; roll downward 7 degrees; pitch downward 4 degrees; yaw counterclockwise 22 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.05642857775092125, + 0.10499999672174454, + -0.1300000101327896, + -0.0771428570151329, + 0.37714284658432007, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 56 mm; move upward 105 mm; roll downward 7 degrees; pitch downward 4 degrees; yaw counterclockwise 22 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 233, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 67 mm; move upward 121 mm; roll downward 9 degrees; pitch downward 5 degrees; yaw counterclockwise 25 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.06714286655187607, + 0.12142856419086456, + -0.15571430325508118, + -0.09428571164608002, + 0.44285714626312256, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 67 mm; move upward 121 mm; roll downward 9 degrees; pitch downward 5 degrees; yaw counterclockwise 25 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 234, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 81 mm; move upward 138 mm; roll downward 11 degrees; pitch downward 7 degrees; yaw counterclockwise 29 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.08071429282426834, + 0.13821427524089813, + -0.18714287877082825, + -0.11571428179740906, + 0.5114285945892334, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 81 mm; move upward 138 mm; roll downward 11 degrees; pitch downward 7 degrees; yaw counterclockwise 29 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 235, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 96 mm; move upward 157 mm; roll downward 13 degrees; pitch downward 8 degrees; yaw counterclockwise 33 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.09607143700122833, + 0.15678571164608002, + -0.225714311003685, + -0.14714285731315613, + 0.5828571915626526, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 96 mm; move upward 157 mm; roll downward 13 degrees; pitch downward 8 degrees; yaw counterclockwise 33 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 236, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 111 mm; move upward 177 mm; roll downward 15 degrees; pitch downward 10 degrees; yaw counterclockwise 37 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.11142857372760773, + 0.17714284360408783, + -0.2671428918838501, + -0.18142856657505035, + 0.6542857885360718, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 111 mm; move upward 177 mm; roll downward 15 degrees; pitch downward 10 degrees; yaw counterclockwise 37 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 237, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 127 mm; move upward 197 mm; roll downward 18 degrees; pitch downward 12 degrees; yaw counterclockwise 42 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.12678571045398712, + 0.19749999046325684, + -0.30714288353919983, + -0.21571427583694458, + 0.725714385509491, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 127 mm; move upward 197 mm; roll downward 18 degrees; pitch downward 12 degrees; yaw counterclockwise 42 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 238, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move left 143 mm; move upward 217 mm; roll downward 20 degrees; pitch downward 14 degrees; yaw counterclockwise 46 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.14321427047252655, + 0.21714285016059875, + -0.3442857265472412, + -0.24714285135269165, + 0.7971429824829102, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move left 143 mm; move upward 217 mm; roll downward 20 degrees; pitch downward 14 degrees; yaw counterclockwise 46 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 239, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 0 mm; move left 161 mm; move upward 237 mm; roll downward 22 degrees; pitch downward 16 degrees; yaw counterclockwise 50 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0003571428533177823, + 0.1614285558462143, + 0.23714284598827362, + -0.38285714387893677, + -0.27571427822113037, + 0.8714287281036377, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 0 mm; move left 161 mm; move upward 237 mm; roll downward 22 degrees; pitch downward 16 degrees; yaw counterclockwise 50 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 240, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 1 mm; move left 179 mm; move upward 257 mm; roll downward 24 degrees; pitch downward 18 degrees; yaw counterclockwise 54 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0007142857066355646, + 0.1792857050895691, + 0.25678572058677673, + -0.4214285612106323, + -0.30714285373687744, + 0.947143018245697, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 1 mm; move left 179 mm; move upward 257 mm; roll downward 24 degrees; pitch downward 18 degrees; yaw counterclockwise 54 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 241, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 4 mm; move left 198 mm; move upward 276 mm; roll downward 26 degrees; pitch downward 19 degrees; yaw counterclockwise 59 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0035714288242161274, + 0.19821427762508392, + 0.27571427822113037, + -0.4571428596973419, + -0.33571428060531616, + 1.0228573083877563, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.07348422305784486, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 4 mm; move left 198 mm; move upward 276 mm; roll downward 26 degrees; pitch downward 19 degrees; yaw counterclockwise 59 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 242, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0010714286472648382, + 0.0, + -0.0014285714132711291, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.006785714533179998, + 0.21785715222358704, + 0.2946428656578064, + -0.4985714256763458, + -0.3685714304447174, + 1.098571538925171, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.047790494886718715, + -0.3253817995442222, + 0.238095019365393, + 0.1258643778624755, + -0.3479753439964024, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 218 mm; move upward 295 mm; roll downward 29 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 243, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 1 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 10 mm; move left 237 mm; move upward 313 mm; roll downward 31 degrees; pitch downward 23 degrees; yaw counterclockwise 67 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 217 mm; move upward 295 mm; roll downward 28 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0010714286472648382, + 0.0035714288242161274, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.009642857126891613, + 0.23678572475910187, + 0.3132142722606659, + -0.535714328289032, + -0.4000000059604645, + 1.175714373588562, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.047790494886718715, + -0.2061070077782915, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 1 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 10 mm; move left 237 mm; move upward 313 mm; roll downward 31 degrees; pitch downward 23 degrees; yaw counterclockwise 67 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 217 mm; move upward 295 mm; roll downward 28 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 244, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 3 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 13 mm; move left 256 mm; move upward 327 mm; roll downward 33 degrees; pitch downward 24 degrees; yaw counterclockwise 72 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 216 mm; move upward 291 mm; roll downward 28 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 131 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0032142859417945147, + 0.006428571883589029, + -0.0014285714132711291, + 0.0, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.012857143767178059, + 0.2557142972946167, + 0.3271428644657135, + -0.5714285969734192, + -0.427142858505249, + 1.2542858123779297, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + 0.029290686485959005, + -0.11068717436554687, + 0.238095019365393, + 0.14315344963283438, + -0.2793411682083793, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 3 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 13 mm; move left 256 mm; move upward 327 mm; roll downward 33 degrees; pitch downward 24 degrees; yaw counterclockwise 72 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 216 mm; move upward 291 mm; roll downward 28 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 245, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 5 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 20 mm; move left 274 mm; move upward 337 mm; roll downward 34 degrees; pitch downward 26 degrees; yaw counterclockwise 76 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 213 mm; move upward 285 mm; roll downward 28 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.005000000353902578, + 0.008214286528527737, + -0.009999999776482582, + -0.008571428246796131, + 0.025714285671710968, + 1.0 + ], + "delta_next_20": [ + 0.01964285783469677, + 0.27392858266830444, + 0.3367857336997986, + -0.6014285683631897, + -0.44857144355773926, + 1.3314286470413208, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + 0.09352500429652388, + -0.05104977070675065, + -0.04761920930575758, + 0.03941902182847934, + -0.039121550153774054, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 5 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 20 mm; move left 274 mm; move upward 337 mm; roll downward 34 degrees; pitch downward 26 degrees; yaw counterclockwise 76 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 213 mm; move upward 285 mm; roll downward 28 degrees; pitch downward 21 degrees; yaw counterclockwise 63 degrees; open gripper;" + }, + { + "frame_index": 246, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 5 mm; move upward 11 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 28 mm; move left 291 mm; move upward 343 mm; roll downward 36 degrees; pitch downward 26 degrees; yaw counterclockwise 80 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 208 mm; move upward 276 mm; roll downward 28 degrees; pitch downward 21 degrees; yaw counterclockwise 61 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0053571430034935474, + 0.010714286006987095, + -0.012857142835855484, + -0.008571428246796131, + 0.03999999910593033, + 1.0 + ], + "delta_next_20": [ + 0.027500001713633537, + 0.29107144474983215, + 0.3432143032550812, + -0.6214285492897034, + -0.4585714638233185, + 1.3899999856948853, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + 0.10637185948343553, + 0.03244256020190828, + -0.14285729458399798, + 0.03941902182847934, + 0.13246388092671046, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 5 mm; move upward 11 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 28 mm; move left 291 mm; move upward 343 mm; roll downward 36 degrees; pitch downward 26 degrees; yaw counterclockwise 80 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 208 mm; move upward 276 mm; roll downward 28 degrees; pitch downward 21 degrees; yaw counterclockwise 61 degrees; open gripper;" + }, + { + "frame_index": 247, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 6 mm; move upward 13 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 35 mm; move left 308 mm; move upward 346 mm; roll downward 37 degrees; pitch downward 27 degrees; yaw counterclockwise 82 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 202 mm; move upward 266 mm; roll downward 27 degrees; pitch downward 20 degrees; yaw counterclockwise 59 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 130 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.006071428768336773, + 0.013214285485446453, + -0.014285714365541935, + -0.008571428246796131, + 0.04714285582304001, + 1.0 + ], + "delta_next_20": [ + 0.035357143729925156, + 0.3082142770290375, + 0.34642860293388367, + -0.6385713815689087, + -0.46571430563926697, + 1.4342857599258423, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + 0.13206558660766143, + 0.1159348911105671, + -0.19047633722311808, + 0.03941902182847934, + 0.21825659646695272, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 6 mm; move upward 13 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 35 mm; move left 308 mm; move upward 346 mm; roll downward 37 degrees; pitch downward 27 degrees; yaw counterclockwise 82 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 202 mm; move upward 266 mm; roll downward 27 degrees; pitch downward 20 degrees; yaw counterclockwise 59 degrees; open gripper;" + }, + { + "frame_index": 248, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 7 mm; move upward 14 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 44 mm; move left 325 mm; move upward 346 mm; roll downward 37 degrees; pitch downward 27 degrees; yaw counterclockwise 84 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 196 mm; move upward 253 mm; roll downward 26 degrees; pitch downward 20 degrees; yaw counterclockwise 56 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 129 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.007142857648432255, + 0.01428571529686451, + -0.015714285895228386, + -0.0057142856530845165, + 0.05714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.04392857477068901, + 0.3246428668498993, + 0.34642860293388367, + -0.6542856097221375, + -0.47142860293388367, + 1.4714287519454956, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + 0.1706061856692016, + 0.1517173675195007, + -0.23809537986223828, + 0.07399716255139888, + 0.3383664250699263, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 7 mm; move upward 14 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 44 mm; move left 325 mm; move upward 346 mm; roll downward 37 degrees; pitch downward 27 degrees; yaw counterclockwise 84 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 196 mm; move upward 253 mm; roll downward 26 degrees; pitch downward 20 degrees; yaw counterclockwise 56 degrees; open gripper;" + }, + { + "frame_index": 249, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 9 mm; move upward 16 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 51 mm; move left 341 mm; move upward 344 mm; roll downward 38 degrees; pitch downward 27 degrees; yaw counterclockwise 86 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 189 mm; move upward 238 mm; roll downward 25 degrees; pitch downward 19 degrees; yaw counterclockwise 53 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 129 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.009285714477300644, + 0.015714285895228386, + -0.025714285671710968, + -0.015714285895228386, + 0.06714285910129547, + 1.0 + ], + "delta_next_20": [ + 0.050714291632175446, + 0.34071430563926697, + 0.34392860531806946, + -0.6642856001853943, + -0.4757142961025238, + 1.5014287233352661, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + 0.2476873502914767, + 0.19942725312254939, + -0.5714286472919989, + -0.04702634406781003, + 0.4584762536728999, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 9 mm; move upward 16 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 51 mm; move left 341 mm; move upward 344 mm; roll downward 38 degrees; pitch downward 27 degrees; yaw counterclockwise 86 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 189 mm; move upward 238 mm; roll downward 25 degrees; pitch downward 19 degrees; yaw counterclockwise 53 degrees; open gripper;" + }, + { + "frame_index": 250, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 9 mm; move upward 16 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 58 mm; move left 356 mm; move upward 339 mm; roll downward 38 degrees; pitch downward 27 degrees; yaw counterclockwise 87 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 180 mm; move upward 222 mm; roll downward 24 degrees; pitch downward 18 degrees; yaw counterclockwise 49 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 128 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.008928571827709675, + 0.01607142947614193, + -0.02428571507334709, + -0.014285714365541935, + 0.06714285910129547, + 1.0 + ], + "delta_next_20": [ + 0.057857152074575424, + 0.35607144236564636, + 0.33892858028411865, + -0.6614284515380859, + -0.4628571569919586, + 1.5228570699691772, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + 0.23484049510456506, + 0.2113547556266353, + -0.5238096356969593, + -0.02973727088855216, + 0.4584762536728999, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 9 mm; move upward 16 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 58 mm; move left 356 mm; move upward 339 mm; roll downward 38 degrees; pitch downward 27 degrees; yaw counterclockwise 87 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 180 mm; move upward 222 mm; roll downward 24 degrees; pitch downward 18 degrees; yaw counterclockwise 49 degrees; open gripper;" + }, + { + "frame_index": 251, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 9 mm; move upward 17 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 66 mm; move left 373 mm; move upward 333 mm; roll downward 38 degrees; pitch downward 26 degrees; yaw counterclockwise 89 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 171 mm; move upward 206 mm; roll downward 23 degrees; pitch downward 18 degrees; yaw counterclockwise 45 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 128 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.008928571827709675, + 0.016785714775323868, + -0.02428571507334709, + -0.014285714365541935, + 0.06714285910129547, + 1.0 + ], + "delta_next_20": [ + 0.06607144325971603, + 0.37285712361335754, + 0.3328571617603302, + -0.6585713624954224, + -0.44857147336006165, + 1.5471428632736206, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + 0.23484049510456506, + 0.23520969842815953, + -0.5238096356969593, + -0.02973727088855216, + 0.4584762536728999, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 9 mm; move upward 17 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 66 mm; move left 373 mm; move upward 333 mm; roll downward 38 degrees; pitch downward 26 degrees; yaw counterclockwise 89 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 171 mm; move upward 206 mm; roll downward 23 degrees; pitch downward 18 degrees; yaw counterclockwise 45 degrees; open gripper;" + }, + { + "frame_index": 252, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 11 mm; move upward 16 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 74 mm; move left 391 mm; move upward 325 mm; roll downward 37 degrees; pitch downward 25 degrees; yaw counterclockwise 90 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 162 mm; move upward 190 mm; roll downward 21 degrees; pitch downward 17 degrees; yaw counterclockwise 41 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 127 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.010714286006987095, + 0.016428573057055473, + -0.025714285671710968, + -0.017142856493592262, + 0.0657142847776413, + 1.0 + ], + "delta_next_20": [ + 0.07357143610715866, + 0.3910714089870453, + 0.3246428966522217, + -0.6514284610748291, + -0.4342857599258423, + 1.574285626411438, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + 0.2990748045399285, + 0.223282258130721, + -0.5714286472919989, + -0.06431540597587582, + 0.44131767476933903, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 11 mm; move upward 16 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 74 mm; move left 391 mm; move upward 325 mm; roll downward 37 degrees; pitch downward 25 degrees; yaw counterclockwise 90 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 162 mm; move upward 190 mm; roll downward 21 degrees; pitch downward 17 degrees; yaw counterclockwise 41 degrees; open gripper;" + }, + { + "frame_index": 253, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 14 mm; move upward 17 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 81 mm; move left 408 mm; move upward 316 mm; roll downward 36 degrees; pitch downward 24 degrees; yaw counterclockwise 92 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 151 mm; move upward 173 mm; roll downward 20 degrees; pitch downward 16 degrees; yaw counterclockwise 38 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 238, + 127 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.013571429066359997, + 0.016785714775323868, + -0.03142857179045677, + -0.02142857201397419, + 0.06857142597436905, + 1.0 + ], + "delta_next_20": [ + 0.08107143640518188, + 0.4082143008708954, + 0.31642860174179077, + -0.6357142329216003, + -0.4171428680419922, + 1.604285717010498, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + 0.40184971303683237, + 0.23520969842815953, + -0.7619048178484796, + -0.11618263678484153, + 0.4756347430876797, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 14 mm; move upward 17 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 81 mm; move left 408 mm; move upward 316 mm; roll downward 36 degrees; pitch downward 24 degrees; yaw counterclockwise 92 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 151 mm; move upward 173 mm; roll downward 20 degrees; pitch downward 16 degrees; yaw counterclockwise 38 degrees; open gripper;" + }, + { + "frame_index": 254, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 15 mm; move upward 19 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 88 mm; move left 423 mm; move upward 306 mm; roll downward 35 degrees; pitch downward 23 degrees; yaw counterclockwise 94 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 138 mm; move upward 156 mm; roll downward 18 degrees; pitch downward 14 degrees; yaw counterclockwise 34 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 237, + 126 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.015357143245637417, + 0.018571428954601288, + -0.03857142850756645, + -0.03142857179045677, + 0.0714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.08785714954137802, + 0.42321428656578064, + 0.30642858147621155, + -0.6114284992218018, + -0.39571431279182434, + 1.6342856884002686, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + 0.4660840224721958, + 0.2948470865352941, + -1.0, + -0.23720613776845445, + 0.5099519008948015, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 15 mm; move upward 19 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 88 mm; move left 423 mm; move upward 306 mm; roll downward 35 degrees; pitch downward 23 degrees; yaw counterclockwise 94 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 138 mm; move upward 156 mm; roll downward 18 degrees; pitch downward 14 degrees; yaw counterclockwise 34 degrees; open gripper;" + }, + { + "frame_index": 255, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 15 mm; move upward 20 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 94 mm; move left 437 mm; move upward 294 mm; roll downward 33 degrees; pitch downward 21 degrees; yaw counterclockwise 95 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 122 mm; move upward 138 mm; roll downward 16 degrees; pitch downward 13 degrees; yaw counterclockwise 30 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 237, + 125 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.015357143245637417, + 0.020357143133878708, + -0.041428569704294205, + -0.034285712987184525, + 0.0714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.09392858296632767, + 0.43714284896850586, + 0.29357144236564636, + -0.5757142901420593, + -0.36428573727607727, + 1.662857174873352, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + 0.4660840224721958, + 0.3544844746424285, + -1.0, + -0.271784261584586, + 0.5099519008948015, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 15 mm; move upward 20 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 94 mm; move left 437 mm; move upward 294 mm; roll downward 33 degrees; pitch downward 21 degrees; yaw counterclockwise 95 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 122 mm; move upward 138 mm; roll downward 16 degrees; pitch downward 13 degrees; yaw counterclockwise 30 degrees; open gripper;" + }, + { + "frame_index": 256, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 15 mm; move upward 20 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 100 mm; move left 452 mm; move upward 279 mm; roll downward 31 degrees; pitch downward 19 degrees; yaw counterclockwise 97 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 107 mm; move upward 117 mm; roll downward 13 degrees; pitch downward 11 degrees; yaw counterclockwise 25 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 237, + 124 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.015357143245637417, + 0.020357143133878708, + -0.03999999910593033, + -0.034285712987184525, + 0.0714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.10000001639127731, + 0.45178571343421936, + 0.27892857789993286, + -0.5342856645584106, + -0.33000001311302185, + 1.692857265472412, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + 0.4660840224721958, + 0.3544844746424285, + -1.0, + -0.271784261584586, + 0.5099519008948015, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 15 mm; move upward 20 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 100 mm; move left 452 mm; move upward 279 mm; roll downward 31 degrees; pitch downward 19 degrees; yaw counterclockwise 97 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 107 mm; move upward 117 mm; roll downward 13 degrees; pitch downward 11 degrees; yaw counterclockwise 25 degrees; open gripper;" + }, + { + "frame_index": 257, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 16 mm; move upward 20 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 105 mm; move left 467 mm; move upward 264 mm; roll downward 28 degrees; pitch downward 17 degrees; yaw counterclockwise 99 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 91 mm; move upward 97 mm; roll downward 11 degrees; pitch downward 9 degrees; yaw counterclockwise 21 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 237, + 124 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.016428573057055473, + 0.01964285783469677, + -0.037142857909202576, + -0.03142857179045677, + 0.0714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.10535716265439987, + 0.46714287996292114, + 0.26357144117355347, + -0.4942857325077057, + -0.29571428894996643, + 1.7257144451141357, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + 0.504624655034541, + 0.33062953184090427, + -0.9523809884049602, + -0.23720613776845445, + 0.5099519008948015, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 16 mm; move upward 20 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 105 mm; move left 467 mm; move upward 264 mm; roll downward 28 degrees; pitch downward 17 degrees; yaw counterclockwise 99 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 91 mm; move upward 97 mm; roll downward 11 degrees; pitch downward 9 degrees; yaw counterclockwise 21 degrees; open gripper;" + }, + { + "frame_index": 258, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 0 mm; move left 18 mm; move upward 20 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 111 mm; move left 481 mm; move upward 249 mm; roll downward 26 degrees; pitch downward 15 degrees; yaw counterclockwise 101 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move left 75 mm; move upward 78 mm; roll downward 9 degrees; pitch downward 7 degrees; yaw counterclockwise 17 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 237, + 123 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0003571428533177823, + 0.018214285373687744, + 0.020000001415610313, + -0.03857142850756645, + -0.02857142873108387, + 0.07428571581840515, + 1.0 + ], + "delta_next_20": [ + 0.11071430891752243, + 0.4814285933971405, + 0.2485714703798294, + -0.4571428596973419, + -0.26428571343421936, + 1.7585716247558594, + 1.0 + ], + "delta_full_state_norm": [ + -0.03575758249196448, + 0.5688588974682947, + 0.34255703434498996, + -1.0, + -0.2026279914099387, + 0.5442689692131422, + 0.9999999900000001 + ], + "movement_text": "move forward 0 mm; move left 18 mm; move upward 20 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 111 mm; move left 481 mm; move upward 249 mm; roll downward 26 degrees; pitch downward 15 degrees; yaw counterclockwise 101 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move left 75 mm; move upward 78 mm; roll downward 9 degrees; pitch downward 7 degrees; yaw counterclockwise 17 degrees; open gripper;" + }, + { + "frame_index": 259, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 0 mm; move left 18 mm; move upward 20 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 116 mm; move left 494 mm; move upward 233 mm; roll downward 24 degrees; pitch downward 14 degrees; yaw counterclockwise 103 degrees; open gripper;\nSubtask Movement: move forward 6 mm; move left 57 mm; move upward 58 mm; roll downward 7 degrees; pitch downward 5 degrees; yaw counterclockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 236, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0003571428533177823, + 0.01785714365541935, + 0.01964285783469677, + -0.03857142850756645, + -0.03142857179045677, + 0.07571428269147873, + 1.0 + ], + "delta_next_20": [ + 0.1160714402794838, + 0.49357137084007263, + 0.2332143634557724, + -0.41857144236564636, + -0.23571430146694183, + 1.7900002002716064, + 1.0 + ], + "delta_full_state_norm": [ + -0.03575758249196448, + 0.5560120757821878, + 0.33062953184090427, + -1.0, + -0.23720613776845445, + 0.561427458627922, + 0.9999999900000001 + ], + "movement_text": "move forward 0 mm; move left 18 mm; move upward 20 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 116 mm; move left 494 mm; move upward 233 mm; roll downward 24 degrees; pitch downward 14 degrees; yaw counterclockwise 103 degrees; open gripper;", + "subtask_movement_text": "move forward 6 mm; move left 57 mm; move upward 58 mm; roll downward 7 degrees; pitch downward 5 degrees; yaw counterclockwise 13 degrees; open gripper;" + }, + { + "frame_index": 260, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move left 19 mm; move upward 19 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 122 mm; move left 506 mm; move upward 218 mm; roll downward 22 degrees; pitch downward 12 degrees; yaw counterclockwise 104 degrees; open gripper;\nSubtask Movement: move forward 6 mm; move left 39 mm; move upward 38 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw counterclockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 236, + 121 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0028571428265422583, + 0.018928570672869682, + 0.018928570672869682, + -0.0357142873108387, + -0.02857142873108387, + 0.07571428269147873, + 1.0 + ], + "delta_next_20": [ + 0.12214287370443344, + 0.5060713887214661, + 0.21821431815624237, + -0.3799999952316284, + -0.20428572595119476, + 1.820000171661377, + 1.0 + ], + "delta_full_state_norm": [ + 0.1048610979037965, + 0.5945526078421179, + 0.30677452683273265, + -0.9047619768099204, + -0.2026279914099387, + 0.561427458627922, + 0.9999999900000001 + ], + "movement_text": "move forward 3 mm; move left 19 mm; move upward 19 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 122 mm; move left 506 mm; move upward 218 mm; roll downward 22 degrees; pitch downward 12 degrees; yaw counterclockwise 104 degrees; open gripper;", + "subtask_movement_text": "move forward 6 mm; move left 39 mm; move upward 38 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw counterclockwise 9 degrees; open gripper;" + }, + { + "frame_index": 261, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move left 20 mm; move upward 19 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 125 mm; move left 517 mm; move upward 204 mm; roll downward 20 degrees; pitch downward 10 degrees; yaw counterclockwise 106 degrees; open gripper;\nSubtask Movement: move forward 3 mm; move left 20 mm; move upward 19 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 235, + 121 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0032142859417945147, + 0.020000001415610313, + 0.018928570672869682, + -0.041428569704294205, + -0.03285714238882065, + 0.07571428269147873, + 1.0 + ], + "delta_next_20": [ + 0.12535715103149414, + 0.5174999237060547, + 0.20428572595119476, + -0.3442857265472412, + -0.17571429908275604, + 1.8500001430511475, + 1.0 + ], + "delta_full_state_norm": [ + 0.12494949555062895, + 0.6330932739052679, + 0.30677452683273265, + -1.0, + -0.25449519967652023, + 0.561427458627922, + 0.9999999900000001 + ], + "movement_text": "move forward 3 mm; move left 20 mm; move upward 19 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 125 mm; move left 517 mm; move upward 204 mm; roll downward 20 degrees; pitch downward 10 degrees; yaw counterclockwise 106 degrees; open gripper;", + "subtask_movement_text": "move forward 3 mm; move left 20 mm; move upward 19 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 262, + "segment_id": 110000, + "subtask": "move to the sink", + "reason": "The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm extends from its current position toward the sink area. The green cup remains stationary on the counter, indicating that the robot is navigating to a new location rather than manipulating the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move left 20 mm; move upward 19 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 126 mm; move left 527 mm; move upward 190 mm; roll downward 17 degrees; pitch downward 8 degrees; yaw counterclockwise 108 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 235, + 120 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0028571428265422583, + 0.020000001415610313, + 0.018571428954601288, + -0.03857142850756645, + -0.03285714238882065, + 0.0771428570151329, + 1.0 + ], + "delta_next_20": [ + 0.12607142329216003, + 0.526785671710968, + 0.19035713374614716, + -0.3028571605682373, + -0.142857164144516, + 1.881428599357605, + 1.0 + ], + "delta_full_state_norm": [ + 0.1048610979037965, + 0.6330932739052679, + 0.2948470865352941, + -1.0, + -0.25449519967652023, + 0.5785860375314829, + 0.9999999900000001 + ], + "movement_text": "move forward 3 mm; move left 20 mm; move upward 19 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 126 mm; move left 527 mm; move upward 190 mm; roll downward 17 degrees; pitch downward 8 degrees; yaw counterclockwise 108 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 263, + "segment_id": 30000, + "subtask": "move to the sink", + "reason": "The robot arm is positioned at the sink, moving towards the faucet handle, consistent with the action of approaching the sink area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned at the sink, moving towards the faucet handle, consistent with the action of approaching the sink area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move left 20 mm; move upward 18 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 126 mm; move left 535 mm; move upward 177 mm; roll downward 15 degrees; pitch downward 6 degrees; yaw counterclockwise 110 degrees; open gripper;\nSubtask Movement: move forward 18 mm; move left 64 mm; move upward 48 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 14 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 234, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0032142859417945147, + 0.020000001415610313, + 0.017500000074505806, + -0.0357142873108387, + -0.027142856270074844, + 0.07857143133878708, + 1.0 + ], + "delta_next_20": [ + 0.12642857432365417, + 0.5353571176528931, + 0.1767856925725937, + -0.26428574323654175, + -0.10999999940395355, + 1.9128570556640625, + 1.0 + ], + "delta_full_state_norm": [ + 0.12494949555062895, + 0.6330932739052679, + 0.259064641229684, + -0.9047619768099204, + -0.18533890695948874, + 0.5957446164350437, + 0.9999999900000001 + ], + "movement_text": "move forward 3 mm; move left 20 mm; move upward 18 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 126 mm; move left 535 mm; move upward 177 mm; roll downward 15 degrees; pitch downward 6 degrees; yaw counterclockwise 110 degrees; open gripper;", + "subtask_movement_text": "move forward 18 mm; move left 64 mm; move upward 48 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 14 degrees; open gripper;" + }, + { + "frame_index": 264, + "segment_id": 30000, + "subtask": "move to the sink", + "reason": "The robot arm is positioned at the sink, moving towards the faucet handle, consistent with the action of approaching the sink area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned at the sink, moving towards the faucet handle, consistent with the action of approaching the sink area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move left 21 mm; move upward 16 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 125 mm; move left 544 mm; move upward 164 mm; roll downward 13 degrees; pitch downward 5 degrees; yaw counterclockwise 111 degrees; open gripper;\nSubtask Movement: move forward 15 mm; move left 44 mm; move upward 31 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw counterclockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 234, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.006785714533179998, + 0.02142857201397419, + 0.01607142947614193, + -0.03142857179045677, + -0.02142857201397419, + 0.08285713940858841, + 1.0 + ], + "delta_next_20": [ + 0.12535713613033295, + 0.5439285635948181, + 0.16428570449352264, + -0.22857144474983215, + -0.08285713940858841, + 1.9442857503890991, + 1.0 + ], + "delta_full_state_norm": [ + 0.325833327961464, + 0.684480694652915, + 0.2113547556266353, + -0.7619048178484796, + -0.11618263678484153, + 0.6472201741681642, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move left 21 mm; move upward 16 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 125 mm; move left 544 mm; move upward 164 mm; roll downward 13 degrees; pitch downward 5 degrees; yaw counterclockwise 111 degrees; open gripper;", + "subtask_movement_text": "move forward 15 mm; move left 44 mm; move upward 31 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw counterclockwise 10 degrees; open gripper;" + }, + { + "frame_index": 265, + "segment_id": 30000, + "subtask": "move to the sink", + "reason": "The robot arm is positioned at the sink, moving towards the faucet handle, consistent with the action of approaching the sink area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned at the sink, moving towards the faucet handle, consistent with the action of approaching the sink area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move left 22 mm; move upward 15 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 120 mm; move left 551 mm; move upward 152 mm; roll downward 11 degrees; pitch downward 4 degrees; yaw counterclockwise 113 degrees; open gripper;\nSubtask Movement: move forward 8 mm; move left 22 mm; move upward 15 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 233, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + 0.022142857313156128, + 0.014642857015132904, + -0.029999999329447746, + -0.018571428954601288, + 0.08428571373224258, + 1.0 + ], + "delta_next_20": [ + 0.11964285373687744, + 0.551428496837616, + 0.1524999737739563, + -0.19714286923408508, + -0.06142856925725937, + 1.9728572368621826, + 1.0 + ], + "delta_full_state_norm": [ + 0.3860984685174198, + 0.7101744050267382, + 0.16364480781693946, + -0.714285744165279, + -0.08160449042632578, + 0.6643787530717251, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move left 22 mm; move upward 15 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 120 mm; move left 551 mm; move upward 152 mm; roll downward 11 degrees; pitch downward 4 degrees; yaw counterclockwise 113 degrees; open gripper;", + "subtask_movement_text": "move forward 8 mm; move left 22 mm; move upward 15 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 266, + "segment_id": 30000, + "subtask": "move to the sink", + "reason": "The robot arm is positioned at the sink, moving towards the faucet handle, consistent with the action of approaching the sink area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot arm is positioned at the sink, moving towards the faucet handle, consistent with the action of approaching the sink area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move left 22 mm; move upward 14 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 112 mm; move left 558 mm; move upward 141 mm; roll downward 10 degrees; pitch downward 2 degrees; yaw counterclockwise 115 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 232, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + 0.022499999031424522, + 0.013928571715950966, + -0.029999999329447746, + -0.015714285895228386, + 0.08428571373224258, + 1.0 + ], + "delta_next_20": [ + 0.11214285343885422, + 0.5582142472267151, + 0.14107142388820648, + -0.1671428680419922, + -0.04285714030265808, + 2.0014286041259766, + 1.0 + ], + "delta_full_state_norm": [ + 0.3860984685174198, + 0.7230212267128451, + 0.13978986501541502, + -0.714285744165279, + -0.04702634406781003, + 0.6643787530717251, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move left 22 mm; move upward 14 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 112 mm; move left 558 mm; move upward 141 mm; roll downward 10 degrees; pitch downward 2 degrees; yaw counterclockwise 115 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 267, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned near the sink area, approaching the faucet handle and the blue object within the basin. The end-effector has not yet made contact with the cup or grasped it, indicating the motion phase of moving towards the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned near the sink area, approaching the faucet handle and the blue object within the basin. The end-effector has not yet made contact with the cup or grasped it, indicating the motion phase of moving towards the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 22 mm; move upward 13 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 104 mm; move left 564 mm; move upward 129 mm; roll downward 8 degrees; pitch downward 2 degrees; yaw counterclockwise 116 degrees; open gripper;\nSubtask Movement: move forward 70 mm; move left 270 mm; move upward 86 mm; roll downward 8 degrees; pitch downward 2 degrees; yaw counterclockwise 54 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 231, + 117 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + 0.022499999031424522, + 0.013214285485446453, + -0.029999999329447746, + -0.014285714365541935, + 0.08428571373224258, + 1.0 + ], + "delta_next_20": [ + 0.10428570955991745, + 0.563928484916687, + 0.12892857193946838, + -0.1371428668498993, + -0.027142858132719994, + 2.031428575515747, + 1.0 + ], + "delta_full_state_norm": [ + 0.4262752638110845, + 0.7230212267128451, + 0.1159348911105671, + -0.714285744165279, + -0.02973727088855216, + 0.6643787530717251, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move left 22 mm; move upward 13 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 104 mm; move left 564 mm; move upward 129 mm; roll downward 8 degrees; pitch downward 2 degrees; yaw counterclockwise 116 degrees; open gripper;", + "subtask_movement_text": "move forward 70 mm; move left 270 mm; move upward 86 mm; roll downward 8 degrees; pitch downward 2 degrees; yaw counterclockwise 54 degrees; open gripper;" + }, + { + "frame_index": 268, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned near the sink area, approaching the faucet handle and the blue object within the basin. The end-effector has not yet made contact with the cup or grasped it, indicating the motion phase of moving towards the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned near the sink area, approaching the faucet handle and the blue object within the basin. The end-effector has not yet made contact with the cup or grasped it, indicating the motion phase of moving towards the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move left 23 mm; move upward 12 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 96 mm; move left 570 mm; move upward 117 mm; roll downward 6 degrees; pitch downward 1 degrees; yaw counterclockwise 118 degrees; open gripper;\nSubtask Movement: move forward 61 mm; move left 247 mm; move upward 72 mm; roll downward 6 degrees; pitch downward 1 degrees; yaw counterclockwise 49 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 230, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.006785714533179998, + 0.02321428619325161, + 0.011785714887082577, + -0.025714285671710968, + -0.009999999776482582, + 0.08714285492897034, + 1.0 + ], + "delta_next_20": [ + 0.09571428596973419, + 0.5696428418159485, + 0.11678571999073029, + -0.1071428507566452, + -0.012857142835855484, + 2.0614285469055176, + 1.0 + ], + "delta_full_state_norm": [ + 0.325833327961464, + 0.7487150040882784, + 0.06822500550751842, + -0.5714286472919989, + 0.022129948649221465, + 0.6986958213900658, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move left 23 mm; move upward 12 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 96 mm; move left 570 mm; move upward 117 mm; roll downward 6 degrees; pitch downward 1 degrees; yaw counterclockwise 118 degrees; open gripper;", + "subtask_movement_text": "move forward 61 mm; move left 247 mm; move upward 72 mm; roll downward 6 degrees; pitch downward 1 degrees; yaw counterclockwise 49 degrees; open gripper;" + }, + { + "frame_index": 269, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned near the sink area, approaching the faucet handle and the blue object within the basin. The end-effector has not yet made contact with the cup or grasped it, indicating the motion phase of moving towards the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned near the sink area, approaching the faucet handle and the blue object within the basin. The end-effector has not yet made contact with the cup or grasped it, indicating the motion phase of moving towards the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move left 25 mm; move upward 11 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 89 mm; move left 575 mm; move upward 105 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw counterclockwise 120 degrees; open gripper;\nSubtask Movement: move forward 55 mm; move left 224 mm; move upward 61 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw counterclockwise 44 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 229, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.007142857648432255, + 0.024642856791615486, + 0.010714286006987095, + -0.022857142612338066, + -0.0028571428265422583, + 0.08857142925262451, + 1.0 + ], + "delta_next_20": [ + 0.08892857283353806, + 0.5746428370475769, + 0.10535714775323868, + -0.08142856508493423, + -0.0028571428265422583, + 2.088571548461914, + 1.0 + ], + "delta_full_state_norm": [ + 0.3459217256082965, + 0.8001024248359254, + 0.03244256020190828, + -0.47619056201375864, + 0.10857530609211663, + 0.7158544002936267, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move left 25 mm; move upward 11 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 89 mm; move left 575 mm; move upward 105 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw counterclockwise 120 degrees; open gripper;", + "subtask_movement_text": "move forward 55 mm; move left 224 mm; move upward 61 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw counterclockwise 44 degrees; open gripper;" + }, + { + "frame_index": 270, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned near the sink area, approaching the faucet handle and the blue object within the basin. The end-effector has not yet made contact with the cup or grasped it, indicating the motion phase of moving towards the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned near the sink area, approaching the faucet handle and the blue object within the basin. The end-effector has not yet made contact with the cup or grasped it, indicating the motion phase of moving towards the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move left 26 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 83 mm; move left 578 mm; move upward 95 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 121 degrees; open gripper;\nSubtask Movement: move forward 47 mm; move left 199 mm; move upward 50 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 39 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 228, + 116 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.008214286528527737, + 0.025714287534356117, + 0.010000000707805157, + -0.02142857201397419, + 0.0, + 0.09142857044935226, + 1.0 + ], + "delta_next_20": [ + 0.0828571543097496, + 0.5782142281532288, + 0.09464287012815475, + -0.058571428060531616, + 0.0, + 2.1128571033477783, + 1.0 + ], + "delta_full_state_norm": [ + 0.40618689235652283, + 0.8386430908990754, + 0.008587617400383829, + -0.42857155041871886, + 0.14315344963283438, + 0.7501714686119674, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move left 26 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 83 mm; move left 578 mm; move upward 95 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 121 degrees; open gripper;", + "subtask_movement_text": "move forward 47 mm; move left 199 mm; move upward 50 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 39 degrees; open gripper;" + }, + { + "frame_index": 271, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned near the sink area, approaching the faucet handle and the blue object within the basin. The end-effector has not yet made contact with the cup or grasped it, indicating the motion phase of moving towards the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned near the sink area, approaching the faucet handle and the blue object within the basin. The end-effector has not yet made contact with the cup or grasped it, indicating the motion phase of moving towards the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move left 27 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 77 mm; move left 580 mm; move upward 85 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 122 degrees; open gripper;\nSubtask Movement: move forward 39 mm; move left 174 mm; move upward 40 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 34 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 227, + 115 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.007500000298023224, + 0.027142858132719994, + 0.008571429178118706, + -0.017142856493592262, + 0.0, + 0.09428571164608002, + 1.0 + ], + "delta_next_20": [ + 0.07678572833538055, + 0.5803571343421936, + 0.08464287221431732, + -0.03714285418391228, + 0.0, + 2.132857084274292, + 1.0 + ], + "delta_full_state_norm": [ + 0.36601009706285814, + 0.8900305116467222, + -0.03912229930598843, + -0.28571439145727806, + 0.14315344963283438, + 0.7844885369303081, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move left 27 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 77 mm; move left 580 mm; move upward 85 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 122 degrees; open gripper;", + "subtask_movement_text": "move forward 39 mm; move left 174 mm; move upward 40 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 34 degrees; open gripper;" + }, + { + "frame_index": 272, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned near the sink area, approaching the faucet handle and the blue object within the basin. The end-effector has not yet made contact with the cup or grasped it, indicating the motion phase of moving towards the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned near the sink area, approaching the faucet handle and the blue object within the basin. The end-effector has not yet made contact with the cup or grasped it, indicating the motion phase of moving towards the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move left 28 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 70 mm; move left 582 mm; move upward 76 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 123 degrees; open gripper;\nSubtask Movement: move forward 32 mm; move left 146 mm; move upward 31 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 29 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [223,123], [223,125]\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 226, + 115 + ], + "task_obj_bbox": [ + 223, + 123, + 223, + 125 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.007500000298023224, + 0.027857143431901932, + 0.008214286528527737, + -0.009999999776482582, + 0.0, + 0.09571428596973419, + 1.0 + ], + "delta_next_20": [ + 0.07035715878009796, + 0.5817856788635254, + 0.07607143372297287, + -0.019999999552965164, + 0.0, + 2.1499998569488525, + 1.0 + ], + "delta_full_state_norm": [ + 0.36601009706285814, + 0.9157242220205457, + -0.05104977070675065, + -0.04761920930575758, + 0.14315344963283438, + 0.8016471158338689, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move left 28 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 70 mm; move left 582 mm; move upward 76 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 123 degrees; open gripper;", + "subtask_movement_text": "move forward 32 mm; move left 146 mm; move upward 31 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 29 degrees; open gripper;" + }, + { + "frame_index": 273, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned near the sink area, approaching the faucet handle and the blue object within the basin. The end-effector has not yet made contact with the cup or grasped it, indicating the motion phase of moving towards the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned near the sink area, approaching the faucet handle and the blue object within the basin. The end-effector has not yet made contact with the cup or grasped it, indicating the motion phase of moving towards the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move left 29 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 63 mm; move left 584 mm; move upward 68 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 124 degrees; open gripper;\nSubtask Movement: move forward 24 mm; move left 119 mm; move upward 23 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [222,122], [223,126]\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 225, + 115 + ], + "task_obj_bbox": [ + 222, + 122, + 223, + 126 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.006785714533179998, + 0.02857143059372902, + 0.006785714533179998, + -0.0071428571827709675, + 0.0, + 0.09857142716646194, + 1.0 + ], + "delta_next_20": [ + 0.06285715103149414, + 0.5839285254478455, + 0.06785715371370316, + -0.009999999776482582, + 0.0, + 2.1628572940826416, + 1.0 + ], + "delta_full_state_norm": [ + 0.325833327961464, + 0.941417999395979, + -0.09875970296478476, + 0.04761886045044239, + 0.14315344963283438, + 0.8359641841522096, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move left 29 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 63 mm; move left 584 mm; move upward 68 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 124 degrees; open gripper;", + "subtask_movement_text": "move forward 24 mm; move left 119 mm; move upward 23 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 23 degrees; open gripper;" + }, + { + "frame_index": 274, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned near the sink area, approaching the faucet handle and the blue object within the basin. The end-effector has not yet made contact with the cup or grasped it, indicating the motion phase of moving towards the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned near the sink area, approaching the faucet handle and the blue object within the basin. The end-effector has not yet made contact with the cup or grasped it, indicating the motion phase of moving towards the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move left 29 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 58 mm; move left 585 mm; move upward 61 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 124 degrees; open gripper;\nSubtask Movement: move forward 18 mm; move left 90 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 18 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [221,121], [223,127]\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 224, + 114 + ], + "task_obj_bbox": [ + 221, + 121, + 223, + 127 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.006071428768336773, + 0.029285714030265808, + 0.0057142856530845165, + -0.0028571428265422583, + 0.0, + 0.10000000149011612, + 1.0 + ], + "delta_next_20": [ + 0.05821429565548897, + 0.585357129573822, + 0.06107143685221672, + -0.0028571428265422583, + 0.011428571306169033, + 2.167142868041992, + 1.0 + ], + "delta_full_state_norm": [ + 0.2856565588600699, + 0.9671116427681925, + -0.1345421482703948, + 0.19047598060678284, + 0.14315344963283438, + 0.8531227630557707, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move left 29 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 58 mm; move left 585 mm; move upward 61 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 124 degrees; open gripper;", + "subtask_movement_text": "move forward 18 mm; move left 90 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 18 degrees; open gripper;" + }, + { + "frame_index": 275, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned near the sink area, approaching the faucet handle and the blue object within the basin. The end-effector has not yet made contact with the cup or grasped it, indicating the motion phase of moving towards the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned near the sink area, approaching the faucet handle and the blue object within the basin. The end-effector has not yet made contact with the cup or grasped it, indicating the motion phase of moving towards the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move left 30 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 57 mm; move left 586 mm; move upward 55 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 124 degrees; open gripper;\nSubtask Movement: move forward 11 mm; move left 61 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [220,121], [223,127]\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 222, + 114 + ], + "task_obj_bbox": [ + 220, + 121, + 223, + 127 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.006071428768336773, + 0.030000001192092896, + 0.0057142856530845165, + 0.0, + 0.0, + 0.1014285683631897, + 1.0 + ], + "delta_next_20": [ + 0.056785713881254196, + 0.5857143402099609, + 0.055357154458761215, + 0.0, + 0.03142857179045677, + 2.167142868041992, + 1.0 + ], + "delta_full_state_norm": [ + 0.2856565588600699, + 0.9928054201436258, + -0.1345421482703948, + 0.2857140581240032, + 0.14315344963283438, + 0.8702812524705503, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move left 30 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 57 mm; move left 586 mm; move upward 55 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 124 degrees; open gripper;", + "subtask_movement_text": "move forward 11 mm; move left 61 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 276, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned near the sink area, approaching the faucet handle and the blue object within the basin. The end-effector has not yet made contact with the cup or grasped it, indicating the motion phase of moving towards the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned near the sink area, approaching the faucet handle and the blue object within the basin. The end-effector has not yet made contact with the cup or grasped it, indicating the motion phase of moving towards the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move left 31 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 57 mm; move left 584 mm; move upward 50 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 124 degrees; open gripper;\nSubtask Movement: move forward 5 mm; move left 31 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [218,120], [223,127]\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 221, + 114 + ], + "task_obj_bbox": [ + 218, + 120, + 223, + 127 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0053571430034935474, + 0.030714286491274834, + 0.005000000353902578, + 0.0, + 0.0, + 0.10428571701049805, + 1.0 + ], + "delta_next_20": [ + 0.05678572133183479, + 0.5842857956886292, + 0.049642857164144516, + 0.0, + 0.05714285746216774, + 2.1628570556640625, + 1.0 + ], + "delta_full_state_norm": [ + 0.2454797897586758, + 1.0, + -0.15839709107191924, + 0.2857140581240032, + 0.14315344963283438, + 0.9045984102776723, + 0.9999999900000001 + ], + "movement_text": "move forward 5 mm; move left 31 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 57 mm; move left 584 mm; move upward 50 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 124 degrees; open gripper;", + "subtask_movement_text": "move forward 5 mm; move left 31 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;" + }, + { + "frame_index": 277, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's arm is positioned near the sink area, approaching the faucet handle and the blue object within the basin. The end-effector has not yet made contact with the cup or grasped it, indicating the motion phase of moving towards the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's arm is positioned near the sink area, approaching the faucet handle and the blue object within the basin. The end-effector has not yet made contact with the cup or grasped it, indicating the motion phase of moving towards the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move left 31 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 58 mm; move left 582 mm; move upward 45 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 124 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [217,119], [223,126]\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 220, + 114 + ], + "task_obj_bbox": [ + 217, + 119, + 223, + 126 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0053571430034935474, + 0.030714286491274834, + 0.004642857238650322, + 0.0, + 0.0, + 0.10428571701049805, + 1.0 + ], + "delta_next_20": [ + 0.05785714462399483, + 0.5817857384681702, + 0.0446428582072258, + 0.0, + 0.082857146859169, + 2.155714511871338, + 1.0 + ], + "delta_full_state_norm": [ + 0.2454797897586758, + 1.0, + -0.1703245780243432, + 0.2857140581240032, + 0.14315344963283438, + 0.9045984102776723, + 0.9999999900000001 + ], + "movement_text": "move forward 5 mm; move left 31 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 58 mm; move left 582 mm; move upward 45 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 124 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 278, + "segment_id": 100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move left 30 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 62 mm; move left 580 mm; move upward 40 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw counterclockwise 123 degrees; open gripper;\nSubtask Movement: move forward 82 mm; move left 638 mm; move upward 40 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 134 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [216,119], [222,126]\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 218, + 114 + ], + "task_obj_bbox": [ + 216, + 119, + 222, + 126 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0057142856530845165, + 0.03035714291036129, + 0.004642857238650322, + 0.0, + 0.0, + 0.10571428388357162, + 1.0 + ], + "delta_next_20": [ + 0.06178571656346321, + 0.5796428918838501, + 0.03999999910593033, + 0.0, + 0.12142857909202576, + 2.1471428871154785, + 1.0 + ], + "delta_full_state_norm": [ + 0.2655681612132377, + 1.0, + -0.1703245780243432, + 0.2857140581240032, + 0.14315344963283438, + 0.9217568996924519, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move left 30 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 62 mm; move left 580 mm; move upward 40 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw counterclockwise 123 degrees; open gripper;", + "subtask_movement_text": "move forward 82 mm; move left 638 mm; move upward 40 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 134 degrees; open gripper;" + }, + { + "frame_index": 279, + "segment_id": 100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move left 30 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 66 mm; move left 579 mm; move upward 35 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw counterclockwise 122 degrees; open gripper;\nSubtask Movement: move forward 76 mm; move left 608 mm; move upward 35 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 128 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [214,118], [221,126]\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 217, + 113 + ], + "task_obj_bbox": [ + 214, + 118, + 221, + 126 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.006428571883589029, + 0.03035714291036129, + 0.004642857238650322, + 0.0, + 0.0, + 0.10571428388357162, + 1.0 + ], + "delta_next_20": [ + 0.0657142922282219, + 0.5789285898208618, + 0.035357143729925156, + 0.0, + 0.16428571939468384, + 2.135714292526245, + 1.0 + ], + "delta_full_state_norm": [ + 0.30574495650690237, + 1.0, + -0.1703245780243432, + 0.2857140581240032, + 0.14315344963283438, + 0.9217568996924519, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move left 30 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 66 mm; move left 579 mm; move upward 35 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw counterclockwise 122 degrees; open gripper;", + "subtask_movement_text": "move forward 76 mm; move left 608 mm; move upward 35 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 128 degrees; open gripper;" + }, + { + "frame_index": 280, + "segment_id": 100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move left 30 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 70 mm; move left 577 mm; move upward 31 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 122 degrees; open gripper;\nSubtask Movement: move forward 70 mm; move left 577 mm; move upward 31 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 122 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [213,117], [220,126]\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 216, + 113 + ], + "task_obj_bbox": [ + 213, + 117, + 220, + 126 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.006071428768336773, + 0.03035714291036129, + 0.005000000353902578, + 0.0, + 0.0, + 0.10571428388357162, + 1.0 + ], + "delta_next_20": [ + 0.07000000774860382, + 0.5771428346633911, + 0.030714286491274834, + 0.0, + 0.20714285969734192, + 2.1242856979370117, + 1.0 + ], + "delta_full_state_norm": [ + 0.2856565588600699, + 1.0, + -0.15839709107191924, + 0.2857140581240032, + 0.14315344963283438, + 0.9217568996924519, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move left 30 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 70 mm; move left 577 mm; move upward 31 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 122 degrees; open gripper;", + "subtask_movement_text": "move forward 70 mm; move left 577 mm; move upward 31 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 122 degrees; open gripper;" + }, + { + "frame_index": 281, + "segment_id": 100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move left 29 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 75 mm; move left 574 mm; move upward 26 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw counterclockwise 121 degrees; open gripper;\nSubtask Movement: move forward 64 mm; move left 547 mm; move upward 26 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 116 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [211,117], [219,125]\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 214, + 113 + ], + "task_obj_bbox": [ + 211, + 117, + 219, + 125 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0039285714738070965, + 0.029285714030265808, + 0.005000000353902578, + 0.0, + 0.0, + 0.1071428582072258, + 1.0 + ], + "delta_next_20": [ + 0.07535714656114578, + 0.5735713839530945, + 0.025714287534356117, + 0.0, + 0.2571428716182709, + 2.1085712909698486, + 1.0 + ], + "delta_full_state_norm": [ + 0.16512625155588756, + 0.9671116427681925, + -0.15839709107191924, + 0.2857140581240032, + 0.14315344963283438, + 0.938915478596013, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move left 29 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 75 mm; move left 574 mm; move upward 26 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw counterclockwise 121 degrees; open gripper;", + "subtask_movement_text": "move forward 64 mm; move left 547 mm; move upward 26 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 116 degrees; open gripper;" + }, + { + "frame_index": 282, + "segment_id": 100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move left 29 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 84 mm; move left 571 mm; move upward 21 mm; roll downward 0 degrees; pitch upward 18 degrees; yaw counterclockwise 120 degrees; open gripper;\nSubtask Movement: move forward 60 mm; move left 517 mm; move upward 21 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 110 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [210,117], [218,125]\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 213, + 113 + ], + "task_obj_bbox": [ + 210, + 117, + 218, + 125 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0032142859417945147, + 0.02857143059372902, + 0.005000000353902578, + 0.0, + 0.0, + 0.10857142508029938, + 1.0 + ], + "delta_next_20": [ + 0.08428572118282318, + 0.5710713863372803, + 0.0207142885774374, + 0.0, + 0.3100000023841858, + 2.091428518295288, + 1.0 + ], + "delta_full_state_norm": [ + 0.12494949555062895, + 0.941417999395979, + -0.15839709107191924, + 0.2857140581240032, + 0.14315344963283438, + 0.9560739680107926, + 0.9999999900000001 + ], + "movement_text": "move forward 3 mm; move left 29 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 84 mm; move left 571 mm; move upward 21 mm; roll downward 0 degrees; pitch upward 18 degrees; yaw counterclockwise 120 degrees; open gripper;", + "subtask_movement_text": "move forward 60 mm; move left 517 mm; move upward 21 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 110 degrees; open gripper;" + }, + { + "frame_index": 283, + "segment_id": 100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move left 29 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 96 mm; move left 566 mm; move upward 16 mm; roll downward 0 degrees; pitch upward 21 degrees; yaw counterclockwise 119 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move left 489 mm; move upward 16 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 103 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [209,117], [217,125]\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 212, + 113 + ], + "task_obj_bbox": [ + 209, + 117, + 217, + 125 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0021428572945296764, + 0.02857143059372902, + 0.005000000353902578, + 0.0, + 0.0, + 0.10999999940395355, + 1.0 + ], + "delta_next_20": [ + 0.09607143700122833, + 0.5664286017417908, + 0.015714287757873535, + 0.0, + 0.37285715341567993, + 2.0685715675354004, + 1.0 + ], + "delta_full_state_norm": [ + 0.06468434189853767, + 0.941417999395979, + -0.15839709107191924, + 0.2857140581240032, + 0.14315344963283438, + 0.9732325469143537, + 0.9999999900000001 + ], + "movement_text": "move forward 2 mm; move left 29 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 96 mm; move left 566 mm; move upward 16 mm; roll downward 0 degrees; pitch upward 21 degrees; yaw counterclockwise 119 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move left 489 mm; move upward 16 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 103 degrees; open gripper;" + }, + { + "frame_index": 284, + "segment_id": 100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move left 29 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 109 mm; move left 559 mm; move upward 9 mm; roll downward 0 degrees; pitch upward 25 degrees; yaw counterclockwise 117 degrees; open gripper;\nSubtask Movement: move forward 55 mm; move left 460 mm; move upward 11 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 97 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [207,117], [216,125]\ndistr_counter: [32,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 211, + 113 + ], + "task_obj_bbox": [ + 207, + 117, + 216, + 125 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0010714286472648382, + 0.028928572311997414, + 0.004285714589059353, + 0.0, + 0.0, + 0.11142857372760773, + 1.0 + ], + "delta_next_20": [ + 0.10892857611179352, + 0.5589286088943481, + 0.008571429178118706, + 0.0, + 0.44285714626312256, + 2.041428804397583, + 1.0 + ], + "delta_full_state_norm": [ + 0.004419188246446604, + 0.9542648210820859, + -0.1822520494251053, + 0.2857140581240032, + 0.14315344963283438, + 0.9903911258179146, + 0.9999999900000001 + ], + "movement_text": "move forward 1 mm; move left 29 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 109 mm; move left 559 mm; move upward 9 mm; roll downward 0 degrees; pitch upward 25 degrees; yaw counterclockwise 117 degrees; open gripper;", + "subtask_movement_text": "move forward 55 mm; move left 460 mm; move upward 11 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 97 degrees; open gripper;" + }, + { + "frame_index": 285, + "segment_id": 100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 0 mm; move left 29 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 124 mm; move left 548 mm; move upward 1 mm; roll downward 0 degrees; pitch upward 30 degrees; yaw counterclockwise 115 degrees; open gripper;\nSubtask Movement: move forward 54 mm; move left 431 mm; move upward 6 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 91 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [206,116], [215,125]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 209, + 113 + ], + "task_obj_bbox": [ + 206, + 116, + 215, + 125 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0003571428533177823, + 0.028928572311997414, + 0.0032142859417945147, + 0.0, + 0.0, + 0.1128571406006813, + 1.0 + ], + "delta_next_20": [ + 0.12357143312692642, + 0.548214316368103, + 0.00071428605588153, + 0.0, + 0.5171428918838501, + 2.009999990463257, + 1.0 + ], + "delta_full_state_norm": [ + -0.03575758249196448, + 0.9542648210820859, + -0.2180344869548846, + 0.2857140581240032, + 0.14315344963283438, + 1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 0 mm; move left 29 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 124 mm; move left 548 mm; move upward 1 mm; roll downward 0 degrees; pitch upward 30 degrees; yaw counterclockwise 115 degrees; open gripper;", + "subtask_movement_text": "move forward 54 mm; move left 431 mm; move upward 6 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 91 degrees; open gripper;" + }, + { + "frame_index": 286, + "segment_id": 100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 28 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; open gripper;\nNext 20 Movement: move forward 140 mm; move left 535 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 34 degrees; yaw counterclockwise 113 degrees; open gripper;\nSubtask Movement: move forward 53 mm; move left 403 mm; move upward 3 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 84 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [205,116], [214,125]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 208, + 113 + ], + "task_obj_bbox": [ + 205, + 116, + 214, + 125 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.028214285150170326, + 0.0017857144121080637, + 0.0, + 0.0, + 0.11428571492433548, + 1.0 + ], + "delta_next_20": [ + 0.14000001549720764, + 0.5346428751945496, + -0.006428571883589029, + 0.0, + 0.5928571820259094, + 1.9757144451141357, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + 0.9285710437066523, + -0.26574440366125684, + 0.2857140581240032, + 0.14315344963283438, + 1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 28 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; open gripper;", + "next_20_movement_text": "move forward 140 mm; move left 535 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 34 degrees; yaw counterclockwise 113 degrees; open gripper;", + "subtask_movement_text": "move forward 53 mm; move left 403 mm; move upward 3 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 84 degrees; open gripper;" + }, + { + "frame_index": 287, + "segment_id": 100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 28 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; open gripper;\nNext 20 Movement: move forward 158 mm; move left 520 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 38 degrees; yaw counterclockwise 111 degrees; open gripper;\nSubtask Movement: move forward 53 mm; move left 374 mm; move upward 1 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 78 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [204,116], [213,125]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 207, + 113 + ], + "task_obj_bbox": [ + 204, + 116, + 213, + 125 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.028214285150170326, + 0.0010714286472648382, + 0.0, + 0.0, + 0.11428571492433548, + 1.0 + ], + "delta_next_20": [ + 0.15821430087089539, + 0.5196429491043091, + -0.013928571715950966, + 0.0, + 0.6671428680419922, + 1.940000295639038, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + 0.9285710437066523, + -0.28959936201444303, + 0.2857140581240032, + 0.14315344963283438, + 1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 28 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; open gripper;", + "next_20_movement_text": "move forward 158 mm; move left 520 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 38 degrees; yaw counterclockwise 111 degrees; open gripper;", + "subtask_movement_text": "move forward 53 mm; move left 374 mm; move upward 1 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 78 degrees; open gripper;" + }, + { + "frame_index": 288, + "segment_id": 100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 28 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; open gripper;\nNext 20 Movement: move forward 176 mm; move left 501 mm; move downward 21 mm; roll downward 0 degrees; pitch upward 42 degrees; yaw counterclockwise 109 degrees; open gripper;\nSubtask Movement: move forward 53 mm; move left 346 mm; move upward 0 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 71 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [203,116], [212,125]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 206, + 113 + ], + "task_obj_bbox": [ + 203, + 116, + 212, + 125 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.028214285150170326, + 0.0003571428533177823, + 0.0, + 0.0, + 0.11428571492433548, + 1.0 + ], + "delta_next_20": [ + 0.17571429908275604, + 0.5014286041259766, + -0.021071430295705795, + 0.0, + 0.7385714650154114, + 1.9057146310806274, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + 0.9285710437066523, + -0.31345432133960804, + 0.2857140581240032, + 0.14315344963283438, + 1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 28 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; open gripper;", + "next_20_movement_text": "move forward 176 mm; move left 501 mm; move downward 21 mm; roll downward 0 degrees; pitch upward 42 degrees; yaw counterclockwise 109 degrees; open gripper;", + "subtask_movement_text": "move forward 53 mm; move left 346 mm; move upward 0 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 71 degrees; open gripper;" + }, + { + "frame_index": 289, + "segment_id": 100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move left 28 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 192 mm; move left 478 mm; move downward 28 mm; roll downward 0 degrees; pitch upward 46 degrees; yaw counterclockwise 107 degrees; open gripper;\nSubtask Movement: move forward 53 mm; move left 318 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [201,117], [211,125]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 205, + 113 + ], + "task_obj_bbox": [ + 201, + 117, + 211, + 125 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0010714286472648382, + 0.028214285150170326, + 0.0, + 0.0, + 0.0, + 0.1128571406006813, + 1.0 + ], + "delta_next_20": [ + 0.19178572297096252, + 0.4782143235206604, + -0.027857143431901932, + 0.0, + 0.8100000619888306, + 1.8742859363555908, + 1.0 + ], + "delta_full_state_norm": [ + 0.004419188246446604, + 0.9285710437066523, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + 1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 1 mm; move left 28 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 192 mm; move left 478 mm; move downward 28 mm; roll downward 0 degrees; pitch upward 46 degrees; yaw counterclockwise 107 degrees; open gripper;", + "subtask_movement_text": "move forward 53 mm; move left 318 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 290, + "segment_id": 100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move left 28 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 207 mm; move left 454 mm; move downward 36 mm; roll downward 0 degrees; pitch upward 50 degrees; yaw counterclockwise 106 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move left 290 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 58 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [200,116], [210,125]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 204, + 113 + ], + "task_obj_bbox": [ + 200, + 116, + 210, + 125 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0021428572945296764, + 0.027857143431901932, + 0.0, + 0.0, + 0.0, + 0.11142857372760773, + 1.0 + ], + "delta_next_20": [ + 0.20678572356700897, + 0.4539286196231842, + -0.03642857074737549, + 0.0, + 0.8728572130203247, + 1.8414288759231567, + 1.0 + ], + "delta_full_state_norm": [ + 0.06468434189853767, + 0.9157242220205457, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + 0.9903911258179146, + 0.9999999900000001 + ], + "movement_text": "move forward 2 mm; move left 28 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 207 mm; move left 454 mm; move downward 36 mm; roll downward 0 degrees; pitch upward 50 degrees; yaw counterclockwise 106 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move left 290 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 58 degrees; open gripper;" + }, + { + "frame_index": 291, + "segment_id": 100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move left 29 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 220 mm; move left 430 mm; move downward 46 mm; roll downward 0 degrees; pitch upward 53 degrees; yaw counterclockwise 104 degrees; open gripper;\nSubtask Movement: move forward 50 mm; move left 262 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 52 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [198,110], [208,125]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 202, + 113 + ], + "task_obj_bbox": [ + 198, + 110, + 208, + 125 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0010714286472648382, + 0.02857143059372902, + 0.0, + 0.0, + 0.0, + 0.11142857372760773, + 1.0 + ], + "delta_next_20": [ + 0.21964287757873535, + 0.42964282631874084, + -0.04642857238650322, + 0.0, + 0.9328572154045105, + 1.8100003004074097, + 1.0 + ], + "delta_full_state_norm": [ + 0.004419188246446604, + 0.941417999395979, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + 0.9903911258179146, + 0.9999999900000001 + ], + "movement_text": "move forward 1 mm; move left 29 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 220 mm; move left 430 mm; move downward 46 mm; roll downward 0 degrees; pitch upward 53 degrees; yaw counterclockwise 104 degrees; open gripper;", + "subtask_movement_text": "move forward 50 mm; move left 262 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 52 degrees; open gripper;" + }, + { + "frame_index": 292, + "segment_id": 100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 30 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 232 mm; move left 401 mm; move downward 56 mm; roll downward 0 degrees; pitch upward 57 degrees; yaw counterclockwise 102 degrees; open gripper;\nSubtask Movement: move forward 49 mm; move left 233 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 45 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [196,108], [207,125]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 201, + 113 + ], + "task_obj_bbox": [ + 196, + 108, + 207, + 125 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.030000001192092896, + 0.0, + 0.0, + 0.0, + 0.10857142508029938, + 1.0 + ], + "delta_next_20": [ + 0.2321428805589676, + 0.4010713994503021, + -0.055714286863803864, + 0.0, + 0.9885715246200562, + 1.774285912513733, + 1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + 0.9928054201436258, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + 0.9560739680107926, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 30 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 232 mm; move left 401 mm; move downward 56 mm; roll downward 0 degrees; pitch upward 57 degrees; yaw counterclockwise 102 degrees; open gripper;", + "subtask_movement_text": "move forward 49 mm; move left 233 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 45 degrees; open gripper;" + }, + { + "frame_index": 293, + "segment_id": 100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move left 30 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 246 mm; move left 371 mm; move downward 66 mm; roll downward 0 degrees; pitch upward 60 degrees; yaw counterclockwise 100 degrees; open gripper;\nSubtask Movement: move forward 49 mm; move left 203 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 39 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [195,108], [206,125]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 200, + 113 + ], + "task_obj_bbox": [ + 195, + 108, + 206, + 125 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.0021428572945296764, + 0.030000001192092896, + 0.0, + 0.0, + 0.011428571306169033, + 0.10285714268684387, + 1.0 + ], + "delta_next_20": [ + 0.246071457862854, + 0.37107139825820923, + -0.0657142922282219, + 0.0, + 1.040000081062317, + 1.7371430397033691, + 1.0 + ], + "delta_full_state_norm": [ + 0.06468434189853767, + 0.9928054201436258, + -0.3253817995442222, + 0.2857140581240032, + 0.2814660237957052, + 0.8874398313741112, + 0.9999999900000001 + ], + "movement_text": "move forward 2 mm; move left 30 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 246 mm; move left 371 mm; move downward 66 mm; roll downward 0 degrees; pitch upward 60 degrees; yaw counterclockwise 100 degrees; open gripper;", + "subtask_movement_text": "move forward 49 mm; move left 203 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 39 degrees; open gripper;" + }, + { + "frame_index": 294, + "segment_id": 100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move left 30 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 257 mm; move left 341 mm; move downward 76 mm; roll downward 0 degrees; pitch upward 61 degrees; yaw counterclockwise 98 degrees; open gripper;\nSubtask Movement: move forward 47 mm; move left 173 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 11 degrees; yaw counterclockwise 33 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [194,108], [205,125]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 199, + 114 + ], + "task_obj_bbox": [ + 194, + 108, + 205, + 125 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.004642857238650322, + 0.029642855748534203, + 0.0, + 0.0, + 0.019999999552965164, + 0.10000000149011612, + 1.0 + ], + "delta_next_20": [ + 0.2567857503890991, + 0.34142857789993286, + -0.07607143372297287, + 0.0, + 1.072857141494751, + 1.7057143449783325, + 1.0 + ], + "delta_full_state_norm": [ + 0.20530302065728168, + 0.9799584644542993, + -0.3253817995442222, + 0.2857140581240032, + 0.3852004516000602, + 0.8531227630557707, + 0.9999999900000001 + ], + "movement_text": "move forward 5 mm; move left 30 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 257 mm; move left 341 mm; move downward 76 mm; roll downward 0 degrees; pitch upward 61 degrees; yaw counterclockwise 98 degrees; open gripper;", + "subtask_movement_text": "move forward 47 mm; move left 173 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 11 degrees; yaw counterclockwise 33 degrees; open gripper;" + }, + { + "frame_index": 295, + "segment_id": 100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move left 29 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 265 mm; move left 312 mm; move downward 87 mm; roll downward 0 degrees; pitch upward 63 degrees; yaw counterclockwise 96 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move left 144 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw counterclockwise 27 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [192,108], [204,125]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 198, + 114 + ], + "task_obj_bbox": [ + 192, + 108, + 204, + 125 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.006071428768336773, + 0.02857143059372902, + 0.0, + 0.0, + 0.025714285671710968, + 0.09714286029338837, + 1.0 + ], + "delta_next_20": [ + 0.2646428942680359, + 0.3124999701976776, + -0.08678571879863739, + 0.0, + 1.0942857265472412, + 1.677142858505249, + 1.0 + ], + "delta_full_state_norm": [ + 0.2856565588600699, + 0.941417999395979, + -0.3253817995442222, + 0.2857140581240032, + 0.4543567443170917, + 0.81880569473743, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move left 29 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 265 mm; move left 312 mm; move downward 87 mm; roll downward 0 degrees; pitch upward 63 degrees; yaw counterclockwise 96 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move left 144 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw counterclockwise 27 degrees; open gripper;" + }, + { + "frame_index": 296, + "segment_id": 100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move left 28 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 271 mm; move left 285 mm; move downward 97 mm; roll downward 0 degrees; pitch upward 64 degrees; yaw counterclockwise 95 degrees; open gripper;\nSubtask Movement: move forward 36 mm; move left 115 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw counterclockwise 22 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [191,108], [202,125]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 196, + 114 + ], + "task_obj_bbox": [ + 191, + 108, + 202, + 125 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.006428571883589029, + 0.028214285150170326, + 0.0, + 0.0, + 0.025714285671710968, + 0.09714286029338837, + 1.0 + ], + "delta_next_20": [ + 0.27071431279182434, + 0.2849999964237213, + -0.09714286029338837, + 0.0, + 1.1085715293884277, + 1.649999976158142, + 1.0 + ], + "delta_full_state_norm": [ + 0.30574495650690237, + 0.9285710437066523, + -0.3253817995442222, + 0.2857140581240032, + 0.4543567443170917, + 0.81880569473743, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move left 28 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 271 mm; move left 285 mm; move downward 97 mm; roll downward 0 degrees; pitch upward 64 degrees; yaw counterclockwise 95 degrees; open gripper;", + "subtask_movement_text": "move forward 36 mm; move left 115 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw counterclockwise 22 degrees; open gripper;" + }, + { + "frame_index": 297, + "segment_id": 100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 29 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 276 mm; move left 258 mm; move downward 108 mm; roll downward 0 degrees; pitch upward 64 degrees; yaw counterclockwise 93 degrees; open gripper;\nSubtask Movement: move forward 30 mm; move left 87 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw counterclockwise 16 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [190,107], [201,125]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 195, + 114 + ], + "task_obj_bbox": [ + 190, + 107, + 201, + 125 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + 0.02857143059372902, + 0.0, + 0.0, + 0.03857142850756645, + 0.09571428596973419, + 1.0 + ], + "delta_next_20": [ + 0.2760714590549469, + 0.2582142651081085, + -0.10785714536905289, + 0.0, + 1.118571400642395, + 1.6228572130203247, + 1.0 + ], + "delta_full_state_norm": [ + 0.46645200672020803, + 0.941417999395979, + -0.3253817995442222, + 0.2857140581240032, + 0.6099583916592206, + 0.8016471158338689, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move left 29 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 276 mm; move left 258 mm; move downward 108 mm; roll downward 0 degrees; pitch upward 64 degrees; yaw counterclockwise 93 degrees; open gripper;", + "subtask_movement_text": "move forward 30 mm; move left 87 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw counterclockwise 16 degrees; open gripper;" + }, + { + "frame_index": 298, + "segment_id": 100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move left 30 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 278 mm; move left 232 mm; move downward 120 mm; roll downward 0 degrees; pitch upward 64 degrees; yaw counterclockwise 92 degrees; open gripper;\nSubtask Movement: move forward 20 mm; move left 58 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [188,108], [200,126]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 193, + 114 + ], + "task_obj_bbox": [ + 188, + 108, + 200, + 126 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + 0.029642855748534203, + 0.0, + 0.0, + 0.04285714402794838, + 0.09428571164608002, + 1.0 + ], + "delta_next_20": [ + 0.2778571546077728, + 0.23178569972515106, + -0.11964285373687744, + 0.0, + 1.1114286184310913, + 1.5971429347991943, + 1.0 + ], + "delta_full_state_norm": [ + 0.4865403781747699, + 0.9799584644542993, + -0.3253817995442222, + 0.2857140581240032, + 0.6618256224681862, + 0.7844885369303081, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move left 30 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 278 mm; move left 232 mm; move downward 120 mm; roll downward 0 degrees; pitch upward 64 degrees; yaw counterclockwise 92 degrees; open gripper;", + "subtask_movement_text": "move forward 20 mm; move left 58 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 299, + "segment_id": 100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move left 29 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 278 mm; move left 206 mm; move downward 132 mm; roll downward 0 degrees; pitch upward 63 degrees; yaw counterclockwise 90 degrees; open gripper;\nSubtask Movement: move forward 11 mm; move left 29 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [186,108], [198,126]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 192, + 114 + ], + "task_obj_bbox": [ + 186, + 108, + 198, + 126 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.010714286006987095, + 0.02857143059372902, + 0.0, + 0.0, + 0.04285714402794838, + 0.09428571164608002, + 1.0 + ], + "delta_next_20": [ + 0.2782142758369446, + 0.20571430027484894, + -0.13178572058677673, + 0.0, + 1.1028571128845215, + 1.574285626411438, + 1.0 + ], + "delta_full_state_norm": [ + 0.5468055449229963, + 0.941417999395979, + -0.3253817995442222, + 0.2857140581240032, + 0.6618256224681862, + 0.7844885369303081, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move left 29 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 278 mm; move left 206 mm; move downward 132 mm; roll downward 0 degrees; pitch upward 63 degrees; yaw counterclockwise 90 degrees; open gripper;", + "subtask_movement_text": "move forward 11 mm; move left 29 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 300, + "segment_id": 100, + "subtask": "move to the sink", + "reason": "The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector is holding a green cup and moving it from the counter area towards the sink basin, positioning itself over the faucet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move left 27 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 277 mm; move left 181 mm; move downward 144 mm; roll downward 0 degrees; pitch upward 63 degrees; yaw counterclockwise 89 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [185,107], [197,126]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 190, + 115 + ], + "task_obj_bbox": [ + 185, + 107, + 197, + 126 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.011428571306169033, + 0.02678571455180645, + 0.0, + 0.0, + 0.05000000074505806, + 0.09000000357627869, + 1.0 + ], + "delta_next_20": [ + 0.2774999737739563, + 0.18142856657505035, + -0.14428572356700897, + 0.0, + 1.0942856073379517, + 1.5500000715255737, + 1.0 + ], + "delta_full_state_norm": [ + 0.5869822878321198, + 0.8771836229590055, + -0.3253817995442222, + 0.2857140581240032, + 0.7482709770932834, + 0.7330129791971878, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move left 27 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 277 mm; move left 181 mm; move downward 144 mm; roll downward 0 degrees; pitch upward 63 degrees; yaw counterclockwise 89 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 301, + "segment_id": 200, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding the green cup. The arm is angled downwards into the sink area, consistent with the motion required to release the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding the green cup. The arm is angled downwards into the sink area, consistent with the motion required to release the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move left 27 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 276 mm; move left 160 mm; move downward 158 mm; roll downward 0 degrees; pitch upward 62 degrees; yaw counterclockwise 88 degrees; open gripper;\nSubtask Movement: move forward 111 mm; move left 129 mm; move downward 21 mm; roll downward 0 degrees; pitch upward 28 degrees; yaw counterclockwise 33 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [183,107], [195,126]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 189, + 115 + ], + "task_obj_bbox": [ + 183, + 107, + 195, + 126 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.012857143767178059, + 0.02678571455180645, + 0.0, + 0.0, + 0.05285714194178581, + 0.09000000357627869, + 1.0 + ], + "delta_next_20": [ + 0.275714248418808, + 0.15964286029338837, + -0.15785714983940125, + 0.0, + 1.0828571319580078, + 1.5300002098083496, + 1.0 + ], + "delta_full_state_norm": [ + 0.6673358784194492, + 0.8771836229590055, + -0.3253817995442222, + 0.2857140581240032, + 0.782849100909415, + 0.7330129791971878, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move left 27 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 276 mm; move left 160 mm; move downward 158 mm; roll downward 0 degrees; pitch upward 62 degrees; yaw counterclockwise 88 degrees; open gripper;", + "subtask_movement_text": "move forward 111 mm; move left 129 mm; move downward 21 mm; roll downward 0 degrees; pitch upward 28 degrees; yaw counterclockwise 33 degrees; open gripper;" + }, + { + "frame_index": 302, + "segment_id": 200, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding the green cup. The arm is angled downwards into the sink area, consistent with the motion required to release the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding the green cup. The arm is angled downwards into the sink area, consistent with the motion required to release the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move left 24 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 272 mm; move left 139 mm; move downward 171 mm; roll downward 0 degrees; pitch upward 61 degrees; yaw counterclockwise 86 degrees; open gripper;\nSubtask Movement: move forward 98 mm; move left 102 mm; move downward 21 mm; roll downward 0 degrees; pitch upward 25 degrees; yaw counterclockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [182,107], [194,126]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 187, + 115 + ], + "task_obj_bbox": [ + 182, + 107, + 194, + 126 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.015000000596046448, + 0.023928571492433548, + 0.0, + 0.0, + 0.06285714358091354, + 0.08571428805589676, + 1.0 + ], + "delta_next_20": [ + 0.27214285731315613, + 0.13892854750156403, + -0.17142857611179352, + 0.0, + 1.0671429634094238, + 1.508571743965149, + 1.0 + ], + "delta_full_state_norm": [ + 0.787866159531361, + 0.7744087144621019, + -0.3253817995442222, + 0.2857140581240032, + 0.903872624435412, + 0.681537331975286, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move left 24 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 272 mm; move left 139 mm; move downward 171 mm; roll downward 0 degrees; pitch upward 61 degrees; yaw counterclockwise 86 degrees; open gripper;", + "subtask_movement_text": "move forward 98 mm; move left 102 mm; move downward 21 mm; roll downward 0 degrees; pitch upward 25 degrees; yaw counterclockwise 28 degrees; open gripper;" + }, + { + "frame_index": 303, + "segment_id": 200, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding the green cup. The arm is angled downwards into the sink area, consistent with the motion required to release the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding the green cup. The arm is angled downwards into the sink area, consistent with the motion required to release the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move left 21 mm; move downward 2 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 266 mm; move left 121 mm; move downward 186 mm; roll downward 0 degrees; pitch upward 60 degrees; yaw counterclockwise 85 degrees; open gripper;\nSubtask Movement: move forward 83 mm; move left 78 mm; move downward 21 mm; roll downward 0 degrees; pitch upward 21 degrees; yaw counterclockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [180,108], [193,126]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 186, + 115 + ], + "task_obj_bbox": [ + 180, + 108, + 193, + 126 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.015000000596046448, + 0.021071428433060646, + -0.0021428572945296764, + 0.0, + 0.07000000029802322, + 0.08285713940858841, + 1.0 + ], + "delta_next_20": [ + 0.26642856001853943, + 0.12107142060995102, + -0.18571428954601288, + 0.0, + 1.041428565979004, + 1.4914288520812988, + 1.0 + ], + "delta_full_state_norm": [ + 0.787866159531361, + 0.6716338059651983, + -0.39694667460378064, + 0.2857140581240032, + 0.9903179790605094, + 0.6472201741681642, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move left 21 mm; move downward 2 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 266 mm; move left 121 mm; move downward 186 mm; roll downward 0 degrees; pitch upward 60 degrees; yaw counterclockwise 85 degrees; open gripper;", + "subtask_movement_text": "move forward 83 mm; move left 78 mm; move downward 21 mm; roll downward 0 degrees; pitch upward 21 degrees; yaw counterclockwise 23 degrees; open gripper;" + }, + { + "frame_index": 304, + "segment_id": 200, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding the green cup. The arm is angled downwards into the sink area, consistent with the motion required to release the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding the green cup. The arm is angled downwards into the sink area, consistent with the motion required to release the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move left 18 mm; move downward 4 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 261 mm; move left 107 mm; move downward 198 mm; roll downward 0 degrees; pitch upward 58 degrees; yaw counterclockwise 85 degrees; open gripper;\nSubtask Movement: move forward 68 mm; move left 57 mm; move downward 19 mm; roll downward 0 degrees; pitch upward 17 degrees; yaw counterclockwise 18 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [179,108], [191,126]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 185, + 115 + ], + "task_obj_bbox": [ + 179, + 108, + 191, + 126 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.015714285895228386, + 0.018214285373687744, + -0.0035714288242161274, + 0.0, + 0.07428571581840515, + 0.07999999821186066, + 1.0 + ], + "delta_next_20": [ + 0.2614285349845886, + 0.10678572952747345, + -0.19821429252624512, + 0.0, + 1.0071429014205933, + 1.4771430492401123, + 1.0 + ], + "delta_full_state_norm": [ + 0.8280429024404843, + 0.5688588974682947, + -0.444656591310153, + 0.2857140581240032, + 1.0, + 0.6129031058498235, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move left 18 mm; move downward 4 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 261 mm; move left 107 mm; move downward 198 mm; roll downward 0 degrees; pitch upward 58 degrees; yaw counterclockwise 85 degrees; open gripper;", + "subtask_movement_text": "move forward 68 mm; move left 57 mm; move downward 19 mm; roll downward 0 degrees; pitch upward 17 degrees; yaw counterclockwise 18 degrees; open gripper;" + }, + { + "frame_index": 305, + "segment_id": 200, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding the green cup. The arm is angled downwards into the sink area, consistent with the motion required to release the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding the green cup. The arm is angled downwards into the sink area, consistent with the motion required to release the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 17 mm; move left 15 mm; move downward 4 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 256 mm; move left 96 mm; move downward 209 mm; roll downward 0 degrees; pitch upward 55 degrees; yaw counterclockwise 84 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move left 39 mm; move downward 16 mm; roll downward 0 degrees; pitch upward 13 degrees; yaw counterclockwise 14 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [177,107], [189,126]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 183, + 115 + ], + "task_obj_bbox": [ + 177, + 107, + 189, + 126 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.016785714775323868, + 0.015357143245637417, + -0.0039285714738070965, + 0.0, + 0.07571428269147873, + 0.07857143133878708, + 1.0 + ], + "delta_next_20": [ + 0.2564285695552826, + 0.09607144445180893, + -0.20928572118282318, + 0.0, + 0.9671428799629211, + 1.4671430587768555, + 1.0 + ], + "delta_full_state_norm": [ + 0.8883080691887109, + 0.4660840224721958, + -0.4565840627109151, + 0.2857140581240032, + 1.0, + 0.5957446164350437, + 0.9999999900000001 + ], + "movement_text": "move forward 17 mm; move left 15 mm; move downward 4 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 256 mm; move left 96 mm; move downward 209 mm; roll downward 0 degrees; pitch upward 55 degrees; yaw counterclockwise 84 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move left 39 mm; move downward 16 mm; roll downward 0 degrees; pitch upward 13 degrees; yaw counterclockwise 14 degrees; open gripper;" + }, + { + "frame_index": 306, + "segment_id": 200, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding the green cup. The arm is angled downwards into the sink area, consistent with the motion required to release the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding the green cup. The arm is angled downwards into the sink area, consistent with the motion required to release the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move left 13 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 250 mm; move left 89 mm; move downward 220 mm; roll downward 0 degrees; pitch upward 53 degrees; yaw counterclockwise 84 degrees; open gripper;\nSubtask Movement: move forward 36 mm; move left 23 mm; move downward 12 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw counterclockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [176,108], [188,126]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 182, + 115 + ], + "task_obj_bbox": [ + 176, + 108, + 188, + 126 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.018214285373687744, + 0.013214285485446453, + -0.0057142856530845165, + 0.0, + 0.07428571581840515, + 0.07857143133878708, + 1.0 + ], + "delta_next_20": [ + 0.25035715103149414, + 0.08892858028411865, + -0.21964286267757416, + 0.0, + 0.9214285612106323, + 1.4585716724395752, + 1.0 + ], + "delta_full_state_norm": [ + 0.9686615550069579, + 0.3890028243491157, + -0.5162214508180496, + 0.2857140581240032, + 1.0, + 0.5957446164350437, + 0.9999999900000001 + ], + "movement_text": "move forward 18 mm; move left 13 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 250 mm; move left 89 mm; move downward 220 mm; roll downward 0 degrees; pitch upward 53 degrees; yaw counterclockwise 84 degrees; open gripper;", + "subtask_movement_text": "move forward 36 mm; move left 23 mm; move downward 12 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw counterclockwise 9 degrees; open gripper;" + }, + { + "frame_index": 307, + "segment_id": 200, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding the green cup. The arm is angled downwards into the sink area, consistent with the motion required to release the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding the green cup. The arm is angled downwards into the sink area, consistent with the motion required to release the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move left 10 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 244 mm; move left 84 mm; move downward 228 mm; roll downward 0 degrees; pitch upward 50 degrees; yaw counterclockwise 83 degrees; open gripper;\nSubtask Movement: move forward 18 mm; move left 10 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [175,108], [187,127]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 181, + 115 + ], + "task_obj_bbox": [ + 175, + 108, + 187, + 127 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.017500000074505806, + 0.010000000707805157, + -0.006071428768336773, + 0.0, + 0.0714285746216774, + 0.07999999821186066, + 1.0 + ], + "delta_next_20": [ + 0.24392858147621155, + 0.08428572118282318, + -0.22750000655651093, + 0.0, + 0.8771428465843201, + 1.450000286102295, + 1.0 + ], + "delta_full_state_norm": [ + 0.9284848120978344, + 0.27338109416610523, + -0.5281489377704736, + 0.2857140581240032, + 1.0, + 0.6129031058498235, + 0.9999999900000001 + ], + "movement_text": "move forward 18 mm; move left 10 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 244 mm; move left 84 mm; move downward 228 mm; roll downward 0 degrees; pitch upward 50 degrees; yaw counterclockwise 83 degrees; open gripper;", + "subtask_movement_text": "move forward 18 mm; move left 10 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 308, + "segment_id": 200, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding the green cup. The arm is angled downwards into the sink area, consistent with the motion required to release the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding the green cup. The arm is angled downwards into the sink area, consistent with the motion required to release the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move left 5 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 239 mm; move left 84 mm; move downward 235 mm; roll downward 0 degrees; pitch upward 48 degrees; yaw counterclockwise 83 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [174,108], [186,127]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 180, + 115 + ], + "task_obj_bbox": [ + 174, + 108, + 186, + 127 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.01607142947614193, + 0.005000000353902578, + -0.006428571883589029, + 0.0, + 0.0714285746216774, + 0.08285713940858841, + 1.0 + ], + "delta_next_20": [ + 0.238571435213089, + 0.08428572118282318, + -0.23500001430511475, + 0.0, + 0.8328571319580078, + 1.4400001764297485, + 1.0 + ], + "delta_full_state_norm": [ + 0.8481313262795873, + 0.09352500429652388, + -0.5400764247228975, + 0.2857140581240032, + 1.0, + 0.6472201741681642, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move left 5 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 239 mm; move left 84 mm; move downward 235 mm; roll downward 0 degrees; pitch upward 48 degrees; yaw counterclockwise 83 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 309, + "segment_id": 60200, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink with the end-effector in contact with the green cup, holding it directly above the basin to release it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the end-effector in contact with the green cup, holding it directly above the basin to release it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move left 4 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 235 mm; move left 90 mm; move downward 242 mm; roll downward 0 degrees; pitch upward 45 degrees; yaw counterclockwise 82 degrees; open gripper;\nSubtask Movement: move forward 84 mm; move left 9 mm; move downward 59 mm; roll downward 0 degrees; pitch upward 18 degrees; yaw counterclockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [173,108], [185,127]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,114], [177,137]\n", + "gripper_2d": [ + 179, + 115 + ], + "task_obj_bbox": [ + 173, + 108, + 185, + 127 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 114, + 177, + 137 + ] + ], + "delta_full_state": [ + 0.01607142947614193, + 0.0039285714738070965, + -0.008571429178118706, + 0.0, + 0.06285714358091354, + 0.07999999821186066, + 1.0 + ], + "delta_next_20": [ + 0.2353571504354477, + 0.08999999612569809, + -0.24178571999073029, + 0.0, + 0.7842857241630554, + 1.4271430969238281, + 1.0 + ], + "delta_full_state_norm": [ + 0.8481313262795873, + 0.05498440523498371, + -0.6116412997824561, + 0.2857140581240032, + 0.903872624435412, + 0.6129031058498235, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move left 4 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 235 mm; move left 90 mm; move downward 242 mm; roll downward 0 degrees; pitch upward 45 degrees; yaw counterclockwise 82 degrees; open gripper;", + "subtask_movement_text": "move forward 84 mm; move left 9 mm; move downward 59 mm; roll downward 0 degrees; pitch upward 18 degrees; yaw counterclockwise 26 degrees; open gripper;" + }, + { + "frame_index": 310, + "segment_id": 60200, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink with the end-effector in contact with the green cup, holding it directly above the basin to release it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the end-effector in contact with the green cup, holding it directly above the basin to release it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move left 4 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 235 mm; move left 97 mm; move downward 246 mm; roll downward 0 degrees; pitch upward 43 degrees; yaw counterclockwise 81 degrees; open gripper;\nSubtask Movement: move forward 68 mm; move left 5 mm; move downward 50 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw counterclockwise 21 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [172,108], [184,127]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 178, + 116 + ], + "task_obj_bbox": [ + 172, + 108, + 184, + 127 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.015000000596046448, + 0.0035714288242161274, + -0.010000000707805157, + 0.0, + 0.05999999865889549, + 0.07999999821186066, + 1.0 + ], + "delta_next_20": [ + 0.2346428483724594, + 0.09678571671247482, + -0.24642856419086456, + 0.0, + 0.7428571581840515, + 1.4157146215438843, + 1.0 + ], + "delta_full_state_norm": [ + 0.787866159531361, + 0.04213755004807185, + -0.6593512164888282, + 0.2857140581240032, + 0.8692944555345121, + 0.6129031058498235, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move left 4 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 235 mm; move left 97 mm; move downward 246 mm; roll downward 0 degrees; pitch upward 43 degrees; yaw counterclockwise 81 degrees; open gripper;", + "subtask_movement_text": "move forward 68 mm; move left 5 mm; move downward 50 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw counterclockwise 21 degrees; open gripper;" + }, + { + "frame_index": 311, + "segment_id": 60200, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink with the end-effector in contact with the green cup, holding it directly above the basin to release it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the end-effector in contact with the green cup, holding it directly above the basin to release it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 235 mm; move left 104 mm; move downward 249 mm; roll downward 0 degrees; pitch upward 40 degrees; yaw counterclockwise 80 degrees; open gripper;\nSubtask Movement: move forward 53 mm; move left 1 mm; move downward 40 mm; roll downward 0 degrees; pitch upward 11 degrees; yaw counterclockwise 17 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [171,109], [183,127]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 177, + 116 + ], + "task_obj_bbox": [ + 171, + 109, + 183, + 127 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.013571429066359997, + 0.0, + -0.009285714477300644, + 0.0, + 0.055714286863803864, + 0.07571428269147873, + 1.0 + ], + "delta_next_20": [ + 0.23499996960163116, + 0.10357143729925156, + -0.2492857277393341, + 0.0, + 0.7014285922050476, + 1.4042859077453613, + 1.0 + ], + "delta_full_state_norm": [ + 0.7075126213285727, + -0.08633108557305769, + -0.6354962425839804, + 0.2857140581240032, + 0.8174272698103149, + 0.561427458627922, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 235 mm; move left 104 mm; move downward 249 mm; roll downward 0 degrees; pitch upward 40 degrees; yaw counterclockwise 80 degrees; open gripper;", + "subtask_movement_text": "move forward 53 mm; move left 1 mm; move downward 40 mm; roll downward 0 degrees; pitch upward 11 degrees; yaw counterclockwise 17 degrees; open gripper;" + }, + { + "frame_index": 312, + "segment_id": 60200, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink with the end-effector in contact with the green cup, holding it directly above the basin to release it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the end-effector in contact with the green cup, holding it directly above the basin to release it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 237 mm; move left 114 mm; move downward 253 mm; roll downward 0 degrees; pitch upward 38 degrees; yaw counterclockwise 80 degrees; open gripper;\nSubtask Movement: move forward 39 mm; move left 1 mm; move downward 31 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [170,109], [183,127]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,115], [175,137]\n", + "gripper_2d": [ + 177, + 116 + ], + "task_obj_bbox": [ + 170, + 109, + 183, + 127 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 115, + 175, + 137 + ] + ], + "delta_full_state": [ + 0.013928571715950966, + 0.0, + -0.010000000707805157, + 0.0, + 0.051428571343421936, + 0.0714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.23749998211860657, + 0.11357144266366959, + -0.25285717844963074, + 0.0, + 0.6642857789993286, + 1.395714521408081, + 1.0 + ], + "delta_full_state_norm": [ + 0.7276009927831344, + -0.08633108557305769, + -0.6593512164888282, + 0.2857140581240032, + 0.7655600390013493, + 0.5099519008948015, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 237 mm; move left 114 mm; move downward 253 mm; roll downward 0 degrees; pitch upward 38 degrees; yaw counterclockwise 80 degrees; open gripper;", + "subtask_movement_text": "move forward 39 mm; move left 1 mm; move downward 31 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 313, + "segment_id": 60200, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink with the end-effector in contact with the green cup, holding it directly above the basin to release it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the end-effector in contact with the green cup, holding it directly above the basin to release it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move left 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 240 mm; move left 123 mm; move downward 256 mm; roll downward 0 degrees; pitch upward 36 degrees; yaw counterclockwise 80 degrees; open gripper;\nSubtask Movement: move forward 25 mm; move left 1 mm; move downward 21 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [170,109], [182,127]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 176, + 116 + ], + "task_obj_bbox": [ + 170, + 109, + 182, + 127 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.012857143767178059, + 0.0003571428533177823, + -0.010357143357396126, + 0.0, + 0.044285714626312256, + 0.0714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.23964285850524902, + 0.12285715341567993, + -0.2557143270969391, + 0.0, + 0.6271429061889648, + 1.3900001049041748, + 1.0 + ], + "delta_full_state_norm": [ + 0.6673358784194492, + -0.07348422305784486, + -0.6712786878895904, + 0.2857140581240032, + 0.6791146843762521, + 0.5099519008948015, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move left 0 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 240 mm; move left 123 mm; move downward 256 mm; roll downward 0 degrees; pitch upward 36 degrees; yaw counterclockwise 80 degrees; open gripper;", + "subtask_movement_text": "move forward 25 mm; move left 1 mm; move downward 21 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 8 degrees; open gripper;" + }, + { + "frame_index": 314, + "segment_id": 60200, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink with the end-effector in contact with the green cup, holding it directly above the basin to release it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the end-effector in contact with the green cup, holding it directly above the basin to release it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move left 1 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 242 mm; move left 131 mm; move downward 258 mm; roll downward 0 degrees; pitch upward 34 degrees; yaw counterclockwise 79 degrees; open gripper;\nSubtask Movement: move forward 13 mm; move left 1 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [169,109], [182,127]\ndistr_counter: [29,115], [174,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 176, + 116 + ], + "task_obj_bbox": [ + 169, + 109, + 182, + 127 + ], + "distractor_bboxes": [ + [ + 29, + 115, + 174, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.012500000186264515, + 0.0007142857066355646, + -0.010714286006987095, + 0.0, + 0.041428569704294205, + 0.0714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.24249999225139618, + 0.1307142972946167, + -0.2582143247127533, + 0.0, + 0.594285786151886, + 1.3842856884002686, + 1.0 + ], + "delta_full_state_norm": [ + 0.6472474545803462, + -0.060637360542632024, + -0.6832061592903527, + 0.2857140581240032, + 0.6445365154753522, + 0.5099519008948015, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move left 1 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 242 mm; move left 131 mm; move downward 258 mm; roll downward 0 degrees; pitch upward 34 degrees; yaw counterclockwise 79 degrees; open gripper;", + "subtask_movement_text": "move forward 13 mm; move left 1 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 315, + "segment_id": 60200, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink with the end-effector in contact with the green cup, holding it directly above the basin to release it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the end-effector in contact with the green cup, holding it directly above the basin to release it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move left 1 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 247 mm; move left 136 mm; move downward 260 mm; roll downward 0 degrees; pitch upward 32 degrees; yaw counterclockwise 79 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [169,109], [181,127]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,115], [174,137]\n", + "gripper_2d": [ + 176, + 116 + ], + "task_obj_bbox": [ + 169, + 109, + 181, + 127 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 115, + 174, + 137 + ] + ], + "delta_full_state": [ + 0.012142857536673546, + 0.0010714286472648382, + -0.010357143357396126, + 0.0, + 0.03999999910593033, + 0.07000000029802322, + 1.0 + ], + "delta_next_20": [ + 0.24678568542003632, + 0.13571429252624512, + -0.2600000500679016, + 0.0, + 0.5614286661148071, + 1.3757141828536987, + 1.0 + ], + "delta_full_state_norm": [ + 0.6271590831257845, + -0.047790494886718715, + -0.6712786878895904, + 0.2857140581240032, + 0.6272474535672863, + 0.4927933219912406, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move left 1 mm; move downward 10 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 247 mm; move left 136 mm; move downward 260 mm; roll downward 0 degrees; pitch upward 32 degrees; yaw counterclockwise 79 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 316, + "segment_id": 60500, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink basin with the end-effector holding the green cup. The hand is oriented downwards towards the sink, consistent with the action of releasing or placing the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with the end-effector holding the green cup. The hand is oriented downwards towards the sink, consistent with the action of releasing or placing the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move left 1 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 253 mm; move left 140 mm; move downward 263 mm; roll downward 0 degrees; pitch upward 30 degrees; yaw counterclockwise 78 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move left 16 mm; move downward 61 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw counterclockwise 20 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [168,109], [178,127]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 175, + 116 + ], + "task_obj_bbox": [ + 168, + 109, + 178, + 127 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.011785714887082577, + 0.0014285714132711291, + -0.010714286006987095, + 0.0, + 0.0357142873108387, + 0.07000000029802322, + 1.0 + ], + "delta_next_20": [ + 0.2532142698764801, + 0.1396428644657135, + -0.2632143199443817, + 0.0, + 0.5228571891784668, + 1.3657140731811523, + 1.0 + ], + "delta_full_state_norm": [ + 0.6070707116712226, + -0.03494363551220647, + -0.6832061592903527, + 0.2857140581240032, + 0.575380267843089, + 0.4927933219912406, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move left 1 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 253 mm; move left 140 mm; move downward 263 mm; roll downward 0 degrees; pitch upward 30 degrees; yaw counterclockwise 78 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move left 16 mm; move downward 61 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw counterclockwise 20 degrees; open gripper;" + }, + { + "frame_index": 317, + "segment_id": 60500, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink basin with the end-effector holding the green cup. The hand is oriented downwards towards the sink, consistent with the action of releasing or placing the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with the end-effector holding the green cup. The hand is oriented downwards towards the sink, consistent with the action of releasing or placing the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move left 2 mm; move downward 12 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 260 mm; move left 142 mm; move downward 266 mm; roll downward 0 degrees; pitch upward 28 degrees; yaw counterclockwise 78 degrees; open gripper;\nSubtask Movement: move forward 41 mm; move left 15 mm; move downward 50 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw counterclockwise 16 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [168,110], [176,127]\ndistr_counter: [29,115], [173,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 175, + 116 + ], + "task_obj_bbox": [ + 168, + 110, + 176, + 127 + ], + "distractor_bboxes": [ + [ + 29, + 115, + 173, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.011071428656578064, + 0.0021428572945296764, + -0.011785714887082577, + 0.0, + 0.03142857179045677, + 0.07000000029802322, + 1.0 + ], + "delta_next_20": [ + 0.25999999046325684, + 0.14178572595119476, + -0.26607146859169006, + 0.0, + 0.49000000953674316, + 1.3542855978012085, + 1.0 + ], + "delta_full_state_norm": [ + 0.5668939163775581, + -0.009249904200379855, + -0.7189886045959628, + 0.2857140581240032, + 0.5235130370341234, + 0.4927933219912406, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move left 2 mm; move downward 12 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 260 mm; move left 142 mm; move downward 266 mm; roll downward 0 degrees; pitch upward 28 degrees; yaw counterclockwise 78 degrees; open gripper;", + "subtask_movement_text": "move forward 41 mm; move left 15 mm; move downward 50 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw counterclockwise 16 degrees; open gripper;" + }, + { + "frame_index": 318, + "segment_id": 60500, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink basin with the end-effector holding the green cup. The hand is oriented downwards towards the sink, consistent with the action of releasing or placing the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with the end-effector holding the green cup. The hand is oriented downwards towards the sink, consistent with the action of releasing or placing the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move left 4 mm; move downward 12 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 268 mm; move left 142 mm; move downward 268 mm; roll downward 0 degrees; pitch upward 26 degrees; yaw counterclockwise 77 degrees; open gripper;\nSubtask Movement: move forward 30 mm; move left 13 mm; move downward 38 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [168,110], [174,127]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,115], [173,137]\n", + "gripper_2d": [ + 175, + 116 + ], + "task_obj_bbox": [ + 168, + 110, + 174, + 127 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 115, + 173, + 137 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + 0.0035714288242161274, + -0.012142857536673546, + 0.0, + 0.034285712987184525, + 0.0714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.26750001311302185, + 0.14178571105003357, + -0.26821431517601013, + 0.0, + 0.46142858266830444, + 1.3428571224212646, + 1.0 + ], + "delta_full_state_norm": [ + 0.5066288020138727, + 0.04213755004807185, + -0.730916075996725, + 0.2857140581240032, + 0.5580911608502548, + 0.5099519008948015, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move left 4 mm; move downward 12 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 268 mm; move left 142 mm; move downward 268 mm; roll downward 0 degrees; pitch upward 26 degrees; yaw counterclockwise 77 degrees; open gripper;", + "subtask_movement_text": "move forward 30 mm; move left 13 mm; move downward 38 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 319, + "segment_id": 60500, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink basin with the end-effector holding the green cup. The hand is oriented downwards towards the sink, consistent with the action of releasing or placing the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with the end-effector holding the green cup. The hand is oriented downwards towards the sink, consistent with the action of releasing or placing the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move left 4 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 277 mm; move left 140 mm; move downward 271 mm; roll downward 0 degrees; pitch upward 25 degrees; yaw counterclockwise 76 degrees; open gripper;\nSubtask Movement: move forward 20 mm; move left 9 mm; move downward 26 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [167,110], [173,127]\ndistr_counter: [29,116], [172,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 174, + 117 + ], + "task_obj_bbox": [ + 167, + 110, + 173, + 127 + ], + "distractor_bboxes": [ + [ + 29, + 116, + 172, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + 0.004285714589059353, + -0.012500000186264515, + 0.0, + 0.034285712987184525, + 0.07000000029802322, + 1.0 + ], + "delta_next_20": [ + 0.2767857015132904, + 0.1396428495645523, + -0.2710714638233185, + 0.0, + 0.4300000071525574, + 1.3300000429153442, + 1.0 + ], + "delta_full_state_norm": [ + 0.5066288020138727, + 0.06783127717229775, + -0.7428435473974871, + 0.2857140581240032, + 0.5580911608502548, + 0.4927933219912406, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move left 4 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 277 mm; move left 140 mm; move downward 271 mm; roll downward 0 degrees; pitch upward 25 degrees; yaw counterclockwise 76 degrees; open gripper;", + "subtask_movement_text": "move forward 20 mm; move left 9 mm; move downward 26 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 8 degrees; open gripper;" + }, + { + "frame_index": 320, + "segment_id": 60500, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink basin with the end-effector holding the green cup. The hand is oriented downwards towards the sink, consistent with the action of releasing or placing the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with the end-effector holding the green cup. The hand is oriented downwards towards the sink, consistent with the action of releasing or placing the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move left 5 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 286 mm; move left 136 mm; move downward 274 mm; roll downward 0 degrees; pitch upward 23 degrees; yaw counterclockwise 75 degrees; open gripper;\nSubtask Movement: move forward 10 mm; move left 5 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [167,110], [172,120]\ndistr_counter: [29,119], [171,137]\ndistr_sink: [158,116], [172,137]\n", + "gripper_2d": [ + 174, + 117 + ], + "task_obj_bbox": [ + 167, + 110, + 172, + 120 + ], + "distractor_bboxes": [ + [ + 29, + 119, + 171, + 137 + ], + [ + 158, + 116, + 172, + 137 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + 0.005000000353902578, + -0.013571429066359997, + 0.0, + 0.03857142850756645, + 0.07000000029802322, + 1.0 + ], + "delta_next_20": [ + 0.2864285707473755, + 0.136428564786911, + -0.2735714614391327, + 0.0, + 0.3985714614391327, + 1.3171428442001343, + 1.0 + ], + "delta_full_state_norm": [ + 0.4865403781747699, + 0.09352500429652388, + -0.7786259927030973, + 0.2857140581240032, + 0.6099583916592206, + 0.4927933219912406, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move left 5 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 286 mm; move left 136 mm; move downward 274 mm; roll downward 0 degrees; pitch upward 23 degrees; yaw counterclockwise 75 degrees; open gripper;", + "subtask_movement_text": "move forward 10 mm; move left 5 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 321, + "segment_id": 60500, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink basin with the end-effector holding the green cup. The hand is oriented downwards towards the sink, consistent with the action of releasing or placing the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with the end-effector holding the green cup. The hand is oriented downwards towards the sink, consistent with the action of releasing or placing the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 6 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 297 mm; move left 132 mm; move downward 275 mm; roll downward 0 degrees; pitch upward 21 degrees; yaw counterclockwise 75 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [166,111], [171,122]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 173, + 117 + ], + "task_obj_bbox": [ + 166, + 111, + 171, + 122 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + 0.006071428768336773, + -0.013571429066359997, + 0.0, + 0.037142857909202576, + 0.06857142597436905, + 1.0 + ], + "delta_next_20": [ + 0.2967856824398041, + 0.13214285671710968, + -0.27500006556510925, + 0.0, + 0.3628571629524231, + 1.3028571605682373, + 1.0 + ], + "delta_full_state_norm": [ + 0.46645200672020803, + 0.13206558660766143, + -0.7786259927030973, + 0.2857140581240032, + 0.5926693297511547, + 0.4756347430876797, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move left 6 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 297 mm; move left 132 mm; move downward 275 mm; roll downward 0 degrees; pitch upward 21 degrees; yaw counterclockwise 75 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 322, + "segment_id": 60600, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding the green cup steady. The arm orientation suggests a static placement or final adjustment phase rather than active lifting or lateral movement.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding the green cup steady. The arm orientation suggests a static placement or final adjustment phase rather than active lifting or lateral movement.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 6 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 307 mm; move left 126 mm; move downward 277 mm; roll downward 0 degrees; pitch upward 19 degrees; yaw counterclockwise 74 degrees; open gripper;\nSubtask Movement: move forward 124 mm; move left 89 mm; move downward 137 mm; roll downward 0 degrees; pitch upward 16 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [166,111], [171,121]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [168,137]\n", + "gripper_2d": [ + 173, + 117 + ], + "task_obj_bbox": [ + 166, + 111, + 171, + 121 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 168, + 137 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + 0.006071428768336773, + -0.01428571529686451, + 0.0, + 0.037142857909202576, + 0.06857142597436905, + 1.0 + ], + "delta_next_20": [ + 0.30714285373687744, + 0.12642857432365417, + -0.2767857313156128, + 0.0, + 0.3271428644657135, + 1.2885714769363403, + 1.0 + ], + "delta_full_state_norm": [ + 0.46645200672020803, + 0.13206558660766143, + -0.8024809666079452, + 0.2857140581240032, + 0.5926693297511547, + 0.4756347430876797, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move left 6 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 307 mm; move left 126 mm; move downward 277 mm; roll downward 0 degrees; pitch upward 19 degrees; yaw counterclockwise 74 degrees; open gripper;", + "subtask_movement_text": "move forward 124 mm; move left 89 mm; move downward 137 mm; roll downward 0 degrees; pitch upward 16 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 323, + "segment_id": 60600, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding the green cup steady. The arm orientation suggests a static placement or final adjustment phase rather than active lifting or lateral movement.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding the green cup steady. The arm orientation suggests a static placement or final adjustment phase rather than active lifting or lateral movement.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move left 7 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 317 mm; move left 121 mm; move downward 278 mm; roll downward 0 degrees; pitch upward 17 degrees; yaw counterclockwise 73 degrees; open gripper;\nSubtask Movement: move forward 115 mm; move left 83 mm; move downward 123 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw counterclockwise 36 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [165,111], [169,117]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [166,137]\n", + "gripper_2d": [ + 172, + 118 + ], + "task_obj_bbox": [ + 165, + 111, + 169, + 117 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 166, + 137 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + 0.006785714533179998, + -0.014642857015132904, + 0.0, + 0.0357142873108387, + 0.06857142597436905, + 1.0 + ], + "delta_next_20": [ + 0.31678569316864014, + 0.12071426957845688, + -0.2778571546077728, + 0.0, + 0.2914285957813263, + 1.2742857933044434, + 1.0 + ], + "delta_full_state_norm": [ + 0.5066288020138727, + 0.15775931373188734, + -0.8144084069053839, + 0.2857140581240032, + 0.575380267843089, + 0.4756347430876797, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move left 7 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 317 mm; move left 121 mm; move downward 278 mm; roll downward 0 degrees; pitch upward 17 degrees; yaw counterclockwise 73 degrees; open gripper;", + "subtask_movement_text": "move forward 115 mm; move left 83 mm; move downward 123 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw counterclockwise 36 degrees; open gripper;" + }, + { + "frame_index": 324, + "segment_id": 60600, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding the green cup steady. The arm orientation suggests a static placement or final adjustment phase rather than active lifting or lateral movement.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding the green cup steady. The arm orientation suggests a static placement or final adjustment phase rather than active lifting or lateral movement.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move left 8 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 325 mm; move left 114 mm; move downward 280 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw counterclockwise 72 degrees; open gripper;\nSubtask Movement: move forward 105 mm; move left 76 mm; move downward 108 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 32 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [164,113], [166,116]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [165,137]\n", + "gripper_2d": [ + 172, + 118 + ], + "task_obj_bbox": [ + 164, + 113, + 166, + 116 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 165, + 137 + ] + ], + "delta_full_state": [ + 0.010714286006987095, + 0.007500000298023224, + -0.014642857015132904, + 0.0, + 0.034285712987184525, + 0.07000000029802322, + 1.0 + ], + "delta_next_20": [ + 0.3253571391105652, + 0.11392855644226074, + -0.27964285016059875, + 0.0, + 0.2571428716182709, + 1.260000228881836, + 1.0 + ], + "delta_full_state_norm": [ + 0.5468055449229963, + 0.18345304085611325, + -0.8144084069053839, + 0.2857140581240032, + 0.5580911608502548, + 0.4927933219912406, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move left 8 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 325 mm; move left 114 mm; move downward 280 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw counterclockwise 72 degrees; open gripper;", + "subtask_movement_text": "move forward 105 mm; move left 76 mm; move downward 108 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 32 degrees; open gripper;" + }, + { + "frame_index": 325, + "segment_id": 60600, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding the green cup steady. The arm orientation suggests a static placement or final adjustment phase rather than active lifting or lateral movement.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding the green cup steady. The arm orientation suggests a static placement or final adjustment phase rather than active lifting or lateral movement.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move left 8 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 332 mm; move left 106 mm; move downward 281 mm; roll downward 0 degrees; pitch upward 13 degrees; yaw counterclockwise 71 degrees; open gripper;\nSubtask Movement: move forward 94 mm; move left 69 mm; move downward 94 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw counterclockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [164,114], [164,115]\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,116], [164,137]\n", + "gripper_2d": [ + 171, + 118 + ], + "task_obj_bbox": [ + 164, + 114, + 164, + 115 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 116, + 164, + 137 + ] + ], + "delta_full_state": [ + 0.010714286006987095, + 0.008214286528527737, + -0.01428571529686451, + 0.0, + 0.029999999329447746, + 0.07000000029802322, + 1.0 + ], + "delta_next_20": [ + 0.3317857086658478, + 0.10642857849597931, + -0.2807142734527588, + 0.0, + 0.22285719215869904, + 1.2442859411239624, + 1.0 + ], + "delta_full_state_norm": [ + 0.5468055449229963, + 0.20914678473074155, + -0.8024809666079452, + 0.2857140581240032, + 0.5062239525836731, + 0.4927933219912406, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move left 8 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 332 mm; move left 106 mm; move downward 281 mm; roll downward 0 degrees; pitch upward 13 degrees; yaw counterclockwise 71 degrees; open gripper;", + "subtask_movement_text": "move forward 94 mm; move left 69 mm; move downward 94 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw counterclockwise 28 degrees; open gripper;" + }, + { + "frame_index": 326, + "segment_id": 60600, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding the green cup steady. The arm orientation suggests a static placement or final adjustment phase rather than active lifting or lateral movement.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding the green cup steady. The arm orientation suggests a static placement or final adjustment phase rather than active lifting or lateral movement.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move left 9 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 337 mm; move left 98 mm; move downward 282 mm; roll downward 0 degrees; pitch upward 11 degrees; yaw counterclockwise 70 degrees; open gripper;\nSubtask Movement: move forward 84 mm; move left 60 mm; move downward 79 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw counterclockwise 24 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,119], [163,137]\n", + "gripper_2d": [ + 171, + 118 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 119, + 163, + 137 + ] + ], + "delta_full_state": [ + 0.011785714887082577, + 0.008571429178118706, + -0.013571429066359997, + 0.0, + 0.029999999329447746, + 0.07000000029802322, + 1.0 + ], + "delta_next_20": [ + 0.33714285492897034, + 0.0982142984867096, + -0.28214284777641296, + 0.0, + 0.19285717606544495, + 1.2285717725753784, + 1.0 + ], + "delta_full_state_norm": [ + 0.6070707116712226, + 0.22199363991765342, + -0.7786259927030973, + 0.2857140581240032, + 0.5062239525836731, + 0.4927933219912406, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move left 9 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 337 mm; move left 98 mm; move downward 282 mm; roll downward 0 degrees; pitch upward 11 degrees; yaw counterclockwise 70 degrees; open gripper;", + "subtask_movement_text": "move forward 84 mm; move left 60 mm; move downward 79 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw counterclockwise 24 degrees; open gripper;" + }, + { + "frame_index": 327, + "segment_id": 60600, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding the green cup steady. The arm orientation suggests a static placement or final adjustment phase rather than active lifting or lateral movement.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding the green cup steady. The arm orientation suggests a static placement or final adjustment phase rather than active lifting or lateral movement.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move left 10 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 341 mm; move left 90 mm; move downward 285 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw counterclockwise 69 degrees; open gripper;\nSubtask Movement: move forward 72 mm; move left 52 mm; move downward 66 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw counterclockwise 20 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,119], [163,137]\n", + "gripper_2d": [ + 170, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 119, + 163, + 137 + ] + ], + "delta_full_state": [ + 0.012142857536673546, + 0.010000000707805157, + -0.013571429066359997, + 0.0, + 0.027142856270074844, + 0.07000000029802322, + 1.0 + ], + "delta_next_20": [ + 0.34142860770225525, + 0.08964286744594574, + -0.2849999964237213, + 0.0, + 0.16285717487335205, + 1.2128573656082153, + 1.0 + ], + "delta_full_state_norm": [ + 0.6271590831257845, + 0.27338109416610523, + -0.7786259927030973, + 0.2857140581240032, + 0.4716458062251574, + 0.4927933219912406, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move left 10 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 341 mm; move left 90 mm; move downward 285 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw counterclockwise 69 degrees; open gripper;", + "subtask_movement_text": "move forward 72 mm; move left 52 mm; move downward 66 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw counterclockwise 20 degrees; open gripper;" + }, + { + "frame_index": 328, + "segment_id": 60600, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding the green cup steady. The arm orientation suggests a static placement or final adjustment phase rather than active lifting or lateral movement.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding the green cup steady. The arm orientation suggests a static placement or final adjustment phase rather than active lifting or lateral movement.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move left 11 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 344 mm; move left 80 mm; move downward 288 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw counterclockwise 69 degrees; open gripper;\nSubtask Movement: move forward 60 mm; move left 42 mm; move downward 52 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 16 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,121], [161,137]\n", + "gripper_2d": [ + 169, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 121, + 161, + 137 + ] + ], + "delta_full_state": [ + 0.012857143767178059, + 0.010714286006987095, + -0.013214285485446453, + 0.0, + 0.022857142612338066, + 0.07000000029802322, + 1.0 + ], + "delta_next_20": [ + 0.3442857563495636, + 0.07964286208152771, + -0.28785714507102966, + 0.0, + 0.1357143074274063, + 1.1957145929336548, + 1.0 + ], + "delta_full_state_norm": [ + 0.6673358784194492, + 0.2990748045399285, + -0.7666984901990115, + 0.2857140581240032, + 0.41977859795857597, + 0.4927933219912406, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move left 11 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 344 mm; move left 80 mm; move downward 288 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw counterclockwise 69 degrees; open gripper;", + "subtask_movement_text": "move forward 60 mm; move left 42 mm; move downward 52 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 16 degrees; open gripper;" + }, + { + "frame_index": 329, + "segment_id": 60600, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding the green cup steady. The arm orientation suggests a static placement or final adjustment phase rather than active lifting or lateral movement.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding the green cup steady. The arm orientation suggests a static placement or final adjustment phase rather than active lifting or lateral movement.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move left 11 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 346 mm; move left 69 mm; move downward 291 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw counterclockwise 68 degrees; open gripper;\nSubtask Movement: move forward 47 mm; move left 31 mm; move downward 39 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,125], [161,136]\n", + "gripper_2d": [ + 169, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 125, + 161, + 136 + ] + ], + "delta_full_state": [ + 0.015357143245637417, + 0.010714286006987095, + -0.013214285485446453, + 0.0, + 0.02142857201397419, + 0.06857142597436905, + 1.0 + ], + "delta_next_20": [ + 0.34642860293388367, + 0.06892858445644379, + -0.2910713851451874, + 0.0, + 0.1128571480512619, + 1.1785715818405151, + 1.0 + ], + "delta_full_state_norm": [ + 0.8079545309859226, + 0.2990748045399285, + -0.7666984901990115, + 0.2857140581240032, + 0.4024895360505103, + 0.4756347430876797, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move left 11 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 346 mm; move left 69 mm; move downward 291 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw counterclockwise 68 degrees; open gripper;", + "subtask_movement_text": "move forward 47 mm; move left 31 mm; move downward 39 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 330, + "segment_id": 60600, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding the green cup steady. The arm orientation suggests a static placement or final adjustment phase rather than active lifting or lateral movement.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding the green cup steady. The arm orientation suggests a static placement or final adjustment phase rather than active lifting or lateral movement.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move left 10 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 346 mm; move left 58 mm; move downward 295 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 67 degrees; open gripper;\nSubtask Movement: move forward 31 mm; move left 20 mm; move downward 26 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,127], [160,135]\n", + "gripper_2d": [ + 168, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 127, + 160, + 135 + ] + ], + "delta_full_state": [ + 0.015357143245637417, + 0.010357143357396126, + -0.012857143767178059, + 0.0, + 0.018571428954601288, + 0.06857142597436905, + 1.0 + ], + "delta_next_20": [ + 0.34642860293388367, + 0.05821429565548897, + -0.29499998688697815, + 0.0, + 0.09142857789993286, + 1.1628572940826416, + 1.0 + ], + "delta_full_state_norm": [ + 0.8079545309859226, + 0.2862279493530169, + -0.7547710499015728, + 0.2857140581240032, + 0.36791138969199455, + 0.4756347430876797, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move left 10 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 346 mm; move left 58 mm; move downward 295 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 67 degrees; open gripper;", + "subtask_movement_text": "move forward 31 mm; move left 20 mm; move downward 26 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 8 degrees; open gripper;" + }, + { + "frame_index": 331, + "segment_id": 60600, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding the green cup steady. The arm orientation suggests a static placement or final adjustment phase rather than active lifting or lateral movement.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding the green cup steady. The arm orientation suggests a static placement or final adjustment phase rather than active lifting or lateral movement.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move left 10 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 346 mm; move left 48 mm; move downward 299 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 66 degrees; open gripper;\nSubtask Movement: move forward 16 mm; move left 10 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,132], [159,135]\n", + "gripper_2d": [ + 167, + 119 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 132, + 159, + 135 + ] + ], + "delta_full_state": [ + 0.01607142947614193, + 0.010000000707805157, + -0.012857143767178059, + 0.0, + 0.018571428954601288, + 0.06714285910129547, + 1.0 + ], + "delta_next_20": [ + 0.3460714817047119, + 0.047857146710157394, + -0.2992857098579407, + -0.0014285714132711291, + 0.07285714149475098, + 1.1471428871154785, + 1.0 + ], + "delta_full_state_norm": [ + 0.8481313262795873, + 0.27338109416610523, + -0.7547710499015728, + 0.2857140581240032, + 0.36791138969199455, + 0.4584762536728999, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move left 10 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 346 mm; move left 48 mm; move downward 299 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 66 degrees; open gripper;", + "subtask_movement_text": "move forward 16 mm; move left 10 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 332, + "segment_id": 60600, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin, holding the green cup steady. The arm orientation suggests a static placement or final adjustment phase rather than active lifting or lateral movement.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin, holding the green cup steady. The arm orientation suggests a static placement or final adjustment phase rather than active lifting or lateral movement.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move left 9 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 344 mm; move left 38 mm; move downward 303 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 65 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\ndistr_sink: [158,132], [158,133]\n", + "gripper_2d": [ + 166, + 120 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ], + [ + 158, + 132, + 158, + 133 + ] + ], + "delta_full_state": [ + 0.01607142947614193, + 0.009285714477300644, + -0.012857143767178059, + 0.0, + 0.014285714365541935, + 0.0657142847776413, + 1.0 + ], + "delta_next_20": [ + 0.3442857563495636, + 0.03785714879631996, + -0.3028571307659149, + -0.0014285714132711291, + 0.05428570136427879, + 1.1328572034835815, + 1.0 + ], + "delta_full_state_norm": [ + 0.8481313262795873, + 0.2476873502914767, + -0.7547710499015728, + 0.2857140581240032, + 0.3160441701542209, + 0.44131767476933903, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move left 9 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 344 mm; move left 38 mm; move downward 303 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 65 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 333, + "segment_id": 70600, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move left 8 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 343 mm; move left 29 mm; move downward 306 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 64 degrees; open gripper;\nSubtask Movement: move forward 254 mm; move left 29 mm; move downward 206 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 46 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 166, + 120 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.015714285895228386, + 0.008214286528527737, + -0.012857143767178059, + 0.0, + 0.011428571306169033, + 0.0657142847776413, + 1.0 + ], + "delta_next_20": [ + 0.34250006079673767, + 0.02857143059372902, + -0.30642855167388916, + -0.0014285714132711291, + 0.03999999538064003, + 1.1200000047683716, + 1.0 + ], + "delta_full_state_norm": [ + 0.8280429024404843, + 0.20914678473074155, + -0.7547710499015728, + 0.2857140581240032, + 0.2814660237957052, + 0.44131767476933903, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move left 8 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 343 mm; move left 29 mm; move downward 306 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 64 degrees; open gripper;", + "subtask_movement_text": "move forward 254 mm; move left 29 mm; move downward 206 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 46 degrees; open gripper;" + }, + { + "frame_index": 334, + "segment_id": 70600, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 17 mm; move left 6 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 340 mm; move left 20 mm; move downward 309 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 63 degrees; open gripper;\nSubtask Movement: move forward 238 mm; move left 20 mm; move downward 194 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 42 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 165, + 120 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.016785714775323868, + 0.0057142856530845165, + -0.012500000186264515, + 0.0, + 0.008571428246796131, + 0.06285714358091354, + 1.0 + ], + "delta_next_20": [ + 0.3403571844100952, + 0.020357144996523857, + -0.3092857003211975, + -0.0014285714132711291, + 0.02857142686843872, + 1.1071429252624512, + 1.0 + ], + "delta_full_state_norm": [ + 0.8883080691887109, + 0.11921871467034717, + -0.7428435473974871, + 0.2857140581240032, + 0.24688787743718943, + 0.40700060645099834, + 0.9999999900000001 + ], + "movement_text": "move forward 17 mm; move left 6 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 340 mm; move left 20 mm; move downward 309 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 63 degrees; open gripper;", + "subtask_movement_text": "move forward 238 mm; move left 20 mm; move downward 194 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 42 degrees; open gripper;" + }, + { + "frame_index": 335, + "segment_id": 70600, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move left 5 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 336 mm; move left 15 mm; move downward 311 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 63 degrees; open gripper;\nSubtask Movement: move forward 221 mm; move left 15 mm; move downward 181 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 39 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 164, + 120 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.018571428954601288, + 0.005000000353902578, + -0.013571429066359997, + 0.0, + 0.0014285714132711291, + 0.05999999865889549, + 1.0 + ], + "delta_next_20": [ + 0.33642861247062683, + 0.014642858877778053, + -0.31142857670783997, + -0.0014285714132711291, + 0.019999997690320015, + 1.0971429347991943, + 1.0 + ], + "delta_full_state_norm": [ + 0.9887499788460608, + 0.09352500429652388, + -0.7786259927030973, + 0.2857140581240032, + 0.16044252140319326, + 0.372683493388267, + 0.9999999900000001 + ], + "movement_text": "move forward 19 mm; move left 5 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 336 mm; move left 15 mm; move downward 311 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 63 degrees; open gripper;", + "subtask_movement_text": "move forward 221 mm; move left 15 mm; move downward 181 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 39 degrees; open gripper;" + }, + { + "frame_index": 336, + "segment_id": 70600, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move left 4 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 330 mm; move left 10 mm; move downward 312 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 63 degrees; open gripper;\nSubtask Movement: move forward 203 mm; move left 10 mm; move downward 168 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 35 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 164, + 120 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.018571428954601288, + 0.0035714288242161274, + -0.013571429066359997, + 0.0, + 0.0028571428265422583, + 0.058571428060531616, + 1.0 + ], + "delta_next_20": [ + 0.330357164144516, + 0.009642857126891613, + -0.31214284896850586, + -0.0014285714132711291, + 0.01857142709195614, + 1.0914286375045776, + 1.0 + ], + "delta_full_state_norm": [ + 0.9887499788460608, + 0.04213755004807185, + -0.7786259927030973, + 0.2857140581240032, + 0.17773159317355214, + 0.35552495922909677, + 0.9999999900000001 + ], + "movement_text": "move forward 19 mm; move left 4 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 330 mm; move left 10 mm; move downward 312 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 63 degrees; open gripper;", + "subtask_movement_text": "move forward 203 mm; move left 10 mm; move downward 168 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 35 degrees; open gripper;" + }, + { + "frame_index": 337, + "segment_id": 70600, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move left 2 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 323 mm; move left 6 mm; move downward 314 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 62 degrees; open gripper;\nSubtask Movement: move forward 184 mm; move left 6 mm; move downward 154 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 32 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 163, + 120 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.018571428954601288, + 0.0021428572945296764, + -0.013928571715950966, + 0.0, + 0.0028571428265422583, + 0.058571428060531616, + 1.0 + ], + "delta_next_20": [ + 0.3232142925262451, + 0.006071428768336773, + -0.3139285743236542, + -0.0014285714132711291, + 0.015714285895228386, + 1.088571548461914, + 1.0 + ], + "delta_full_state_norm": [ + 0.9887499788460608, + -0.009249904200379855, + -0.7905534641038594, + 0.2857140581240032, + 0.17773159317355214, + 0.35552495922909677, + 0.9999999900000001 + ], + "movement_text": "move forward 19 mm; move left 2 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 323 mm; move left 6 mm; move downward 314 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 62 degrees; open gripper;", + "subtask_movement_text": "move forward 184 mm; move left 6 mm; move downward 154 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 32 degrees; open gripper;" + }, + { + "frame_index": 338, + "segment_id": 70600, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move left 1 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 316 mm; move left 4 mm; move downward 315 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 62 degrees; open gripper;\nSubtask Movement: move forward 165 mm; move left 4 mm; move downward 140 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 163, + 120 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.019285714253783226, + 0.0014285714132711291, + -0.015000000596046448, + 0.0, + 0.0028571428265422583, + 0.058571428060531616, + 1.0 + ], + "delta_next_20": [ + 0.31607142090797424, + 0.0039285714738070965, + -0.31535711884498596, + -0.0014285714132711291, + 0.015714285895228386, + 1.085714340209961, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + -0.03494363551220647, + -0.8263359094094695, + 0.2857140581240032, + 0.17773159317355214, + 0.35552495922909677, + 0.9999999900000001 + ], + "movement_text": "move forward 19 mm; move left 1 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 316 mm; move left 4 mm; move downward 315 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 62 degrees; open gripper;", + "subtask_movement_text": "move forward 165 mm; move left 4 mm; move downward 140 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 28 degrees; open gripper;" + }, + { + "frame_index": 339, + "segment_id": 70600, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move left 1 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 308 mm; move left 3 mm; move downward 316 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 62 degrees; open gripper;\nSubtask Movement: move forward 146 mm; move left 3 mm; move downward 125 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 25 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 162, + 120 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.01964285783469677, + 0.0010714286472648382, + -0.015000000596046448, + 0.0, + 0.0028571428265422583, + 0.05714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.3082142770290375, + 0.002500000176951289, + -0.31607139110565186, + -0.0014285714132711291, + 0.015714285895228386, + 1.0828571319580078, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + -0.047790494886718715, + -0.8263359094094695, + 0.2857140581240032, + 0.17773159317355214, + 0.3383664250699263, + 0.9999999900000001 + ], + "movement_text": "move forward 20 mm; move left 1 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 308 mm; move left 3 mm; move downward 316 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 62 degrees; open gripper;", + "subtask_movement_text": "move forward 146 mm; move left 3 mm; move downward 125 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 25 degrees; open gripper;" + }, + { + "frame_index": 340, + "segment_id": 70600, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move left 1 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 301 mm; move left 1 mm; move downward 318 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 62 degrees; open gripper;\nSubtask Movement: move forward 126 mm; move left 1 mm; move downward 110 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 22 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 162, + 121 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.020000001415610313, + 0.0007142857066355646, + -0.015000000596046448, + 0.0, + 0.0028571428265422583, + 0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + 0.301071435213089, + 0.0014285714132711291, + -0.31785711646080017, + -0.0014285714132711291, + 0.015714285895228386, + 1.0814286470413208, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + -0.060637360542632024, + -0.8263359094094695, + 0.2857140581240032, + 0.17773159317355214, + 0.3212078909107561, + 0.9999999900000001 + ], + "movement_text": "move forward 20 mm; move left 1 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 301 mm; move left 1 mm; move downward 318 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 62 degrees; open gripper;", + "subtask_movement_text": "move forward 126 mm; move left 1 mm; move downward 110 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 22 degrees; open gripper;" + }, + { + "frame_index": 341, + "segment_id": 70600, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move left 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 294 mm; move left 1 mm; move downward 320 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 62 degrees; open gripper;\nSubtask Movement: move forward 106 mm; move left 1 mm; move downward 95 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 19 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 161, + 121 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.01964285783469677, + 0.0003571428533177823, + -0.015357143245637417, + 0.0, + 0.0014285714132711291, + 0.05428571254014969, + 1.0 + ], + "delta_next_20": [ + 0.2939285933971405, + 0.0007142857066355646, + -0.3196428418159485, + -0.0014285714132711291, + 0.018571428954601288, + 1.0814286470413208, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + -0.07348422305784486, + -0.8382633808102318, + 0.2857140581240032, + 0.16044252140319326, + 0.3040493120071952, + 0.9999999900000001 + ], + "movement_text": "move forward 20 mm; move left 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 294 mm; move left 1 mm; move downward 320 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 62 degrees; open gripper;", + "subtask_movement_text": "move forward 106 mm; move left 1 mm; move downward 95 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 19 degrees; open gripper;" + }, + { + "frame_index": 342, + "segment_id": 70600, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move left 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 287 mm; move left 0 mm; move downward 321 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 62 degrees; open gripper;\nSubtask Movement: move forward 87 mm; move left 0 mm; move downward 80 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 16 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 161, + 121 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.018928570672869682, + 0.0003571428533177823, + -0.015357143245637417, + 0.0, + 0.0014285714132711291, + 0.05428571254014969, + 1.0 + ], + "delta_next_20": [ + 0.28714287281036377, + 0.0003571428533177823, + -0.3214285671710968, + -0.0014285714132711291, + 0.022857142612338066, + 1.0828571319580078, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + -0.07348422305784486, + -0.8382633808102318, + 0.2857140581240032, + 0.16044252140319326, + 0.3040493120071952, + 0.9999999900000001 + ], + "movement_text": "move forward 19 mm; move left 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 287 mm; move left 0 mm; move downward 321 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 62 degrees; open gripper;", + "subtask_movement_text": "move forward 87 mm; move left 0 mm; move downward 80 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 16 degrees; open gripper;" + }, + { + "frame_index": 343, + "segment_id": 70600, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 282 mm; move right 0 mm; move downward 324 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 62 degrees; open gripper;\nSubtask Movement: move forward 68 mm; move right 0 mm; move downward 64 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 160, + 121 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.018571428954601288, + 0.0, + -0.016428573057055473, + 0.0, + 0.0014285714132711291, + 0.05428571254014969, + 1.0 + ], + "delta_next_20": [ + 0.2817857265472412, + 0.0, + -0.323928564786911, + -0.0014285714132711291, + 0.02857142873108387, + 1.0842857360839844, + 1.0 + ], + "delta_full_state_norm": [ + 0.9887499788460608, + -0.08633108557305769, + -0.8740458572191654, + 0.2857140581240032, + 0.16044252140319326, + 0.3040493120071952, + 0.9999999900000001 + ], + "movement_text": "move forward 19 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 282 mm; move right 0 mm; move downward 324 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 62 degrees; open gripper;", + "subtask_movement_text": "move forward 68 mm; move right 0 mm; move downward 64 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 344, + "segment_id": 70600, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 17 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 277 mm; move right 0 mm; move downward 326 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 62 degrees; open gripper;\nSubtask Movement: move forward 49 mm; move right 0 mm; move downward 48 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 160, + 121 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.01714285835623741, + 0.0, + -0.015714285895228386, + 0.0, + 0.0, + 0.05428571254014969, + 1.0 + ], + "delta_next_20": [ + 0.2771429121494293, + 0.0, + -0.32607147097587585, + -0.0014285714132711291, + 0.037142857909202576, + 1.085714340209961, + 1.0 + ], + "delta_full_state_norm": [ + 0.9083964930278137, + -0.08633108557305769, + -0.850190852210994, + 0.2857140581240032, + 0.14315344963283438, + 0.3040493120071952, + 0.9999999900000001 + ], + "movement_text": "move forward 17 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 277 mm; move right 0 mm; move downward 326 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 62 degrees; open gripper;", + "subtask_movement_text": "move forward 49 mm; move right 0 mm; move downward 48 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 9 degrees; open gripper;" + }, + { + "frame_index": 345, + "segment_id": 70600, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 274 mm; move right 0 mm; move downward 330 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 62 degrees; open gripper;\nSubtask Movement: move forward 32 mm; move right 0 mm; move downward 32 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 160, + 121 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.01607142947614193, + 0.0, + -0.015714285895228386, + 0.0, + 0.0, + 0.05428571254014969, + 1.0 + ], + "delta_next_20": [ + 0.27392861247062683, + 0.0, + -0.3296428620815277, + -0.0014285714132711291, + 0.04571428522467613, + 1.0871429443359375, + 1.0 + ], + "delta_full_state_norm": [ + 0.8481313262795873, + -0.08633108557305769, + -0.850190852210994, + 0.2857140581240032, + 0.14315344963283438, + 0.3040493120071952, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 274 mm; move right 0 mm; move downward 330 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 62 degrees; open gripper;", + "subtask_movement_text": "move forward 32 mm; move right 0 mm; move downward 32 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;" + }, + { + "frame_index": 346, + "segment_id": 70600, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 272 mm; move left 1 mm; move downward 334 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 62 degrees; open gripper;\nSubtask Movement: move forward 16 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 159, + 121 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.01607142947614193, + 0.0, + -0.016428573057055473, + 0.0, + 0.0, + 0.05428571254014969, + 1.0 + ], + "delta_next_20": [ + 0.2717857360839844, + 0.0007142857066355646, + -0.3339286148548126, + -0.0014285714132711291, + 0.051428571343421936, + 1.088571548461914, + 1.0 + ], + "delta_full_state_norm": [ + 0.8481313262795873, + -0.08633108557305769, + -0.8740458572191654, + 0.2857140581240032, + 0.14315344963283438, + 0.3040493120071952, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 272 mm; move left 1 mm; move downward 334 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 62 degrees; open gripper;", + "subtask_movement_text": "move forward 16 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 347, + "segment_id": 70600, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin and remains stationary, indicating it is holding the object steady to complete the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 270 mm; move left 3 mm; move downward 338 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 62 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 159, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + -0.016428573057055473, + 0.0, + 0.0, + 0.05285714194178581, + 1.0 + ], + "delta_next_20": [ + 0.2696428894996643, + 0.0028571428265422583, + -0.337857186794281, + -0.0014285714132711291, + 0.06142856925725937, + 1.0900001525878906, + 1.0 + ], + "delta_full_state_norm": [ + 0.787866159531361, + -0.08633108557305769, + -0.8740458572191654, + 0.2857140581240032, + 0.14315344963283438, + 0.28689077784802475, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 270 mm; move left 3 mm; move downward 338 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 62 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 348, + "segment_id": 40600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its gripper closed, indicating it is performing the action of placing or releasing an object into the sink.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its gripper closed, indicating it is performing the action of placing or releasing an object into the sink.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 270 mm; move left 5 mm; move downward 343 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 63 degrees; open gripper;\nSubtask Movement: move forward 30 mm; move right 0 mm; move downward 34 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 159, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + -0.016428573057055473, + 0.0, + 0.0, + 0.05285714194178581, + 1.0 + ], + "delta_next_20": [ + 0.2696428894996643, + 0.0053571430034935474, + -0.3425000011920929, + -0.0014285714132711291, + 0.0714285671710968, + 1.0928572416305542, + 1.0 + ], + "delta_full_state_norm": [ + 0.787866159531361, + -0.08633108557305769, + -0.8740458572191654, + 0.2857140581240032, + 0.14315344963283438, + 0.28689077784802475, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 270 mm; move left 5 mm; move downward 343 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 63 degrees; open gripper;", + "subtask_movement_text": "move forward 30 mm; move right 0 mm; move downward 34 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;" + }, + { + "frame_index": 349, + "segment_id": 40600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its gripper closed, indicating it is performing the action of placing or releasing an object into the sink.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its gripper closed, indicating it is performing the action of placing or releasing an object into the sink.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 270 mm; move left 8 mm; move downward 346 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 63 degrees; open gripper;\nSubtask Movement: move forward 15 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 158, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.015357143245637417, + 0.0, + -0.01714285835623741, + 0.0, + 0.0, + 0.05285714194178581, + 1.0 + ], + "delta_next_20": [ + 0.27000004053115845, + 0.007500000298023224, + -0.3464285731315613, + -0.0014285714132711291, + 0.08285713940858841, + 1.0971430540084839, + 1.0 + ], + "delta_full_state_norm": [ + 0.8079545309859226, + -0.08633108557305769, + -0.8979008000206897, + 0.2857140581240032, + 0.14315344963283438, + 0.28689077784802475, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 270 mm; move left 8 mm; move downward 346 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 63 degrees; open gripper;", + "subtask_movement_text": "move forward 15 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 350, + "segment_id": 40600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink basin with its gripper closed, indicating it is performing the action of placing or releasing an object into the sink.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink basin with its gripper closed, indicating it is performing the action of placing or releasing an object into the sink.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 271 mm; move left 10 mm; move downward 350 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 63 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 158, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + -0.01714285835623741, + -0.0014285714132711291, + 0.0, + 0.05285714194178581, + 1.0 + ], + "delta_next_20": [ + 0.27071431279182434, + 0.009642857126891613, + -0.3499999940395355, + -0.0014285714132711291, + 0.09428571164608002, + 1.1028573513031006, + 1.0 + ], + "delta_full_state_norm": [ + 0.787866159531361, + -0.08633108557305769, + -0.8979008000206897, + 0.238095019365393, + 0.14315344963283438, + 0.28689077784802475, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 271 mm; move left 10 mm; move downward 350 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 63 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 351, + "segment_id": 50600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 273 mm; move left 12 mm; move downward 353 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw counterclockwise 64 degrees; open gripper;\nSubtask Movement: move forward 240 mm; move left 8 mm; move downward 312 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 57 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 158, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.01428571529686451, + 0.0, + -0.016428573057055473, + 0.0, + 0.0, + 0.05285714194178581, + 1.0 + ], + "delta_next_20": [ + 0.27321431040763855, + 0.011785714887082577, + -0.353214293718338, + 0.0, + 0.10571428388357162, + 1.1085716485977173, + 1.0 + ], + "delta_full_state_norm": [ + 0.7476894166222374, + -0.08633108557305769, + -0.8740458572191654, + 0.2857140581240032, + 0.14315344963283438, + 0.28689077784802475, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 273 mm; move left 12 mm; move downward 353 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw counterclockwise 64 degrees; open gripper;", + "subtask_movement_text": "move forward 240 mm; move left 8 mm; move downward 312 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 57 degrees; open gripper;" + }, + { + "frame_index": 352, + "segment_id": 50600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 276 mm; move left 13 mm; move downward 357 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw counterclockwise 64 degrees; open gripper;\nSubtask Movement: move forward 225 mm; move left 8 mm; move downward 296 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 54 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 157, + 123 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.01428571529686451, + 0.0, + -0.016428573057055473, + 0.0, + 0.0, + 0.05285714194178581, + 1.0 + ], + "delta_next_20": [ + 0.2760714292526245, + 0.012857143767178059, + -0.35678571462631226, + 0.0, + 0.11857143044471741, + 1.1142858266830444, + 1.0 + ], + "delta_full_state_norm": [ + 0.7476894166222374, + -0.08633108557305769, + -0.8740458572191654, + 0.2857140581240032, + 0.14315344963283438, + 0.28689077784802475, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 276 mm; move left 13 mm; move downward 357 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw counterclockwise 64 degrees; open gripper;", + "subtask_movement_text": "move forward 225 mm; move left 8 mm; move downward 296 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 54 degrees; open gripper;" + }, + { + "frame_index": 353, + "segment_id": 50600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 279 mm; move left 13 mm; move downward 359 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw counterclockwise 64 degrees; open gripper;\nSubtask Movement: move forward 211 mm; move left 8 mm; move downward 279 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 51 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 158, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.013571429066359997, + 0.0, + -0.015714285895228386, + 0.0, + 0.0, + 0.05285714194178581, + 1.0 + ], + "delta_next_20": [ + 0.2785714566707611, + 0.012857143767178059, + -0.3592856824398041, + 0.0, + 0.1314285695552826, + 1.1200001239776611, + 1.0 + ], + "delta_full_state_norm": [ + 0.7075126213285727, + -0.08633108557305769, + -0.850190852210994, + 0.2857140581240032, + 0.14315344963283438, + 0.28689077784802475, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 279 mm; move left 13 mm; move downward 359 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw counterclockwise 64 degrees; open gripper;", + "subtask_movement_text": "move forward 211 mm; move left 8 mm; move downward 279 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 51 degrees; open gripper;" + }, + { + "frame_index": 354, + "segment_id": 50600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 282 mm; move left 13 mm; move downward 361 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw counterclockwise 64 degrees; open gripper;\nSubtask Movement: move forward 197 mm; move left 8 mm; move downward 264 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 48 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 158, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + -0.014642857015132904, + 0.0, + 0.0, + 0.05285714194178581, + 1.0 + ], + "delta_next_20": [ + 0.2817857265472412, + 0.012857143767178059, + -0.3610714077949524, + 0.0, + 0.14571428298950195, + 1.1242858171463013, + 1.0 + ], + "delta_full_state_norm": [ + 0.6673358784194492, + -0.08633108557305769, + -0.8144084069053839, + 0.2857140581240032, + 0.14315344963283438, + 0.28689077784802475, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 282 mm; move left 13 mm; move downward 361 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw counterclockwise 64 degrees; open gripper;", + "subtask_movement_text": "move forward 197 mm; move left 8 mm; move downward 264 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 48 degrees; open gripper;" + }, + { + "frame_index": 355, + "segment_id": 50600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 285 mm; move left 13 mm; move downward 363 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;\nSubtask Movement: move forward 185 mm; move left 8 mm; move downward 249 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 45 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 158, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + -0.01428571529686451, + 0.0, + 0.0, + 0.05428571254014969, + 1.0 + ], + "delta_next_20": [ + 0.28535714745521545, + 0.012857143767178059, + -0.36321428418159485, + 0.0, + 0.1614285707473755, + 1.1285715103149414, + 1.0 + ], + "delta_full_state_norm": [ + 0.6472474545803462, + -0.08633108557305769, + -0.8024809666079452, + 0.2857140581240032, + 0.14315344963283438, + 0.3040493120071952, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 285 mm; move left 13 mm; move downward 363 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw counterclockwise 65 degrees; open gripper;", + "subtask_movement_text": "move forward 185 mm; move left 8 mm; move downward 249 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 45 degrees; open gripper;" + }, + { + "frame_index": 356, + "segment_id": 50600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 289 mm; move left 13 mm; move downward 365 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw counterclockwise 65 degrees; open gripper;\nSubtask Movement: move forward 172 mm; move left 8 mm; move downward 235 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 42 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 158, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + -0.015357143245637417, + 0.0, + 0.0, + 0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + 0.28857144713401794, + 0.012857143767178059, + -0.36500000953674316, + 0.0, + 0.1785714328289032, + 1.1314287185668945, + 1.0 + ], + "delta_full_state_norm": [ + 0.5869822878321198, + -0.08633108557305769, + -0.8382633808102318, + 0.2857140581240032, + 0.14315344963283438, + 0.3212078909107561, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 289 mm; move left 13 mm; move downward 365 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw counterclockwise 65 degrees; open gripper;", + "subtask_movement_text": "move forward 172 mm; move left 8 mm; move downward 235 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 42 degrees; open gripper;" + }, + { + "frame_index": 357, + "segment_id": 50600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 292 mm; move left 13 mm; move downward 365 mm; roll downward 0 degrees; pitch upward 11 degrees; yaw counterclockwise 65 degrees; open gripper;\nSubtask Movement: move forward 161 mm; move left 8 mm; move downward 219 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 38 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 158, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + -0.015357143245637417, + 0.0, + 0.0028571428265422583, + 0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + 0.29249998927116394, + 0.012857143767178059, + -0.3649999797344208, + 0.0, + 0.1957142949104309, + 1.1328572034835815, + 1.0 + ], + "delta_full_state_norm": [ + 0.5869822878321198, + -0.08633108557305769, + -0.8382633808102318, + 0.2857140581240032, + 0.17773159317355214, + 0.3212078909107561, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 292 mm; move left 13 mm; move downward 365 mm; roll downward 0 degrees; pitch upward 11 degrees; yaw counterclockwise 65 degrees; open gripper;", + "subtask_movement_text": "move forward 161 mm; move left 8 mm; move downward 219 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 38 degrees; open gripper;" + }, + { + "frame_index": 358, + "segment_id": 50600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 297 mm; move left 13 mm; move downward 365 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 65 degrees; open gripper;\nSubtask Movement: move forward 149 mm; move left 8 mm; move downward 204 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 35 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 158, + 122 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + -0.015714285895228386, + 0.0, + 0.0028571428265422583, + 0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + 0.2967856824398041, + 0.012857143767178059, + -0.3649999797344208, + 0.0, + 0.21142858266830444, + 1.134285807609558, + 1.0 + ], + "delta_full_state_norm": [ + 0.5869822878321198, + -0.08633108557305769, + -0.850190852210994, + 0.2857140581240032, + 0.17773159317355214, + 0.3212078909107561, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 297 mm; move left 13 mm; move downward 365 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw counterclockwise 65 degrees; open gripper;", + "subtask_movement_text": "move forward 149 mm; move left 8 mm; move downward 204 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 35 degrees; open gripper;" + }, + { + "frame_index": 359, + "segment_id": 50600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 301 mm; move left 13 mm; move downward 364 mm; roll downward 0 degrees; pitch upward 13 degrees; yaw counterclockwise 65 degrees; open gripper;\nSubtask Movement: move forward 138 mm; move left 8 mm; move downward 188 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 32 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 159, + 123 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + -0.016785714775323868, + 0.0, + 0.0028571428265422583, + 0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + 0.30071425437927246, + 0.012857143767178059, + -0.36428573727607727, + 0.0, + 0.2257142961025238, + 1.1357142925262451, + 1.0 + ], + "delta_full_state_norm": [ + 0.6472474545803462, + -0.08633108557305769, + -0.885973297516604, + 0.2857140581240032, + 0.17773159317355214, + 0.3212078909107561, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 301 mm; move left 13 mm; move downward 364 mm; roll downward 0 degrees; pitch upward 13 degrees; yaw counterclockwise 65 degrees; open gripper;", + "subtask_movement_text": "move forward 138 mm; move left 8 mm; move downward 188 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 32 degrees; open gripper;" + }, + { + "frame_index": 360, + "segment_id": 50600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 302 mm; move left 13 mm; move downward 361 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw counterclockwise 65 degrees; open gripper;\nSubtask Movement: move forward 125 mm; move left 8 mm; move downward 171 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 29 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 159, + 123 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + -0.016785714775323868, + 0.0, + 0.0057142856530845165, + 0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + 0.3024999797344208, + 0.012857143767178059, + -0.3614285886287689, + 0.0, + 0.2442857176065445, + 1.1371428966522217, + 1.0 + ], + "delta_full_state_norm": [ + 0.6673358784194492, + -0.08633108557305769, + -0.885973297516604, + 0.2857140581240032, + 0.21230973671426967, + 0.3212078909107561, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 302 mm; move left 13 mm; move downward 361 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw counterclockwise 65 degrees; open gripper;", + "subtask_movement_text": "move forward 125 mm; move left 8 mm; move downward 171 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 29 degrees; open gripper;" + }, + { + "frame_index": 361, + "segment_id": 50600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 304 mm; move left 13 mm; move downward 359 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw counterclockwise 65 degrees; open gripper;\nSubtask Movement: move forward 113 mm; move left 8 mm; move downward 155 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 159, + 123 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + -0.01714285835623741, + 0.0, + 0.0057142856530845165, + 0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + 0.3035714328289032, + 0.012857143767178059, + -0.35857146978378296, + 0.0, + 0.2600000202655792, + 1.1385715007781982, + 1.0 + ], + "delta_full_state_norm": [ + 0.6673358784194492, + -0.08633108557305769, + -0.8979008000206897, + 0.2857140581240032, + 0.21230973671426967, + 0.3212078909107561, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 304 mm; move left 13 mm; move downward 359 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw counterclockwise 65 degrees; open gripper;", + "subtask_movement_text": "move forward 113 mm; move left 8 mm; move downward 155 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 26 degrees; open gripper;" + }, + { + "frame_index": 362, + "segment_id": 50600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 304 mm; move left 13 mm; move downward 356 mm; roll downward 0 degrees; pitch upward 16 degrees; yaw counterclockwise 65 degrees; open gripper;\nSubtask Movement: move forward 100 mm; move left 8 mm; move downward 138 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 22 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 159, + 123 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.013571429066359997, + 0.0, + -0.01785714365541935, + 0.0, + 0.0071428571827709675, + 0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + 0.3042857348918915, + 0.012857143767178059, + -0.35607144236564636, + 0.0, + 0.27571430802345276, + 1.1399999856948853, + 1.0 + ], + "delta_full_state_norm": [ + 0.7075126213285727, + -0.08633108557305769, + -0.9217557428222142, + 0.2857140581240032, + 0.22959880989352754, + 0.3212078909107561, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 304 mm; move left 13 mm; move downward 356 mm; roll downward 0 degrees; pitch upward 16 degrees; yaw counterclockwise 65 degrees; open gripper;", + "subtask_movement_text": "move forward 100 mm; move left 8 mm; move downward 138 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 22 degrees; open gripper;" + }, + { + "frame_index": 363, + "segment_id": 50600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 19 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 303 mm; move left 13 mm; move downward 352 mm; roll downward 0 degrees; pitch upward 17 degrees; yaw counterclockwise 65 degrees; open gripper;\nSubtask Movement: move forward 86 mm; move left 8 mm; move downward 120 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 19 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 159, + 124 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.013928571715950966, + 0.0, + -0.018571428954601288, + 0.0, + 0.009999999776482582, + 0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + 0.3028571307659149, + 0.012857143767178059, + -0.3517857491970062, + 0.0, + 0.2914285957813263, + 1.1428571939468384, + 1.0 + ], + "delta_full_state_norm": [ + 0.7276009927831344, + -0.08633108557305769, + -0.9456106856237385, + 0.2857140581240032, + 0.2641769506164473, + 0.3212078909107561, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 19 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 303 mm; move left 13 mm; move downward 352 mm; roll downward 0 degrees; pitch upward 17 degrees; yaw counterclockwise 65 degrees; open gripper;", + "subtask_movement_text": "move forward 86 mm; move left 8 mm; move downward 120 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 19 degrees; open gripper;" + }, + { + "frame_index": 364, + "segment_id": 50600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 19 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 301 mm; move left 13 mm; move downward 347 mm; roll downward 0 degrees; pitch upward 18 degrees; yaw counterclockwise 66 degrees; open gripper;\nSubtask Movement: move forward 72 mm; move left 8 mm; move downward 101 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 16 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 159, + 124 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.013928571715950966, + 0.0, + -0.019285714253783226, + 0.0, + 0.008571428246796131, + 0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + 0.30071428418159485, + 0.012857143767178059, + -0.3467857539653778, + 0.0, + 0.30714285373687744, + 1.147142767906189, + 1.0 + ], + "delta_full_state_norm": [ + 0.7276009927831344, + -0.08633108557305769, + -0.969465628425263, + 0.2857140581240032, + 0.24688787743718943, + 0.3212078909107561, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 19 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 301 mm; move left 13 mm; move downward 347 mm; roll downward 0 degrees; pitch upward 18 degrees; yaw counterclockwise 66 degrees; open gripper;", + "subtask_movement_text": "move forward 72 mm; move left 8 mm; move downward 101 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 16 degrees; open gripper;" + }, + { + "frame_index": 365, + "segment_id": 50600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move left 1 mm; move downward 20 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 297 mm; move left 13 mm; move downward 341 mm; roll downward 0 degrees; pitch upward 18 degrees; yaw counterclockwise 66 degrees; open gripper;\nSubtask Movement: move forward 58 mm; move left 8 mm; move downward 82 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 159, + 124 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.013928571715950966, + 0.0007142857066355646, + -0.020000001415610313, + 0.0, + 0.0057142856530845165, + 0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + 0.29678571224212646, + 0.012857143767178059, + -0.34142860770225525, + 0.0, + 0.322857141494751, + 1.151428461074829, + 1.0 + ], + "delta_full_state_norm": [ + 0.7276009927831344, + -0.060637360542632024, + -0.9933206334334344, + 0.2857140581240032, + 0.21230973671426967, + 0.3212078909107561, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move left 1 mm; move downward 20 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 297 mm; move left 13 mm; move downward 341 mm; roll downward 0 degrees; pitch upward 18 degrees; yaw counterclockwise 66 degrees; open gripper;", + "subtask_movement_text": "move forward 58 mm; move left 8 mm; move downward 82 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 13 degrees; open gripper;" + }, + { + "frame_index": 366, + "segment_id": 50600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move left 2 mm; move downward 20 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 292 mm; move left 12 mm; move downward 335 mm; roll downward 0 degrees; pitch upward 20 degrees; yaw counterclockwise 66 degrees; open gripper;\nSubtask Movement: move forward 44 mm; move left 7 mm; move downward 62 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 158, + 125 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.013928571715950966, + 0.0021428572945296764, + -0.020357143133878708, + 0.0, + 0.009999999776482582, + 0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + 0.29178568720817566, + 0.012142857536673546, + -0.3346428871154785, + 0.0, + 0.3442856967449188, + 1.1571426391601562, + 1.0 + ], + "delta_full_state_norm": [ + 0.7276009927831344, + -0.009249904200379855, + -1.0, + 0.2857140581240032, + 0.2641769506164473, + 0.3212078909107561, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move left 2 mm; move downward 20 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 292 mm; move left 12 mm; move downward 335 mm; roll downward 0 degrees; pitch upward 20 degrees; yaw counterclockwise 66 degrees; open gripper;", + "subtask_movement_text": "move forward 44 mm; move left 7 mm; move downward 62 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 10 degrees; open gripper;" + }, + { + "frame_index": 367, + "segment_id": 50600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move left 3 mm; move downward 21 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 284 mm; move left 10 mm; move downward 327 mm; roll downward 0 degrees; pitch upward 21 degrees; yaw counterclockwise 67 degrees; open gripper;\nSubtask Movement: move forward 30 mm; move left 5 mm; move downward 41 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 158, + 125 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.015000000596046448, + 0.002500000176951289, + -0.021071428433060646, + 0.0, + 0.009999999776482582, + 0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + 0.28428569436073303, + 0.010000000707805157, + -0.3271429240703583, + 0.0, + 0.3642857074737549, + 1.1657142639160156, + 1.0 + ], + "delta_full_state_norm": [ + 0.787866159531361, + 0.0035969593617330986, + -1.0, + 0.2857140581240032, + 0.2641769506164473, + 0.3212078909107561, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move left 3 mm; move downward 21 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 284 mm; move left 10 mm; move downward 327 mm; roll downward 0 degrees; pitch upward 21 degrees; yaw counterclockwise 67 degrees; open gripper;", + "subtask_movement_text": "move forward 30 mm; move left 5 mm; move downward 41 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 6 degrees; open gripper;" + }, + { + "frame_index": 368, + "segment_id": 50600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move left 2 mm; move downward 20 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 274 mm; move left 8 mm; move downward 318 mm; roll downward 0 degrees; pitch upward 22 degrees; yaw counterclockwise 67 degrees; open gripper;\nSubtask Movement: move forward 15 mm; move left 2 mm; move downward 20 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 158, + 126 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.015357143245637417, + 0.0021428572945296764, + -0.020357143133878708, + 0.0, + 0.011428571306169033, + 0.05714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.27392858266830444, + 0.007500000298023224, + -0.3182142674922943, + 0.0, + 0.38428568840026855, + 1.1742857694625854, + 1.0 + ], + "delta_full_state_norm": [ + 0.8079545309859226, + -0.009249904200379855, + -1.0, + 0.2857140581240032, + 0.2814660237957052, + 0.3383664250699263, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move left 2 mm; move downward 20 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 274 mm; move left 8 mm; move downward 318 mm; roll downward 0 degrees; pitch upward 22 degrees; yaw counterclockwise 67 degrees; open gripper;", + "subtask_movement_text": "move forward 15 mm; move left 2 mm; move downward 20 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 369, + "segment_id": 50600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink, and a green object (the cup) appears within the sink basin, indicating the action of releasing or placing the object into the target location.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move left 2 mm; move downward 21 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 263 mm; move left 5 mm; move downward 310 mm; roll downward 0 degrees; pitch upward 23 degrees; yaw counterclockwise 68 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 157, + 126 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.01607142947614193, + 0.0021428572945296764, + -0.02071428671479225, + 0.0, + 0.011428571306169033, + 0.058571428060531616, + 1.0 + ], + "delta_next_20": [ + 0.2628571391105652, + 0.0053571430034935474, + -0.3100000023841858, + 0.0, + 0.40714284777641296, + 1.1828571557998657, + 1.0 + ], + "delta_full_state_norm": [ + 0.8481313262795873, + -0.009249904200379855, + -1.0, + 0.2857140581240032, + 0.2814660237957052, + 0.35552495922909677, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move left 2 mm; move downward 21 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 263 mm; move left 5 mm; move downward 310 mm; roll downward 0 degrees; pitch upward 23 degrees; yaw counterclockwise 68 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 370, + "segment_id": 10600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink with the green cup held at a low height, consistent with the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink with the green cup held at a low height, consistent with the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move left 2 mm; move downward 20 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 249 mm; move left 3 mm; move downward 300 mm; roll downward 0 degrees; pitch upward 25 degrees; yaw counterclockwise 68 degrees; close gripper;\nSubtask Movement: move forward 175 mm; move left 3 mm; move downward 183 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw counterclockwise 36 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 157, + 126 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.017500000074505806, + 0.0021428572945296764, + -0.020357143133878708, + 0.0, + 0.011428571306169033, + 0.058571428060531616, + 1.0 + ], + "delta_next_20": [ + 0.2492857277393341, + 0.0032142859417945147, + -0.3003571033477783, + 0.0, + 0.4342857003211975, + 1.192857027053833, + -1.0 + ], + "delta_full_state_norm": [ + 0.9284848120978344, + -0.009249904200379855, + -1.0, + 0.2857140581240032, + 0.2814660237957052, + 0.35552495922909677, + 0.9999999900000001 + ], + "movement_text": "move forward 18 mm; move left 2 mm; move downward 20 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 249 mm; move left 3 mm; move downward 300 mm; roll downward 0 degrees; pitch upward 25 degrees; yaw counterclockwise 68 degrees; close gripper;", + "subtask_movement_text": "move forward 175 mm; move left 3 mm; move downward 183 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw counterclockwise 36 degrees; open gripper;" + }, + { + "frame_index": 371, + "segment_id": 10600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink with the green cup held at a low height, consistent with the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink with the green cup held at a low height, consistent with the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 17 mm; move left 1 mm; move downward 20 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 232 mm; move left 1 mm; move downward 289 mm; roll downward 0 degrees; pitch upward 27 degrees; yaw counterclockwise 69 degrees; close gripper;\nSubtask Movement: move forward 158 mm; move left 1 mm; move downward 163 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw counterclockwise 33 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [148,125], [148,125]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 156, + 127 + ], + "task_obj_bbox": [ + 148, + 125, + 148, + 125 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.01714285835623741, + 0.0010714286472648382, + -0.020000001415610313, + 0.0, + 0.012857142835855484, + 0.058571428060531616, + 1.0 + ], + "delta_next_20": [ + 0.23178572952747345, + 0.0010714286472648382, + -0.28857138752937317, + 0.0, + 0.46857142448425293, + 1.20714271068573, + -1.0 + ], + "delta_full_state_norm": [ + 0.9083964930278137, + -0.047790494886718715, + -0.9933206334334344, + 0.2857140581240032, + 0.29875509697496305, + 0.35552495922909677, + 0.9999999900000001 + ], + "movement_text": "move forward 17 mm; move left 1 mm; move downward 20 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 232 mm; move left 1 mm; move downward 289 mm; roll downward 0 degrees; pitch upward 27 degrees; yaw counterclockwise 69 degrees; close gripper;", + "subtask_movement_text": "move forward 158 mm; move left 1 mm; move downward 163 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw counterclockwise 33 degrees; open gripper;" + }, + { + "frame_index": 372, + "segment_id": 10600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink with the green cup held at a low height, consistent with the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink with the green cup held at a low height, consistent with the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 17 mm; move right 0 mm; move downward 19 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 215 mm; move right 0 mm; move downward 274 mm; roll upward 1 degrees; pitch upward 29 degrees; yaw counterclockwise 70 degrees; close gripper;\nSubtask Movement: move forward 140 mm; move right 0 mm; move downward 143 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw counterclockwise 30 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [147,125], [148,126]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 156, + 127 + ], + "task_obj_bbox": [ + 147, + 125, + 148, + 126 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.016785714775323868, + 0.0, + -0.018928570672869682, + 0.0, + 0.012857142835855484, + 0.058571428060531616, + 1.0 + ], + "delta_next_20": [ + 0.21464288234710693, + 0.0, + -0.2735714018344879, + 0.011428571306169033, + 0.5099999904632568, + 1.2271428108215332, + -1.0 + ], + "delta_full_state_norm": [ + 0.8883080691887109, + -0.08633108557305769, + -0.9575381259211773, + 0.2857140581240032, + 0.29875509697496305, + 0.35552495922909677, + 0.9999999900000001 + ], + "movement_text": "move forward 17 mm; move right 0 mm; move downward 19 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 215 mm; move right 0 mm; move downward 274 mm; roll upward 1 degrees; pitch upward 29 degrees; yaw counterclockwise 70 degrees; close gripper;", + "subtask_movement_text": "move forward 140 mm; move right 0 mm; move downward 143 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw counterclockwise 30 degrees; open gripper;" + }, + { + "frame_index": 373, + "segment_id": 10600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink with the green cup held at a low height, consistent with the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink with the green cup held at a low height, consistent with the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 17 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 198 mm; move right 0 mm; move downward 259 mm; roll upward 1 degrees; pitch upward 32 degrees; yaw counterclockwise 72 degrees; close gripper;\nSubtask Movement: move forward 124 mm; move right 0 mm; move downward 124 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw counterclockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [147,124], [151,132]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 156, + 127 + ], + "task_obj_bbox": [ + 147, + 124, + 151, + 132 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.016785714775323868, + 0.0, + -0.017500000074505806, + 0.0, + 0.014285714365541935, + 0.05714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.19785715639591217, + 0.0, + -0.25928568840026855, + 0.02428571507334709, + 0.5514285564422607, + 1.2485713958740234, + -1.0 + ], + "delta_full_state_norm": [ + 0.8883080691887109, + -0.08633108557305769, + -0.9098282403181285, + 0.2857140581240032, + 0.3160441701542209, + 0.3383664250699263, + 0.9999999900000001 + ], + "movement_text": "move forward 17 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 198 mm; move right 0 mm; move downward 259 mm; roll upward 1 degrees; pitch upward 32 degrees; yaw counterclockwise 72 degrees; close gripper;", + "subtask_movement_text": "move forward 124 mm; move right 0 mm; move downward 124 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw counterclockwise 26 degrees; open gripper;" + }, + { + "frame_index": 374, + "segment_id": 10600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink with the green cup held at a low height, consistent with the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink with the green cup held at a low height, consistent with the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 181 mm; move right 0 mm; move downward 244 mm; roll upward 2 degrees; pitch upward 33 degrees; yaw counterclockwise 73 degrees; close gripper;\nSubtask Movement: move forward 107 mm; move right 0 mm; move downward 106 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw counterclockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [147,124], [150,131]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 155, + 128 + ], + "task_obj_bbox": [ + 147, + 124, + 150, + 131 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.016428573057055473, + 0.0, + -0.016785714775323868, + 0.0, + 0.015714285895228386, + 0.05714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.1810714453458786, + 0.0, + -0.24357140064239502, + 0.030000001192092896, + 0.5728570818901062, + 1.2700001001358032, + -1.0 + ], + "delta_full_state_norm": [ + 0.8682197501186901, + -0.08633108557305769, + -0.885973297516604, + 0.2857140581240032, + 0.3333332433334788, + 0.3383664250699263, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 181 mm; move right 0 mm; move downward 244 mm; roll upward 2 degrees; pitch upward 33 degrees; yaw counterclockwise 73 degrees; close gripper;", + "subtask_movement_text": "move forward 107 mm; move right 0 mm; move downward 106 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw counterclockwise 23 degrees; open gripper;" + }, + { + "frame_index": 375, + "segment_id": 10600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink with the green cup held at a low height, consistent with the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink with the green cup held at a low height, consistent with the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 165 mm; move right 0 mm; move downward 227 mm; roll upward 2 degrees; pitch upward 34 degrees; yaw counterclockwise 74 degrees; close gripper;\nSubtask Movement: move forward 90 mm; move right 0 mm; move downward 90 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw counterclockwise 20 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [146,124], [151,133]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 155, + 128 + ], + "task_obj_bbox": [ + 146, + 124, + 151, + 133 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.015714285895228386, + 0.0, + -0.01607142947614193, + 0.0, + 0.017142856493592262, + 0.05714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.16464287042617798, + 0.0, + -0.22678570449352264, + 0.0357142873108387, + 0.587142825126648, + 1.291428565979004, + -1.0 + ], + "delta_full_state_norm": [ + 0.8280429024404843, + -0.08633108557305769, + -0.8621183547150797, + 0.2857140581240032, + 0.3506223052415445, + 0.3383664250699263, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 165 mm; move right 0 mm; move downward 227 mm; roll upward 2 degrees; pitch upward 34 degrees; yaw counterclockwise 74 degrees; close gripper;", + "subtask_movement_text": "move forward 90 mm; move right 0 mm; move downward 90 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw counterclockwise 20 degrees; open gripper;" + }, + { + "frame_index": 376, + "segment_id": 10600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink with the green cup held at a low height, consistent with the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink with the green cup held at a low height, consistent with the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 149 mm; move right 0 mm; move downward 211 mm; roll upward 3 degrees; pitch upward 34 degrees; yaw counterclockwise 75 degrees; close gripper;\nSubtask Movement: move forward 75 mm; move right 0 mm; move downward 74 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 16 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [146,125], [151,134]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 155, + 128 + ], + "task_obj_bbox": [ + 146, + 125, + 151, + 134 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.015357143245637417, + 0.0, + -0.015357143245637417, + 0.0, + 0.017142856493592262, + 0.05714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.14892858266830444, + 0.0, + -0.21071432530879974, + 0.044285714626312256, + 0.5928570628166199, + 1.3114285469055176, + -1.0 + ], + "delta_full_state_norm": [ + 0.8079545309859226, + -0.08633108557305769, + -0.8382633808102318, + 0.2857140581240032, + 0.3506223052415445, + 0.3383664250699263, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 149 mm; move right 0 mm; move downward 211 mm; roll upward 3 degrees; pitch upward 34 degrees; yaw counterclockwise 75 degrees; close gripper;", + "subtask_movement_text": "move forward 75 mm; move right 0 mm; move downward 74 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 16 degrees; open gripper;" + }, + { + "frame_index": 377, + "segment_id": 10600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink with the green cup held at a low height, consistent with the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink with the green cup held at a low height, consistent with the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 134 mm; move right 0 mm; move downward 195 mm; roll upward 3 degrees; pitch upward 34 degrees; yaw counterclockwise 76 degrees; close gripper;\nSubtask Movement: move forward 59 mm; move right 0 mm; move downward 58 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [146,125], [151,135]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 155, + 128 + ], + "task_obj_bbox": [ + 146, + 125, + 151, + 135 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.015714285895228386, + 0.0, + -0.015357143245637417, + 0.0, + 0.018571428954601288, + 0.05714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.13357143104076385, + 0.0, + -0.19535715878009796, + 0.05285714194178581, + 0.587142825126648, + 1.3328571319580078, + -1.0 + ], + "delta_full_state_norm": [ + 0.8280429024404843, + -0.08633108557305769, + -0.8382633808102318, + 0.2857140581240032, + 0.36791138969199455, + 0.3383664250699263, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 134 mm; move right 0 mm; move downward 195 mm; roll upward 3 degrees; pitch upward 34 degrees; yaw counterclockwise 76 degrees; close gripper;", + "subtask_movement_text": "move forward 59 mm; move right 0 mm; move downward 58 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 13 degrees; open gripper;" + }, + { + "frame_index": 378, + "segment_id": 10600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink with the green cup held at a low height, consistent with the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink with the green cup held at a low height, consistent with the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 118 mm; move right 0 mm; move downward 180 mm; roll upward 3 degrees; pitch upward 33 degrees; yaw counterclockwise 77 degrees; close gripper;\nSubtask Movement: move forward 44 mm; move right 0 mm; move downward 43 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [146,125], [151,135]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 154, + 128 + ], + "task_obj_bbox": [ + 146, + 125, + 151, + 135 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.015357143245637417, + 0.0, + -0.015000000596046448, + 0.0, + 0.017142856493592262, + 0.05714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.11785715073347092, + 0.0, + -0.18000002205371857, + 0.058571428060531616, + 0.5714285373687744, + 1.3457143306732178, + -1.0 + ], + "delta_full_state_norm": [ + 0.8079545309859226, + -0.08633108557305769, + -0.8263359094094695, + 0.2857140581240032, + 0.3506223052415445, + 0.3383664250699263, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 118 mm; move right 0 mm; move downward 180 mm; roll upward 3 degrees; pitch upward 33 degrees; yaw counterclockwise 77 degrees; close gripper;", + "subtask_movement_text": "move forward 44 mm; move right 0 mm; move downward 43 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 10 degrees; open gripper;" + }, + { + "frame_index": 379, + "segment_id": 10600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink with the green cup held at a low height, consistent with the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink with the green cup held at a low height, consistent with the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 102 mm; move right 0 mm; move downward 165 mm; roll upward 4 degrees; pitch upward 32 degrees; yaw counterclockwise 77 degrees; close gripper;\nSubtask Movement: move forward 28 mm; move right 0 mm; move downward 28 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [145,125], [151,135]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 154, + 129 + ], + "task_obj_bbox": [ + 145, + 125, + 151, + 135 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.01428571529686451, + 0.0, + -0.013928571715950966, + 0.0, + 0.02142857201397419, + 0.05714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.10249999910593033, + 0.0, + -0.16500002145767212, + 0.06714285910129547, + 0.5542857050895691, + 1.350000023841858, + -1.0 + ], + "delta_full_state_norm": [ + 0.7476894166222374, + -0.08633108557305769, + -0.7905534641038594, + 0.2857140581240032, + 0.4024895360505103, + 0.3383664250699263, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 102 mm; move right 0 mm; move downward 165 mm; roll upward 4 degrees; pitch upward 32 degrees; yaw counterclockwise 77 degrees; close gripper;", + "subtask_movement_text": "move forward 28 mm; move right 0 mm; move downward 28 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 380, + "segment_id": 10600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink with the green cup held at a low height, consistent with the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink with the green cup held at a low height, consistent with the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 88 mm; move right 0 mm; move downward 146 mm; roll upward 4 degrees; pitch upward 31 degrees; yaw counterclockwise 77 degrees; close gripper;\nSubtask Movement: move forward 14 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [145,125], [151,135]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 154, + 129 + ], + "task_obj_bbox": [ + 145, + 125, + 151, + 135 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.013928571715950966, + 0.0, + -0.013928571715950966, + 0.0, + 0.02142857201397419, + 0.05714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.08821429312229156, + 0.0, + -0.14642858505249023, + 0.07285714149475098, + 0.5328571796417236, + 1.3514286279678345, + -1.0 + ], + "delta_full_state_norm": [ + 0.7276009927831344, + -0.08633108557305769, + -0.7905534641038594, + 0.2857140581240032, + 0.4024895360505103, + 0.3383664250699263, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 88 mm; move right 0 mm; move downward 146 mm; roll upward 4 degrees; pitch upward 31 degrees; yaw counterclockwise 77 degrees; close gripper;", + "subtask_movement_text": "move forward 14 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 381, + "segment_id": 10600, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned directly over the sink with the green cup held at a low height, consistent with the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned directly over the sink with the green cup held at a low height, consistent with the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 74 mm; move right 0 mm; move downward 125 mm; roll upward 5 degrees; pitch upward 29 degrees; yaw counterclockwise 77 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [145,125], [152,136]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 153, + 129 + ], + "task_obj_bbox": [ + 145, + 125, + 152, + 136 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.013571429066359997, + 0.0, + -0.014642857015132904, + 0.0, + 0.02142857201397419, + 0.05714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.07392856478691101, + 0.0, + -0.12464286386966705, + 0.08428571373224258, + 0.5114285349845886, + 1.351428747177124, + -1.0 + ], + "delta_full_state_norm": [ + 0.7075126213285727, + -0.08633108557305769, + -0.8144084069053839, + 0.2857140581240032, + 0.4024895360505103, + 0.3383664250699263, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 74 mm; move right 0 mm; move downward 125 mm; roll upward 5 degrees; pitch upward 29 degrees; yaw counterclockwise 77 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 382, + "segment_id": 10982, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned directly over the sink, holding the green cup. The object remains stationary within the basin across all frames, indicating the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink, holding the green cup. The object remains stationary within the basin across all frames, indicating the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 59 mm; move right 0 mm; move downward 99 mm; roll upward 6 degrees; pitch upward 28 degrees; yaw counterclockwise 77 degrees; close gripper;\nSubtask Movement: move forward 24 mm; move right 0 mm; move downward 27 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [145,125], [153,136]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 153, + 129 + ], + "task_obj_bbox": [ + 145, + 125, + 153, + 136 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.012142857536673546, + 0.0, + -0.013571429066359997, + 0.0, + 0.022857142612338066, + 0.058571428060531616, + 1.0 + ], + "delta_next_20": [ + 0.058571428060531616, + 0.0, + -0.09928571432828903, + 0.10285714268684387, + 0.4942857027053833, + 1.3457143306732178, + -1.0 + ], + "delta_full_state_norm": [ + 0.6271590831257845, + -0.08633108557305769, + -0.7786259927030973, + 0.2857140581240032, + 0.41977859795857597, + 0.35552495922909677, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 59 mm; move right 0 mm; move downward 99 mm; roll upward 6 degrees; pitch upward 28 degrees; yaw counterclockwise 77 degrees; close gripper;", + "subtask_movement_text": "move forward 24 mm; move right 0 mm; move downward 27 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 383, + "segment_id": 10982, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned directly over the sink, holding the green cup. The object remains stationary within the basin across all frames, indicating the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink, holding the green cup. The object remains stationary within the basin across all frames, indicating the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 44 mm; move right 0 mm; move downward 74 mm; roll upward 7 degrees; pitch upward 27 degrees; yaw counterclockwise 76 degrees; close gripper;\nSubtask Movement: move forward 12 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [145,125], [155,136]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 153, + 129 + ], + "task_obj_bbox": [ + 145, + 125, + 155, + 136 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.011785714887082577, + 0.0, + -0.013571429066359997, + 0.0, + 0.025714285671710968, + 0.05999999865889549, + 1.0 + ], + "delta_next_20": [ + 0.04357143118977547, + 0.0, + -0.07428571581840515, + 0.11714285612106323, + 0.4714285433292389, + 1.3314285278320312, + -1.0 + ], + "delta_full_state_norm": [ + 0.6070707116712226, + -0.08633108557305769, + -0.7786259927030973, + 0.2857140581240032, + 0.4543567443170917, + 0.372683493388267, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 44 mm; move right 0 mm; move downward 74 mm; roll upward 7 degrees; pitch upward 27 degrees; yaw counterclockwise 76 degrees; close gripper;", + "subtask_movement_text": "move forward 12 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 384, + "segment_id": 10982, + "subtask": "place the green cup in the sink", + "reason": "The robot's end-effector is positioned directly over the sink, holding the green cup. The object remains stationary within the basin across all frames, indicating the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink, holding the green cup. The object remains stationary within the basin across all frames, indicating the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 30 mm; move right 0 mm; move downward 49 mm; roll upward 8 degrees; pitch upward 26 degrees; yaw counterclockwise 75 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [145,125], [155,136]\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 153, + 129 + ], + "task_obj_bbox": [ + 145, + 125, + 155, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + 0.0, + -0.013928571715950966, + 0.0, + 0.02428571507334709, + 0.05999999865889549, + 1.0 + ], + "delta_next_20": [ + 0.030000004917383194, + 0.0, + -0.048571422696113586, + 0.1314285695552826, + 0.4457142949104309, + 1.3100000619888306, + -1.0 + ], + "delta_full_state_norm": [ + 0.5066288020138727, + -0.08633108557305769, + -0.7905534641038594, + 0.2857140581240032, + 0.43706768240902605, + 0.372683493388267, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 30 mm; move right 0 mm; move downward 49 mm; roll upward 8 degrees; pitch upward 26 degrees; yaw counterclockwise 75 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 385, + "segment_id": 10682, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink with the green cup resting inside the basin. The end-effector appears stationary or settling, indicating the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the green cup resting inside the basin. The end-effector appears stationary or settling, indicating the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 19 mm; move right 0 mm; move downward 21 mm; roll upward 9 degrees; pitch upward 24 degrees; yaw counterclockwise 74 degrees; close gripper;\nSubtask Movement: move forward 24 mm; move right 0 mm; move downward 50 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw counterclockwise 15 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [145,125], [155,136]\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 154, + 129 + ], + "task_obj_bbox": [ + 145, + 125, + 155, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + 0.0, + -0.013214285485446453, + 0.0, + 0.027142856270074844, + 0.06142857298254967, + 1.0 + ], + "delta_next_20": [ + 0.018928570672869682, + 0.0, + -0.02142856828868389, + 0.15142856538295746, + 0.4242857098579407, + 1.2828572988510132, + -1.0 + ], + "delta_full_state_norm": [ + 0.4463636352656464, + -0.08633108557305769, + -0.7666984901990115, + 0.2857140581240032, + 0.4716458062251574, + 0.3898420722918279, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 19 mm; move right 0 mm; move downward 21 mm; roll upward 9 degrees; pitch upward 24 degrees; yaw counterclockwise 74 degrees; close gripper;", + "subtask_movement_text": "move forward 24 mm; move right 0 mm; move downward 50 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw counterclockwise 15 degrees; open gripper;" + }, + { + "frame_index": 386, + "segment_id": 10682, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink with the green cup resting inside the basin. The end-effector appears stationary or settling, indicating the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the green cup resting inside the basin. The end-effector appears stationary or settling, indicating the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 5 mm; move right 0 mm; move upward 7 mm; roll upward 10 degrees; pitch upward 23 degrees; yaw counterclockwise 72 degrees; close gripper;\nSubtask Movement: move forward 15 mm; move right 0 mm; move downward 37 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [145,125], [155,136]\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 154, + 129 + ], + "task_obj_bbox": [ + 145, + 125, + 155, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.006428571883589029, + 0.0, + -0.012857143767178059, + 0.0, + 0.029999999329447746, + 0.06428571790456772, + 1.0 + ], + "delta_next_20": [ + 0.004999999422580004, + 0.0, + 0.006785716395825148, + 0.1728571355342865, + 0.40142858028411865, + 1.25, + -1.0 + ], + "delta_full_state_norm": [ + 0.30574495650690237, + -0.08633108557305769, + -0.7547710499015728, + 0.2857140581240032, + 0.5062239525836731, + 0.4241591853545592, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 5 mm; move right 0 mm; move upward 7 mm; roll upward 10 degrees; pitch upward 23 degrees; yaw counterclockwise 72 degrees; close gripper;", + "subtask_movement_text": "move forward 15 mm; move right 0 mm; move downward 37 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 387, + "segment_id": 10682, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink with the green cup resting inside the basin. The end-effector appears stationary or settling, indicating the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the green cup resting inside the basin. The end-effector appears stationary or settling, indicating the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 7 mm; move right 0 mm; move upward 36 mm; roll upward 11 degrees; pitch upward 21 degrees; yaw counterclockwise 69 degrees; close gripper;\nSubtask Movement: move forward 9 mm; move right 0 mm; move downward 24 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [145,125], [155,136]\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 154, + 129 + ], + "task_obj_bbox": [ + 145, + 125, + 155, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.004642857238650322, + 0.0, + -0.012142857536673546, + 0.0, + 0.029999999329447746, + 0.06428571790456772, + 1.0 + ], + "delta_next_20": [ + -0.00714285671710968, + 0.0, + 0.0357142873108387, + 0.19428570568561554, + 0.37142857909202576, + 1.2114287614822388, + -1.0 + ], + "delta_full_state_norm": [ + 0.20530302065728168, + -0.08633108557305769, + -0.730916075996725, + 0.2857140581240032, + 0.5062239525836731, + 0.4241591853545592, + 0.9999999900000001 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 7 mm; move right 0 mm; move upward 36 mm; roll upward 11 degrees; pitch upward 21 degrees; yaw counterclockwise 69 degrees; close gripper;", + "subtask_movement_text": "move forward 9 mm; move right 0 mm; move downward 24 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 388, + "segment_id": 10682, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink with the green cup resting inside the basin. The end-effector appears stationary or settling, indicating the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the green cup resting inside the basin. The end-effector appears stationary or settling, indicating the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 18 mm; move right 0 mm; move upward 63 mm; roll upward 12 degrees; pitch upward 20 degrees; yaw counterclockwise 67 degrees; close gripper;\nSubtask Movement: move forward 4 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [145,125], [151,136]\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 154, + 129 + ], + "task_obj_bbox": [ + 145, + 125, + 151, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.004285714589059353, + 0.0, + -0.012142857536673546, + 0.0, + 0.034285712987184525, + 0.0657142847776413, + 1.0 + ], + "delta_next_20": [ + -0.017500000074505806, + 0.0, + 0.06321428716182709, + 0.21142856776714325, + 0.34142857789993286, + 1.1700001955032349, + -1.0 + ], + "delta_full_state_norm": [ + 0.18521464920272002, + -0.08633108557305769, + -0.730916075996725, + 0.2857140581240032, + 0.5580911608502548, + 0.44131767476933903, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 18 mm; move right 0 mm; move upward 63 mm; roll upward 12 degrees; pitch upward 20 degrees; yaw counterclockwise 67 degrees; close gripper;", + "subtask_movement_text": "move forward 4 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 389, + "segment_id": 10682, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink with the green cup resting inside the basin. The end-effector appears stationary or settling, indicating the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with the green cup resting inside the basin. The end-effector appears stationary or settling, indicating the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; close gripper;\nNext 20 Movement: move backward 28 mm; move right 0 mm; move upward 92 mm; roll upward 13 degrees; pitch upward 18 degrees; yaw counterclockwise 65 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [145,125], [151,136]\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 154, + 129 + ], + "task_obj_bbox": [ + 145, + 125, + 151, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.002500000176951289, + 0.0, + -0.011071428656578064, + 0.0, + 0.03857142850756645, + 0.06857142597436905, + -1.0 + ], + "delta_next_20": [ + -0.027500001713633537, + 0.0, + 0.09214285761117935, + 0.2328571379184723, + 0.30714285373687744, + 1.1271430253982544, + -1.0 + ], + "delta_full_state_norm": [ + 0.08477272644923484, + -0.08633108557305769, + -0.6951336306911149, + 0.2857140581240032, + 0.6099583916592206, + 0.4756347430876797, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 4 degrees; close gripper;", + "next_20_movement_text": "move backward 28 mm; move right 0 mm; move upward 92 mm; roll upward 13 degrees; pitch upward 18 degrees; yaw counterclockwise 65 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 390, + "segment_id": 10690, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink with its end-effector in contact with the green cup, which is resting inside the basin; this matches the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with its end-effector in contact with the green cup, which is resting inside the basin; this matches the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 4 degrees; close gripper;\nNext 20 Movement: move backward 38 mm; move right 0 mm; move upward 120 mm; roll upward 15 degrees; pitch upward 15 degrees; yaw counterclockwise 62 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 18 mm; roll upward 1 degrees; pitch upward 9 degrees; yaw counterclockwise 13 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [145,125], [151,136]\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 154, + 129 + ], + "task_obj_bbox": [ + 145, + 125, + 151, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.008571429178118706, + 0.0, + 0.04571428522467613, + 0.07285714149475098, + -1.0 + ], + "delta_next_20": [ + -0.03821428865194321, + 0.0, + 0.12035713344812393, + 0.2542857229709625, + 0.2685714364051819, + 1.0800000429153442, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.6116412997824561, + 0.2857140581240032, + 0.6964037462843178, + 0.5271103903095813, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw counterclockwise 4 degrees; close gripper;", + "next_20_movement_text": "move backward 38 mm; move right 0 mm; move upward 120 mm; roll upward 15 degrees; pitch upward 15 degrees; yaw counterclockwise 62 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 18 mm; roll upward 1 degrees; pitch upward 9 degrees; yaw counterclockwise 13 degrees; close gripper;" + }, + { + "frame_index": 391, + "segment_id": 10690, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink with its end-effector in contact with the green cup, which is resting inside the basin; this matches the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with its end-effector in contact with the green cup, which is resting inside the basin; this matches the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 5 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw counterclockwise 5 degrees; close gripper;\nNext 20 Movement: move backward 46 mm; move right 0 mm; move upward 146 mm; roll upward 16 degrees; pitch upward 13 degrees; yaw counterclockwise 59 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 10 mm; roll upward 1 degrees; pitch upward 6 degrees; yaw counterclockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [145,125], [152,136]\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 155, + 129 + ], + "task_obj_bbox": [ + 145, + 125, + 152, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.005000000353902578, + 0.011428571306169033, + 0.05428571254014969, + 0.07857143133878708, + -1.0 + ], + "delta_next_20": [ + -0.04642857238650322, + 0.0, + 0.14642857015132904, + 0.27571430802345276, + 0.22285713255405426, + 1.0228570699691772, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.49236650801652526, + 0.6666663681928839, + 0.8001381628174808, + 0.5957446164350437, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 5 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw counterclockwise 5 degrees; close gripper;", + "next_20_movement_text": "move backward 46 mm; move right 0 mm; move upward 146 mm; roll upward 16 degrees; pitch upward 13 degrees; yaw counterclockwise 59 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 10 mm; roll upward 1 degrees; pitch upward 6 degrees; yaw counterclockwise 9 degrees; close gripper;" + }, + { + "frame_index": 392, + "segment_id": 10690, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink with its end-effector in contact with the green cup, which is resting inside the basin; this matches the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with its end-effector in contact with the green cup, which is resting inside the basin; this matches the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 5 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw counterclockwise 5 degrees; close gripper;\nNext 20 Movement: move backward 55 mm; move right 0 mm; move upward 170 mm; roll upward 16 degrees; pitch upward 10 degrees; yaw counterclockwise 55 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 5 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw counterclockwise 5 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [146,125], [152,136]\ndistr_counter: [32,122], [42,137]\ndistr_sink: [152,137], [152,137]\n", + "gripper_2d": [ + 155, + 129 + ], + "task_obj_bbox": [ + 146, + 125, + 152, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 152, + 137, + 152, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.004642857238650322, + 0.012857142835855484, + 0.05428571254014969, + 0.07999999821186066, + -1.0 + ], + "delta_next_20": [ + -0.055000003427267075, + 0.0, + 0.1696428507566452, + 0.2871428430080414, + 0.16857142746448517, + 0.9599999189376831, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.4804390210641013, + 0.714285410832004, + 0.8001381628174808, + 0.6129031058498235, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 5 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw counterclockwise 5 degrees; close gripper;", + "next_20_movement_text": "move backward 55 mm; move right 0 mm; move upward 170 mm; roll upward 16 degrees; pitch upward 10 degrees; yaw counterclockwise 55 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 5 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw counterclockwise 5 degrees; close gripper;" + }, + { + "frame_index": 393, + "segment_id": 10690, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink with its end-effector in contact with the green cup, which is resting inside the basin; this matches the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink with its end-effector in contact with the green cup, which is resting inside the basin; this matches the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 2 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 5 degrees; close gripper;\nNext 20 Movement: move backward 64 mm; move right 0 mm; move upward 193 mm; roll upward 17 degrees; pitch upward 7 degrees; yaw counterclockwise 51 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [146,125], [152,136]\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 155, + 129 + ], + "task_obj_bbox": [ + 146, + 125, + 152, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.0017857144121080637, + 0.0057142856530845165, + 0.0357142873108387, + 0.07857143133878708, + -1.0 + ], + "delta_next_20": [ + -0.06392857432365417, + 0.0, + 0.19285714626312256, + 0.2928571403026581, + 0.11428571492433548, + 0.8957142233848572, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.38501919542718754, + 0.47619021315844345, + 0.575380267843089, + 0.5957446164350437, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 2 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 5 degrees; close gripper;", + "next_20_movement_text": "move backward 64 mm; move right 0 mm; move upward 193 mm; roll upward 17 degrees; pitch upward 7 degrees; yaw counterclockwise 51 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 394, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 5 degrees; close gripper;\nNext 20 Movement: move backward 73 mm; move right 0 mm; move upward 214 mm; roll upward 18 degrees; pitch upward 5 degrees; yaw counterclockwise 48 degrees; close gripper;\nSubtask Movement: move backward 405 mm; move right 0 mm; move upward 1125 mm; roll upward 20 degrees; pitch downward 67 degrees; yaw counterclockwise 65 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [147,126], [152,136]\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 155, + 129 + ], + "task_obj_bbox": [ + 147, + 126, + 152, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0057142856530845165, + 0.029999999329447746, + 0.07857143133878708, + -1.0 + ], + "delta_next_20": [ + -0.07250000536441803, + 0.0, + 0.2135714292526245, + 0.30714285373687744, + 0.07857142388820648, + 0.8299999237060547, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.47619021315844345, + 0.5062239525836731, + 0.5957446164350437, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw counterclockwise 5 degrees; close gripper;", + "next_20_movement_text": "move backward 73 mm; move right 0 mm; move upward 214 mm; roll upward 18 degrees; pitch upward 5 degrees; yaw counterclockwise 48 degrees; close gripper;", + "subtask_movement_text": "move backward 405 mm; move right 0 mm; move upward 1125 mm; roll upward 20 degrees; pitch downward 67 degrees; yaw counterclockwise 65 degrees; close gripper;" + }, + { + "frame_index": 395, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 4 degrees; close gripper;\nNext 20 Movement: move backward 83 mm; move right 0 mm; move upward 232 mm; roll upward 18 degrees; pitch upward 3 degrees; yaw counterclockwise 43 degrees; close gripper;\nSubtask Movement: move backward 405 mm; move right 0 mm; move upward 1125 mm; roll upward 20 degrees; pitch downward 68 degrees; yaw counterclockwise 60 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [147,126], [152,136]\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 155, + 129 + ], + "task_obj_bbox": [ + 147, + 126, + 152, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.008571428246796131, + 0.022857142612338066, + 0.0771428570151329, + -1.0 + ], + "delta_next_20": [ + -0.082857146859169, + 0.0, + 0.2321428507566452, + 0.3157142996788025, + 0.048571426421403885, + 0.7571428418159485, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.5714282829146438, + 0.41977859795857597, + 0.5785860375314829, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 4 degrees; close gripper;", + "next_20_movement_text": "move backward 83 mm; move right 0 mm; move upward 232 mm; roll upward 18 degrees; pitch upward 3 degrees; yaw counterclockwise 43 degrees; close gripper;", + "subtask_movement_text": "move backward 405 mm; move right 0 mm; move upward 1125 mm; roll upward 20 degrees; pitch downward 68 degrees; yaw counterclockwise 60 degrees; close gripper;" + }, + { + "frame_index": 396, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 5 degrees; close gripper;\nNext 20 Movement: move backward 93 mm; move right 0 mm; move upward 250 mm; roll upward 18 degrees; pitch upward 1 degrees; yaw counterclockwise 39 degrees; close gripper;\nSubtask Movement: move backward 405 mm; move right 0 mm; move upward 1125 mm; roll upward 19 degrees; pitch downward 70 degrees; yaw counterclockwise 56 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [150,132], [152,136]\ndistr_counter: [32,122], [42,137]\ndistr_sink: [152,137], [152,137]\n", + "gripper_2d": [ + 155, + 129 + ], + "task_obj_bbox": [ + 150, + 132, + 152, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 152, + 137, + 152, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.008571428246796131, + 0.011428571306169033, + 0.07857143133878708, + -1.0 + ], + "delta_next_20": [ + -0.0925000011920929, + 0.0, + 0.25035715103149414, + 0.3199999928474426, + 0.025714285671710968, + 0.6842857003211975, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.5714282829146438, + 0.2814660237957052, + 0.5957446164350437, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw counterclockwise 5 degrees; close gripper;", + "next_20_movement_text": "move backward 93 mm; move right 0 mm; move upward 250 mm; roll upward 18 degrees; pitch upward 1 degrees; yaw counterclockwise 39 degrees; close gripper;", + "subtask_movement_text": "move backward 405 mm; move right 0 mm; move upward 1125 mm; roll upward 19 degrees; pitch downward 70 degrees; yaw counterclockwise 56 degrees; close gripper;" + }, + { + "frame_index": 397, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 4 degrees; close gripper;\nNext 20 Movement: move backward 104 mm; move right 0 mm; move upward 268 mm; roll upward 18 degrees; pitch upward 1 degrees; yaw counterclockwise 35 degrees; close gripper;\nSubtask Movement: move backward 405 mm; move right 0 mm; move upward 1125 mm; roll upward 19 degrees; pitch downward 70 degrees; yaw counterclockwise 51 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [150,132], [152,136]\ndistr_counter: [32,122], [42,137]\ndistr_sink: [152,137], [152,137]\n", + "gripper_2d": [ + 156, + 129 + ], + "task_obj_bbox": [ + 150, + 132, + 152, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 152, + 137, + 152, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0057142856530845165, + 0.0028571428265422583, + 0.07000000029802322, + -1.0 + ], + "delta_next_20": [ + -0.1039285808801651, + 0.0, + 0.26821431517601013, + 0.31714287400245667, + 0.01428571343421936, + 0.6071428060531616, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.47619021315844345, + 0.17773159317355214, + 0.4927933219912406, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 4 degrees; close gripper;", + "next_20_movement_text": "move backward 104 mm; move right 0 mm; move upward 268 mm; roll upward 18 degrees; pitch upward 1 degrees; yaw counterclockwise 35 degrees; close gripper;", + "subtask_movement_text": "move backward 405 mm; move right 0 mm; move upward 1125 mm; roll upward 19 degrees; pitch downward 70 degrees; yaw counterclockwise 51 degrees; close gripper;" + }, + { + "frame_index": 398, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; close gripper;\nNext 20 Movement: move backward 117 mm; move right 0 mm; move upward 287 mm; roll upward 18 degrees; pitch upward 1 degrees; yaw counterclockwise 31 degrees; close gripper;\nSubtask Movement: move backward 405 mm; move right 0 mm; move upward 1125 mm; roll upward 18 degrees; pitch downward 71 degrees; yaw counterclockwise 47 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [150,132], [152,136]\ndistr_counter: [32,122], [42,137]\ndistr_sink: [151,136], [152,137]\n", + "gripper_2d": [ + 156, + 129 + ], + "task_obj_bbox": [ + 150, + 132, + 152, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 151, + 136, + 152, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.008571428246796131, + 0.0, + 0.06142857298254967, + -1.0 + ], + "delta_next_20": [ + -0.11678571999073029, + 0.0, + 0.28678572177886963, + 0.3157142996788025, + 0.011428570374846458, + 0.5371427536010742, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.5714282829146438, + 0.14315344963283438, + 0.3898420722918279, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 4 degrees; close gripper;", + "next_20_movement_text": "move backward 117 mm; move right 0 mm; move upward 287 mm; roll upward 18 degrees; pitch upward 1 degrees; yaw counterclockwise 31 degrees; close gripper;", + "subtask_movement_text": "move backward 405 mm; move right 0 mm; move upward 1125 mm; roll upward 18 degrees; pitch downward 71 degrees; yaw counterclockwise 47 degrees; close gripper;" + }, + { + "frame_index": 399, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 5 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 130 mm; move right 0 mm; move upward 307 mm; roll upward 18 degrees; pitch upward 1 degrees; yaw counterclockwise 27 degrees; close gripper;\nSubtask Movement: move backward 405 mm; move right 0 mm; move upward 1125 mm; roll upward 18 degrees; pitch downward 71 degrees; yaw counterclockwise 44 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [150,132], [152,136]\ndistr_counter: [32,122], [42,137]\ndistr_sink: [152,137], [152,137]\n", + "gripper_2d": [ + 156, + 129 + ], + "task_obj_bbox": [ + 150, + 132, + 152, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 152, + 137, + 152, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.004642857238650322, + 0.0057142856530845165, + 0.0, + 0.058571428060531616, + -1.0 + ], + "delta_next_20": [ + -0.13035714626312256, + 0.0, + 0.30714285373687744, + 0.31285718083381653, + 0.011428570374846458, + 0.4757142961025238, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.1703245780243432, + 0.47619021315844345, + 0.14315344963283438, + 0.35552495922909677, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 5 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 130 mm; move right 0 mm; move upward 307 mm; roll upward 18 degrees; pitch upward 1 degrees; yaw counterclockwise 27 degrees; close gripper;", + "subtask_movement_text": "move backward 405 mm; move right 0 mm; move upward 1125 mm; roll upward 18 degrees; pitch downward 71 degrees; yaw counterclockwise 44 degrees; close gripper;" + }, + { + "frame_index": 400, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 144 mm; move right 0 mm; move upward 323 mm; roll upward 18 degrees; pitch upward 1 degrees; yaw counterclockwise 24 degrees; close gripper;\nSubtask Movement: move backward 405 mm; move right 0 mm; move upward 1121 mm; roll upward 18 degrees; pitch downward 71 degrees; yaw counterclockwise 41 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [150,132], [152,137]\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 156, + 128 + ], + "task_obj_bbox": [ + 150, + 132, + 152, + 137 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.0003571428533177823, + 0.0, + 0.007857142947614193, + 0.011428571306169033, + 0.0, + 0.05714285746216774, + -1.0 + ], + "delta_next_20": [ + -0.14392857253551483, + 0.0, + 0.32321426272392273, + 0.30714288353919983, + 0.011428570374846458, + 0.4171428680419922, + -1.0 + ], + "delta_full_state_norm": [ + -0.07593434831932477, + -0.08633108557305769, + -0.06297727321083635, + 0.6666663681928839, + 0.14315344963283438, + 0.3383664250699263, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 144 mm; move right 0 mm; move upward 323 mm; roll upward 18 degrees; pitch upward 1 degrees; yaw counterclockwise 24 degrees; close gripper;", + "subtask_movement_text": "move backward 405 mm; move right 0 mm; move upward 1121 mm; roll upward 18 degrees; pitch downward 71 degrees; yaw counterclockwise 41 degrees; close gripper;" + }, + { + "frame_index": 401, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 2 mm; move right 0 mm; move upward 11 mm; roll upward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 158 mm; move right 0 mm; move upward 339 mm; roll upward 17 degrees; pitch upward 1 degrees; yaw counterclockwise 21 degrees; close gripper;\nSubtask Movement: move backward 405 mm; move right 0 mm; move upward 1113 mm; roll upward 17 degrees; pitch downward 71 degrees; yaw counterclockwise 37 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [150,132], [152,137]\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 156, + 128 + ], + "task_obj_bbox": [ + 150, + 132, + 152, + 137 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.0017857144121080637, + 0.0, + 0.010714286006987095, + 0.018571428954601288, + 0.004285714123398066, + 0.051428571343421936, + -1.0 + ], + "delta_next_20": [ + -0.15785714983940125, + 0.0, + 0.3385713994503021, + 0.2957143187522888, + 0.011428570374846458, + 0.36000004410743713, + -1.0 + ], + "delta_full_state_norm": [ + -0.15628788815912986, + -0.08633108557305769, + 0.03244256020190828, + 0.9047615813884848, + 0.1950206635350118, + 0.2697322436888545, + -1.0 + ], + "movement_text": "move backward 2 mm; move right 0 mm; move upward 11 mm; roll upward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 158 mm; move right 0 mm; move upward 339 mm; roll upward 17 degrees; pitch upward 1 degrees; yaw counterclockwise 21 degrees; close gripper;", + "subtask_movement_text": "move backward 405 mm; move right 0 mm; move upward 1113 mm; roll upward 17 degrees; pitch downward 71 degrees; yaw counterclockwise 37 degrees; close gripper;" + }, + { + "frame_index": 402, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 0 mm; move upward 11 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; close gripper;\nNext 20 Movement: move backward 170 mm; move right 0 mm; move upward 353 mm; roll upward 16 degrees; pitch upward 0 degrees; yaw counterclockwise 18 degrees; close gripper;\nSubtask Movement: move backward 403 mm; move right 0 mm; move upward 1102 mm; roll upward 16 degrees; pitch downward 71 degrees; yaw counterclockwise 34 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [150,132], [152,136]\ndistr_counter: [32,122], [42,137]\ndistr_sink: [152,137], [152,137]\n", + "gripper_2d": [ + 156, + 128 + ], + "task_obj_bbox": [ + 150, + 132, + 152, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 152, + 137, + 152, + 137 + ] + ], + "delta_full_state": [ + -0.0028571428265422583, + 0.0, + 0.011428571306169033, + 0.014285714365541935, + 0.0, + 0.044285714626312256, + -1.0 + ], + "delta_next_20": [ + -0.17000000178813934, + 0.0, + 0.353214293718338, + 0.27714288234710693, + 0.00714285671710968, + 0.308571457862854, + -1.0 + ], + "delta_full_state_norm": [ + -0.21655302871508564, + -0.08633108557305769, + 0.0562975030034325, + 0.7619044534711243, + 0.14315344963283438, + 0.18393952814861225, + -1.0 + ], + "movement_text": "move backward 3 mm; move right 0 mm; move upward 11 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 3 degrees; close gripper;", + "next_20_movement_text": "move backward 170 mm; move right 0 mm; move upward 353 mm; roll upward 16 degrees; pitch upward 0 degrees; yaw counterclockwise 18 degrees; close gripper;", + "subtask_movement_text": "move backward 403 mm; move right 0 mm; move upward 1102 mm; roll upward 16 degrees; pitch downward 71 degrees; yaw counterclockwise 34 degrees; close gripper;" + }, + { + "frame_index": 403, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 2 mm; move right 0 mm; move upward 12 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 180 mm; move right 0 mm; move upward 369 mm; roll upward 15 degrees; pitch upward 0 degrees; yaw counterclockwise 15 degrees; close gripper;\nSubtask Movement: move backward 400 mm; move right 0 mm; move upward 1091 mm; roll upward 15 degrees; pitch downward 71 degrees; yaw counterclockwise 32 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [150,131], [152,136]\ndistr_counter: [32,122], [42,137]\ndistr_sink: [152,137], [152,137]\n", + "gripper_2d": [ + 156, + 128 + ], + "task_obj_bbox": [ + 150, + 131, + 152, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 152, + 137, + 152, + 137 + ] + ], + "delta_full_state": [ + -0.0017857144121080637, + 0.0, + 0.012142857536673546, + 0.014285714365541935, + 0.0, + 0.03857142850756645, + -1.0 + ], + "delta_next_20": [ + -0.17964285612106323, + 0.0, + 0.368571400642395, + 0.2628571391105652, + 0.00714285671710968, + 0.2657143175601959, + -1.0 + ], + "delta_full_state_norm": [ + -0.15628788815912986, + -0.08633108557305769, + 0.08015247690828042, + 0.7619044534711243, + 0.14315344963283438, + 0.11530534676754023, + -1.0 + ], + "movement_text": "move backward 2 mm; move right 0 mm; move upward 12 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 180 mm; move right 0 mm; move upward 369 mm; roll upward 15 degrees; pitch upward 0 degrees; yaw counterclockwise 15 degrees; close gripper;", + "subtask_movement_text": "move backward 400 mm; move right 0 mm; move upward 1091 mm; roll upward 15 degrees; pitch downward 71 degrees; yaw counterclockwise 32 degrees; close gripper;" + }, + { + "frame_index": 404, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move right 0 mm; move upward 13 mm; roll upward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 189 mm; move right 0 mm; move upward 385 mm; roll upward 14 degrees; pitch upward 0 degrees; yaw counterclockwise 13 degrees; close gripper;\nSubtask Movement: move backward 398 mm; move right 0 mm; move upward 1079 mm; roll upward 14 degrees; pitch downward 71 degrees; yaw counterclockwise 30 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [150,131], [152,136]\ndistr_counter: [32,122], [42,137]\ndistr_sink: [151,136], [152,137]\n", + "gripper_2d": [ + 156, + 127 + ], + "task_obj_bbox": [ + 150, + 131, + 152, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 151, + 136, + 152, + 137 + ] + ], + "delta_full_state": [ + -0.0010714286472648382, + 0.0, + 0.013214285485446453, + 0.019999999552965164, + 0.0028571428265422583, + 0.03285714238882065, + -1.0 + ], + "delta_next_20": [ + -0.18928571045398712, + 0.0, + 0.3846428394317627, + 0.24857139587402344, + 0.00714285671710968, + 0.23142856359481812, + -1.0 + ], + "delta_full_state_norm": [ + -0.11611111905773575, + -0.08633108557305769, + 0.1159348911105671, + 0.9523805929835245, + 0.17773159317355214, + 0.046671165386468205, + -1.0 + ], + "movement_text": "move backward 1 mm; move right 0 mm; move upward 13 mm; roll upward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 189 mm; move right 0 mm; move upward 385 mm; roll upward 14 degrees; pitch upward 0 degrees; yaw counterclockwise 13 degrees; close gripper;", + "subtask_movement_text": "move backward 398 mm; move right 0 mm; move upward 1079 mm; roll upward 14 degrees; pitch downward 71 degrees; yaw counterclockwise 30 degrees; close gripper;" + }, + { + "frame_index": 405, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 0 mm; move upward 15 mm; roll upward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 2 degrees; close gripper;\nNext 20 Movement: move backward 199 mm; move right 0 mm; move upward 401 mm; roll upward 13 degrees; pitch upward 0 degrees; yaw counterclockwise 12 degrees; close gripper;\nSubtask Movement: move backward 397 mm; move right 0 mm; move upward 1065 mm; roll upward 13 degrees; pitch downward 71 degrees; yaw counterclockwise 28 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [149,129], [152,136]\ndistr_counter: [32,122], [42,137]\ndistr_sink: [151,136], [151,136]\n", + "gripper_2d": [ + 156, + 127 + ], + "task_obj_bbox": [ + 149, + 129, + 152, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 151, + 136, + 151, + 136 + ] + ], + "delta_full_state": [ + -0.005000000353902578, + 0.0, + 0.015000000596046448, + 0.02142857201397419, + 0.004285714123398066, + 0.02857142873108387, + -1.0 + ], + "delta_next_20": [ + -0.19857142865657806, + 0.0, + 0.4010713994503021, + 0.22857141494750977, + 0.004285714123398066, + 0.20714284479618073, + -1.0 + ], + "delta_full_state_norm": [ + -0.3370833491154033, + -0.08633108557305769, + 0.17557231032102516, + 0.999999666666725, + 0.1950206635350118, + -0.004804459463238042, + -1.0 + ], + "movement_text": "move backward 5 mm; move right 0 mm; move upward 15 mm; roll upward 1 degrees; pitch upward 0 degrees; yaw counterclockwise 2 degrees; close gripper;", + "next_20_movement_text": "move backward 199 mm; move right 0 mm; move upward 401 mm; roll upward 13 degrees; pitch upward 0 degrees; yaw counterclockwise 12 degrees; close gripper;", + "subtask_movement_text": "move backward 397 mm; move right 0 mm; move upward 1065 mm; roll upward 13 degrees; pitch downward 71 degrees; yaw counterclockwise 28 degrees; close gripper;" + }, + { + "frame_index": 406, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 0 mm; move upward 16 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 204 mm; move right 0 mm; move upward 417 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw counterclockwise 11 degrees; close gripper;\nSubtask Movement: move backward 392 mm; move right 0 mm; move upward 1050 mm; roll upward 12 degrees; pitch downward 71 degrees; yaw counterclockwise 26 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [150,131], [152,136]\ndistr_counter: [32,122], [42,137]\ndistr_sink: [151,136], [152,137]\n", + "gripper_2d": [ + 156, + 127 + ], + "task_obj_bbox": [ + 150, + 131, + 152, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 151, + 136, + 152, + 137 + ] + ], + "delta_full_state": [ + -0.0057142856530845165, + 0.0, + 0.01607142947614193, + 0.02142857201397419, + 0.0, + 0.025714285671710968, + -1.0 + ], + "delta_next_20": [ + -0.20392857491970062, + 0.0, + 0.41678571701049805, + 0.20714282989501953, + -0.004285714123398066, + 0.18999998271465302, + -1.0 + ], + "delta_full_state_norm": [ + -0.3772600920245268, + -0.08633108557305769, + 0.2113547556266353, + 0.999999666666725, + 0.14315344963283438, + -0.039121550153774054, + -1.0 + ], + "movement_text": "move backward 6 mm; move right 0 mm; move upward 16 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 204 mm; move right 0 mm; move upward 417 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw counterclockwise 11 degrees; close gripper;", + "subtask_movement_text": "move backward 392 mm; move right 0 mm; move upward 1050 mm; roll upward 12 degrees; pitch downward 71 degrees; yaw counterclockwise 26 degrees; close gripper;" + }, + { + "frame_index": 407, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 0 mm; move upward 15 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 209 mm; move right 0 mm; move upward 432 mm; roll upward 11 degrees; pitch downward 1 degrees; yaw counterclockwise 10 degrees; close gripper;\nSubtask Movement: move backward 386 mm; move right 0 mm; move upward 1034 mm; roll upward 11 degrees; pitch downward 71 degrees; yaw counterclockwise 25 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,133], [152,136]\ndistr_counter: [32,122], [42,137]\ndistr_sink: [151,136], [152,137]\n", + "gripper_2d": [ + 156, + 126 + ], + "task_obj_bbox": [ + 151, + 133, + 152, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ], + [ + 151, + 136, + 152, + 137 + ] + ], + "delta_full_state": [ + -0.0057142856530845165, + 0.0, + 0.015357143245637417, + 0.017142856493592262, + 0.0, + 0.022857142612338066, + -1.0 + ], + "delta_next_20": [ + -0.2085714340209961, + 0.0, + 0.4324999749660492, + 0.18571427464485168, + -0.02142857015132904, + 0.17714284360408783, + -1.0 + ], + "delta_full_state_norm": [ + -0.3772600920245268, + -0.08633108557305769, + 0.18749978172178738, + 0.8571425077052841, + 0.14315344963283438, + -0.07343864084430995, + -1.0 + ], + "movement_text": "move backward 6 mm; move right 0 mm; move upward 15 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 209 mm; move right 0 mm; move upward 432 mm; roll upward 11 degrees; pitch downward 1 degrees; yaw counterclockwise 10 degrees; close gripper;", + "subtask_movement_text": "move backward 386 mm; move right 0 mm; move upward 1034 mm; roll upward 11 degrees; pitch downward 71 degrees; yaw counterclockwise 25 degrees; close gripper;" + }, + { + "frame_index": 408, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 0 mm; move upward 17 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 213 mm; move right 0 mm; move upward 449 mm; roll upward 10 degrees; pitch downward 3 degrees; yaw counterclockwise 10 degrees; close gripper;\nSubtask Movement: move backward 381 mm; move right 0 mm; move upward 1019 mm; roll upward 10 degrees; pitch downward 71 degrees; yaw counterclockwise 23 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,133], [152,136]\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 156, + 126 + ], + "task_obj_bbox": [ + 151, + 133, + 152, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.0057142856530845165, + 0.0, + 0.016785714775323868, + 0.02142857201397419, + 0.0, + 0.022857142612338066, + -1.0 + ], + "delta_next_20": [ + -0.21321427822113037, + 0.0, + 0.44857144355773926, + 0.16857141256332397, + -0.04714285582304001, + 0.17000000178813934, + -1.0 + ], + "delta_full_state_norm": [ + -0.3772600920245268, + -0.08633108557305769, + 0.23520969842815953, + 0.999999666666725, + 0.14315344963283438, + -0.07343864084430995, + -1.0 + ], + "movement_text": "move backward 6 mm; move right 0 mm; move upward 17 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 213 mm; move right 0 mm; move upward 449 mm; roll upward 10 degrees; pitch downward 3 degrees; yaw counterclockwise 10 degrees; close gripper;", + "subtask_movement_text": "move backward 381 mm; move right 0 mm; move upward 1019 mm; roll upward 10 degrees; pitch downward 71 degrees; yaw counterclockwise 23 degrees; close gripper;" + }, + { + "frame_index": 409, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 0 mm; move upward 17 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 218 mm; move right 0 mm; move upward 463 mm; roll upward 8 degrees; pitch downward 4 degrees; yaw counterclockwise 9 degrees; close gripper;\nSubtask Movement: move backward 375 mm; move right 0 mm; move upward 1002 mm; roll upward 8 degrees; pitch downward 71 degrees; yaw counterclockwise 22 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,132], [153,136]\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 157, + 126 + ], + "task_obj_bbox": [ + 151, + 132, + 153, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.008214286528527737, + 0.0, + 0.01714285835623741, + 0.02142857201397419, + 0.0, + 0.02142857201397419, + -1.0 + ], + "delta_next_20": [ + -0.21821430325508118, + 0.0, + 0.46321430802345276, + 0.14714284241199493, + -0.0771428570151329, + 0.16285715997219086, + -1.0 + ], + "delta_full_state_norm": [ + -0.517878823167812, + -0.08633108557305769, + 0.24713720093224523, + 0.999999666666725, + 0.14315344963283438, + -0.0905971750034803, + -1.0 + ], + "movement_text": "move backward 8 mm; move right 0 mm; move upward 17 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 218 mm; move right 0 mm; move upward 463 mm; roll upward 8 degrees; pitch downward 4 degrees; yaw counterclockwise 9 degrees; close gripper;", + "subtask_movement_text": "move backward 375 mm; move right 0 mm; move upward 1002 mm; roll upward 8 degrees; pitch downward 71 degrees; yaw counterclockwise 22 degrees; close gripper;" + }, + { + "frame_index": 410, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 0 mm; move upward 18 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 220 mm; move right 0 mm; move upward 478 mm; roll upward 7 degrees; pitch downward 6 degrees; yaw counterclockwise 9 degrees; close gripper;\nSubtask Movement: move backward 367 mm; move right 0 mm; move upward 985 mm; roll upward 7 degrees; pitch downward 71 degrees; yaw counterclockwise 21 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,132], [153,136]\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 157, + 125 + ], + "task_obj_bbox": [ + 151, + 132, + 153, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.008214286528527737, + 0.0, + 0.017500000074505806, + 0.02142857201397419, + 0.0, + 0.015714285895228386, + -1.0 + ], + "delta_next_20": [ + -0.2199999839067459, + 0.0, + 0.4775000214576721, + 0.1257142871618271, + -0.10999999940395355, + 0.15571430325508118, + -1.0 + ], + "delta_full_state_norm": [ + -0.517878823167812, + -0.08633108557305769, + 0.259064641229684, + 0.999999666666725, + 0.14315344963283438, + -0.15923135638455221, + -1.0 + ], + "movement_text": "move backward 8 mm; move right 0 mm; move upward 18 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 220 mm; move right 0 mm; move upward 478 mm; roll upward 7 degrees; pitch downward 6 degrees; yaw counterclockwise 9 degrees; close gripper;", + "subtask_movement_text": "move backward 367 mm; move right 0 mm; move upward 985 mm; roll upward 7 degrees; pitch downward 71 degrees; yaw counterclockwise 21 degrees; close gripper;" + }, + { + "frame_index": 411, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 0 mm; move upward 18 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 222 mm; move right 0 mm; move upward 490 mm; roll upward 6 degrees; pitch downward 9 degrees; yaw counterclockwise 9 degrees; close gripper;\nSubtask Movement: move backward 359 mm; move right 0 mm; move upward 967 mm; roll upward 6 degrees; pitch downward 71 degrees; yaw counterclockwise 20 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,132], [153,136]\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 157, + 126 + ], + "task_obj_bbox": [ + 151, + 132, + 153, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.008571429178118706, + 0.0, + 0.018214285373687744, + 0.022857142612338066, + 0.0, + 0.015714285895228386, + -1.0 + ], + "delta_next_20": [ + -0.22214284539222717, + 0.0, + 0.49000000953674316, + 0.10428570955991745, + -0.15142856538295746, + 0.15285713970661163, + -1.0 + ], + "delta_full_state_norm": [ + -0.5379671946223737, + -0.08633108557305769, + 0.2829195840312084, + 1.0, + 0.14315344963283438, + -0.15923135638455221, + -1.0 + ], + "movement_text": "move backward 9 mm; move right 0 mm; move upward 18 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 222 mm; move right 0 mm; move upward 490 mm; roll upward 6 degrees; pitch downward 9 degrees; yaw counterclockwise 9 degrees; close gripper;", + "subtask_movement_text": "move backward 359 mm; move right 0 mm; move upward 967 mm; roll upward 6 degrees; pitch downward 71 degrees; yaw counterclockwise 20 degrees; close gripper;" + }, + { + "frame_index": 412, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 0 mm; move upward 19 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 227 mm; move right 0 mm; move upward 501 mm; roll upward 5 degrees; pitch downward 12 degrees; yaw counterclockwise 8 degrees; close gripper;\nSubtask Movement: move backward 350 mm; move right 0 mm; move upward 949 mm; roll upward 5 degrees; pitch downward 71 degrees; yaw counterclockwise 19 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,132], [153,136]\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 157, + 126 + ], + "task_obj_bbox": [ + 151, + 132, + 153, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.008928571827709675, + 0.0, + 0.018571428954601288, + 0.018571428954601288, + 0.0, + 0.015714285895228386, + -1.0 + ], + "delta_next_20": [ + -0.22678568959236145, + 0.0, + 0.5014286041259766, + 0.08142856508493423, + -0.20571428537368774, + 0.14714285731315613, + -1.0 + ], + "delta_full_state_norm": [ + -0.5580555660769355, + -0.08633108557305769, + 0.2948470865352941, + 0.9047615813884848, + 0.14315344963283438, + -0.15923135638455221, + -1.0 + ], + "movement_text": "move backward 9 mm; move right 0 mm; move upward 19 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 227 mm; move right 0 mm; move upward 501 mm; roll upward 5 degrees; pitch downward 12 degrees; yaw counterclockwise 8 degrees; close gripper;", + "subtask_movement_text": "move backward 350 mm; move right 0 mm; move upward 949 mm; roll upward 5 degrees; pitch downward 71 degrees; yaw counterclockwise 19 degrees; close gripper;" + }, + { + "frame_index": 413, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 0 mm; move upward 19 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 232 mm; move right 0 mm; move upward 513 mm; roll upward 4 degrees; pitch downward 15 degrees; yaw counterclockwise 8 degrees; close gripper;\nSubtask Movement: move backward 341 mm; move right 0 mm; move upward 931 mm; roll upward 4 degrees; pitch downward 71 degrees; yaw counterclockwise 18 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,132], [153,136]\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 157, + 126 + ], + "task_obj_bbox": [ + 151, + 132, + 153, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.008571429178118706, + 0.0, + 0.018928570672869682, + 0.019999999552965164, + 0.0, + 0.012857142835855484, + -1.0 + ], + "delta_next_20": [ + -0.232142835855484, + 0.0, + 0.5132142901420593, + 0.06285714358091354, + -0.2671428620815277, + 0.14000000059604645, + -1.0 + ], + "delta_full_state_norm": [ + -0.5379671946223737, + -0.08633108557305769, + 0.30677452683273265, + 0.9523805929835245, + 0.14315344963283438, + -0.19354844707508823, + -1.0 + ], + "movement_text": "move backward 9 mm; move right 0 mm; move upward 19 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 232 mm; move right 0 mm; move upward 513 mm; roll upward 4 degrees; pitch downward 15 degrees; yaw counterclockwise 8 degrees; close gripper;", + "subtask_movement_text": "move backward 341 mm; move right 0 mm; move upward 931 mm; roll upward 4 degrees; pitch downward 71 degrees; yaw counterclockwise 18 degrees; close gripper;" + }, + { + "frame_index": 414, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 0 mm; move upward 19 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 237 mm; move right 0 mm; move upward 526 mm; roll upward 2 degrees; pitch downward 19 degrees; yaw counterclockwise 8 degrees; close gripper;\nSubtask Movement: move backward 332 mm; move right 0 mm; move upward 912 mm; roll upward 2 degrees; pitch downward 71 degrees; yaw counterclockwise 17 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,132], [153,136]\ndistr_counter: [32,122], [42,137]\n", + "gripper_2d": [ + 157, + 126 + ], + "task_obj_bbox": [ + 151, + 132, + 153, + 136 + ], + "distractor_bboxes": [ + [ + 32, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.010357143357396126, + 0.0, + 0.018571428954601288, + 0.014285714365541935, + 0.0, + 0.0057142856530845165, + -1.0 + ], + "delta_next_20": [ + -0.23749999701976776, + 0.0, + 0.5257143378257751, + 0.04285714402794838, + -0.33714285492897034, + 0.13571427762508392, + -1.0 + ], + "delta_full_state_norm": [ + -0.6384091042797237, + -0.08633108557305769, + 0.2948470865352941, + 0.7619044534711243, + 0.14315344963283438, + -0.2793411682083793, + -1.0 + ], + "movement_text": "move backward 10 mm; move right 0 mm; move upward 19 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 237 mm; move right 0 mm; move upward 526 mm; roll upward 2 degrees; pitch downward 19 degrees; yaw counterclockwise 8 degrees; close gripper;", + "subtask_movement_text": "move backward 332 mm; move right 0 mm; move upward 912 mm; roll upward 2 degrees; pitch downward 71 degrees; yaw counterclockwise 17 degrees; close gripper;" + }, + { + "frame_index": 415, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 0 mm; move upward 18 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 241 mm; move right 0 mm; move upward 540 mm; roll upward 2 degrees; pitch downward 24 degrees; yaw counterclockwise 8 degrees; close gripper;\nSubtask Movement: move backward 322 mm; move right 0 mm; move upward 893 mm; roll upward 2 degrees; pitch downward 71 degrees; yaw counterclockwise 17 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,132], [156,136]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 157, + 126 + ], + "task_obj_bbox": [ + 151, + 132, + 156, + 136 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.009642857126891613, + 0.0, + 0.018214285373687744, + 0.012857142835855484, + 0.0, + 0.004285714123398066, + -1.0 + ], + "delta_next_20": [ + -0.2410714477300644, + 0.0, + 0.539642870426178, + 0.02857142873108387, + -0.4114285707473755, + 0.14000000059604645, + -1.0 + ], + "delta_full_state_norm": [ + -0.5982323089860591, + -0.08633108557305769, + 0.2829195840312084, + 0.714285410832004, + 0.14315344963283438, + -0.29649971355364735, + -1.0 + ], + "movement_text": "move backward 10 mm; move right 0 mm; move upward 18 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 241 mm; move right 0 mm; move upward 540 mm; roll upward 2 degrees; pitch downward 24 degrees; yaw counterclockwise 8 degrees; close gripper;", + "subtask_movement_text": "move backward 322 mm; move right 0 mm; move upward 893 mm; roll upward 2 degrees; pitch downward 71 degrees; yaw counterclockwise 17 degrees; close gripper;" + }, + { + "frame_index": 416, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 0 mm; move upward 18 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 245 mm; move right 0 mm; move upward 556 mm; roll upward 1 degrees; pitch downward 28 degrees; yaw counterclockwise 9 degrees; close gripper;\nSubtask Movement: move backward 312 mm; move right 0 mm; move upward 875 mm; roll upward 1 degrees; pitch downward 71 degrees; yaw counterclockwise 17 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,132], [156,136]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 157, + 127 + ], + "task_obj_bbox": [ + 151, + 132, + 156, + 136 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.011428571306169033, + 0.0, + 0.01785714365541935, + 0.0057142856530845165, + 0.0, + 0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + -0.24500000476837158, + 0.0, + 0.5564285516738892, + 0.015714285895228386, + -0.49142855405807495, + 0.1485714316368103, + -1.0 + ], + "delta_full_state_norm": [ + -0.698674218643409, + -0.08633108557305769, + 0.2709921437337697, + 0.47619021315844345, + 0.14315344963283438, + -0.3308168000493966, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 0 mm; move upward 18 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 245 mm; move right 0 mm; move upward 556 mm; roll upward 1 degrees; pitch downward 28 degrees; yaw counterclockwise 9 degrees; close gripper;", + "subtask_movement_text": "move backward 312 mm; move right 0 mm; move upward 875 mm; roll upward 1 degrees; pitch downward 71 degrees; yaw counterclockwise 17 degrees; close gripper;" + }, + { + "frame_index": 417, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 0 mm; move upward 19 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 244 mm; move right 0 mm; move upward 575 mm; roll upward 1 degrees; pitch downward 33 degrees; yaw counterclockwise 9 degrees; close gripper;\nSubtask Movement: move backward 301 mm; move right 0 mm; move upward 857 mm; roll upward 1 degrees; pitch downward 71 degrees; yaw counterclockwise 17 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,132], [153,136]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 157, + 127 + ], + "task_obj_bbox": [ + 151, + 132, + 153, + 136 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.012857143767178059, + 0.0, + 0.018571428954601288, + 0.004285714123398066, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.2442857325077057, + 0.0, + 0.5753570795059204, + 0.009999999776482582, + -0.5842856764793396, + 0.16285714507102966, + -1.0 + ], + "delta_full_state_norm": [ + -0.7790278092307383, + -0.08633108557305769, + 0.2948470865352941, + 0.42857117051932336, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 0 mm; move upward 19 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 244 mm; move right 0 mm; move upward 575 mm; roll upward 1 degrees; pitch downward 33 degrees; yaw counterclockwise 9 degrees; close gripper;", + "subtask_movement_text": "move backward 301 mm; move right 0 mm; move upward 857 mm; roll upward 1 degrees; pitch downward 71 degrees; yaw counterclockwise 17 degrees; close gripper;" + }, + { + "frame_index": 418, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 0 mm; move upward 20 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 241 mm; move right 0 mm; move upward 594 mm; roll upward 0 degrees; pitch downward 39 degrees; yaw counterclockwise 10 degrees; close gripper;\nSubtask Movement: move backward 288 mm; move right 0 mm; move upward 839 mm; roll upward 0 degrees; pitch downward 71 degrees; yaw counterclockwise 17 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,132], [153,136]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 157, + 127 + ], + "task_obj_bbox": [ + 151, + 132, + 153, + 136 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.013571429066359997, + 0.0, + 0.020357143133878708, + 0.0057142856530845165, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.24142856895923615, + 0.0, + 0.5942856669425964, + 0.0057142856530845165, + -0.682857096195221, + 0.1785714328289032, + -1.0 + ], + "delta_full_state_norm": [ + -0.8192045521398619, + -0.08633108557305769, + 0.3544844746424285, + 0.47619021315844345, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 0 mm; move upward 20 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 241 mm; move right 0 mm; move upward 594 mm; roll upward 0 degrees; pitch downward 39 degrees; yaw counterclockwise 10 degrees; close gripper;", + "subtask_movement_text": "move backward 288 mm; move right 0 mm; move upward 839 mm; roll upward 0 degrees; pitch downward 71 degrees; yaw counterclockwise 17 degrees; close gripper;" + }, + { + "frame_index": 419, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 0 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 237 mm; move right 0 mm; move upward 613 mm; roll downward 0 degrees; pitch downward 45 degrees; yaw counterclockwise 11 degrees; close gripper;\nSubtask Movement: move backward 275 mm; move right 0 mm; move upward 818 mm; roll downward 0 degrees; pitch downward 71 degrees; yaw counterclockwise 17 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,132], [153,136]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 157, + 127 + ], + "task_obj_bbox": [ + 151, + 132, + 153, + 136 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.013571429066359997, + 0.0, + 0.02071428671479225, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.23714284598827362, + 0.0, + 0.6132141947746277, + 0.0, + -0.7814285159111023, + 0.1957142949104309, + -1.0 + ], + "delta_full_state_norm": [ + -0.8192045521398619, + -0.08633108557305769, + 0.3664119771465142, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 0 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 237 mm; move right 0 mm; move upward 613 mm; roll downward 0 degrees; pitch downward 45 degrees; yaw counterclockwise 11 degrees; close gripper;", + "subtask_movement_text": "move backward 275 mm; move right 0 mm; move upward 818 mm; roll downward 0 degrees; pitch downward 71 degrees; yaw counterclockwise 17 degrees; close gripper;" + }, + { + "frame_index": 420, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 0 mm; move upward 23 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 231 mm; move right 0 mm; move upward 633 mm; roll downward 0 degrees; pitch downward 50 degrees; yaw counterclockwise 12 degrees; close gripper;\nSubtask Movement: move backward 261 mm; move right 0 mm; move upward 797 mm; roll downward 0 degrees; pitch downward 71 degrees; yaw counterclockwise 17 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,132], [153,136]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 157, + 127 + ], + "task_obj_bbox": [ + 151, + 132, + 153, + 136 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.01428571529686451, + 0.0, + 0.02321428619325161, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.23142854869365692, + 0.0, + 0.632857084274292, + 0.0, + -0.8771427869796753, + 0.21285715699195862, + -1.0 + ], + "delta_full_state_norm": [ + -0.8593813474335266, + -0.08633108557305769, + 0.44990430805517323, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 0 mm; move upward 23 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 231 mm; move right 0 mm; move upward 633 mm; roll downward 0 degrees; pitch downward 50 degrees; yaw counterclockwise 12 degrees; close gripper;", + "subtask_movement_text": "move backward 261 mm; move right 0 mm; move upward 797 mm; roll downward 0 degrees; pitch downward 71 degrees; yaw counterclockwise 17 degrees; close gripper;" + }, + { + "frame_index": 421, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 0 mm; move upward 25 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 223 mm; move right 0 mm; move upward 650 mm; roll downward 0 degrees; pitch downward 56 degrees; yaw counterclockwise 13 degrees; close gripper;\nSubtask Movement: move backward 247 mm; move right 0 mm; move upward 774 mm; roll downward 0 degrees; pitch downward 71 degrees; yaw counterclockwise 17 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,132], [153,136]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 157, + 127 + ], + "task_obj_bbox": [ + 151, + 132, + 153, + 136 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.013928571715950966, + 0.0, + 0.025357142090797424, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.2232142686843872, + 0.0, + 0.6496428847312927, + 0.0, + -0.9728570580482483, + 0.2314285933971405, + -1.0 + ], + "delta_full_state_norm": [ + -0.8392929235944236, + -0.08633108557305769, + 0.5214691364597464, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 0 mm; move upward 25 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 223 mm; move right 0 mm; move upward 650 mm; roll downward 0 degrees; pitch downward 56 degrees; yaw counterclockwise 13 degrees; close gripper;", + "subtask_movement_text": "move backward 247 mm; move right 0 mm; move upward 774 mm; roll downward 0 degrees; pitch downward 71 degrees; yaw counterclockwise 17 degrees; close gripper;" + }, + { + "frame_index": 422, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 0 mm; move upward 27 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 216 mm; move right 0 mm; move upward 665 mm; roll downward 0 degrees; pitch downward 61 degrees; yaw counterclockwise 14 degrees; close gripper;\nSubtask Movement: move backward 233 mm; move right 0 mm; move upward 749 mm; roll downward 0 degrees; pitch downward 71 degrees; yaw counterclockwise 17 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,132], [153,136]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 157, + 127 + ], + "task_obj_bbox": [ + 151, + 132, + 153, + 136 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.012500000186264515, + 0.0, + 0.02678571455180645, + 0.0, + 0.0, + 0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + -0.21607141196727753, + 0.0, + 0.664642870426178, + 0.0, + -1.0714285373687744, + 0.25142860412597656, + -1.0 + ], + "delta_full_state_norm": [ + -0.7589393853916354, + -0.08633108557305769, + 0.5691790842694422, + 0.2857140581240032, + 0.14315344963283438, + -0.3308168000493966, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 0 mm; move upward 27 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 216 mm; move right 0 mm; move upward 665 mm; roll downward 0 degrees; pitch downward 61 degrees; yaw counterclockwise 14 degrees; close gripper;", + "subtask_movement_text": "move backward 233 mm; move right 0 mm; move upward 749 mm; roll downward 0 degrees; pitch downward 71 degrees; yaw counterclockwise 17 degrees; close gripper;" + }, + { + "frame_index": 423, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 0 mm; move upward 28 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 211 mm; move right 0 mm; move upward 679 mm; roll downward 0 degrees; pitch downward 67 degrees; yaw counterclockwise 15 degrees; close gripper;\nSubtask Movement: move backward 220 mm; move right 0 mm; move upward 722 mm; roll downward 0 degrees; pitch downward 71 degrees; yaw counterclockwise 17 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,132], [153,136]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 157, + 128 + ], + "task_obj_bbox": [ + 151, + 132, + 153, + 136 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.011428571306169033, + 0.0, + 0.028214285150170326, + 0.0, + 0.0, + 0.004285714123398066, + -1.0 + ], + "delta_next_20": [ + -0.21142855286598206, + 0.0, + 0.6792857050895691, + 0.0, + -1.1628570556640625, + 0.27000004053115845, + -1.0 + ], + "delta_full_state_norm": [ + -0.698674218643409, + -0.08633108557305769, + 0.6168889698724909, + 0.2857140581240032, + 0.14315344963283438, + -0.29649971355364735, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 0 mm; move upward 28 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 211 mm; move right 0 mm; move upward 679 mm; roll downward 0 degrees; pitch downward 67 degrees; yaw counterclockwise 15 degrees; close gripper;", + "subtask_movement_text": "move backward 220 mm; move right 0 mm; move upward 722 mm; roll downward 0 degrees; pitch downward 71 degrees; yaw counterclockwise 17 degrees; close gripper;" + }, + { + "frame_index": 424, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 0 mm; move upward 30 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 209 mm; move right 0 mm; move upward 694 mm; roll downward 0 degrees; pitch downward 71 degrees; yaw counterclockwise 16 degrees; close gripper;\nSubtask Movement: move backward 209 mm; move right 0 mm; move upward 694 mm; roll downward 0 degrees; pitch downward 71 degrees; yaw counterclockwise 16 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,132], [153,136]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 157, + 128 + ], + "task_obj_bbox": [ + 151, + 132, + 153, + 136 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.010357143357396126, + 0.0, + 0.029642855748534203, + 0.0, + 0.0, + 0.008571428246796131, + -1.0 + ], + "delta_next_20": [ + -0.20892857015132904, + 0.0, + 0.693928599357605, + 0.0, + -1.2428570985794067, + 0.2857142984867096, + -1.0 + ], + "delta_full_state_norm": [ + -0.6384091042797237, + -0.08633108557305769, + 0.6645988554755398, + 0.2857140581240032, + 0.14315344963283438, + -0.2450240831108922, + -1.0 + ], + "movement_text": "move backward 10 mm; move right 0 mm; move upward 30 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 209 mm; move right 0 mm; move upward 694 mm; roll downward 0 degrees; pitch downward 71 degrees; yaw counterclockwise 16 degrees; close gripper;", + "subtask_movement_text": "move backward 209 mm; move right 0 mm; move upward 694 mm; roll downward 0 degrees; pitch downward 71 degrees; yaw counterclockwise 16 degrees; close gripper;" + }, + { + "frame_index": 425, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 208 mm; move right 0 mm; move upward 707 mm; roll downward 0 degrees; pitch downward 75 degrees; yaw counterclockwise 17 degrees; close gripper;\nSubtask Movement: move backward 199 mm; move right 0 mm; move upward 664 mm; roll downward 0 degrees; pitch downward 71 degrees; yaw counterclockwise 16 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,132], [153,136]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 157, + 128 + ], + "task_obj_bbox": [ + 151, + 132, + 153, + 136 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.010357143357396126, + 0.0, + 0.030714286491274834, + 0.0, + -0.004285714123398066, + 0.011428571306169033, + -1.0 + ], + "delta_next_20": [ + -0.20821428298950195, + 0.0, + 0.7074999809265137, + 0.0, + -1.3157142400741577, + 0.29857146739959717, + -1.0 + ], + "delta_full_state_norm": [ + -0.6384091042797237, + -0.08633108557305769, + 0.7003813629877969, + 0.2857140581240032, + 0.09128623573065675, + -0.21070699242035618, + -1.0 + ], + "movement_text": "move backward 10 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 208 mm; move right 0 mm; move upward 707 mm; roll downward 0 degrees; pitch downward 75 degrees; yaw counterclockwise 17 degrees; close gripper;", + "subtask_movement_text": "move backward 199 mm; move right 0 mm; move upward 664 mm; roll downward 0 degrees; pitch downward 71 degrees; yaw counterclockwise 16 degrees; close gripper;" + }, + { + "frame_index": 426, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 0 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 198 mm; move right 0 mm; move upward 677 mm; roll downward 0 degrees; pitch downward 75 degrees; yaw counterclockwise 16 degrees; close gripper;\nSubtask Movement: move backward 188 mm; move right 0 mm; move upward 634 mm; roll downward 0 degrees; pitch downward 71 degrees; yaw counterclockwise 15 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,132], [153,136]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 157, + 128 + ], + "task_obj_bbox": [ + 151, + 132, + 153, + 136 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.010357143357396126, + 0.0, + 0.031785715371370316, + 0.0, + -0.017142856493592262, + 0.012857142835855484, + -1.0 + ], + "delta_next_20": [ + -0.19785714149475098, + 0.0, + 0.6767857670783997, + 0.0, + -1.3114285469055176, + 0.28714287281036377, + -1.0 + ], + "delta_full_state_norm": [ + -0.6384091042797237, + -0.08633108557305769, + 0.736163808293407, + 0.2857140581240032, + -0.06431540597587582, + -0.19354844707508823, + -1.0 + ], + "movement_text": "move backward 10 mm; move right 0 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 198 mm; move right 0 mm; move upward 677 mm; roll downward 0 degrees; pitch downward 75 degrees; yaw counterclockwise 16 degrees; close gripper;", + "subtask_movement_text": "move backward 188 mm; move right 0 mm; move upward 634 mm; roll downward 0 degrees; pitch downward 71 degrees; yaw counterclockwise 15 degrees; close gripper;" + }, + { + "frame_index": 427, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 188 mm; move right 0 mm; move upward 645 mm; roll downward 0 degrees; pitch downward 74 degrees; yaw counterclockwise 16 degrees; close gripper;\nSubtask Movement: move backward 178 mm; move right 0 mm; move upward 602 mm; roll downward 0 degrees; pitch downward 70 degrees; yaw counterclockwise 14 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,132], [153,136]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 157, + 128 + ], + "task_obj_bbox": [ + 151, + 132, + 153, + 136 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.010357143357396126, + 0.0, + 0.03142857179045677, + 0.0, + -0.025714285671710968, + 0.015714285895228386, + -1.0 + ], + "delta_next_20": [ + -0.1875, + 0.0, + 0.6449999809265137, + 0.0, + -1.2942856550216675, + 0.2742857336997986, + -1.0 + ], + "delta_full_state_norm": [ + -0.6384091042797237, + -0.08633108557305769, + 0.7242363057893213, + 0.2857140581240032, + -0.16804984505142295, + -0.15923135638455221, + -1.0 + ], + "movement_text": "move backward 10 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 188 mm; move right 0 mm; move upward 645 mm; roll downward 0 degrees; pitch downward 74 degrees; yaw counterclockwise 16 degrees; close gripper;", + "subtask_movement_text": "move backward 178 mm; move right 0 mm; move upward 602 mm; roll downward 0 degrees; pitch downward 70 degrees; yaw counterclockwise 14 degrees; close gripper;" + }, + { + "frame_index": 428, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 177 mm; move right 0 mm; move upward 614 mm; roll downward 0 degrees; pitch downward 73 degrees; yaw counterclockwise 15 degrees; close gripper;\nSubtask Movement: move backward 168 mm; move right 0 mm; move upward 570 mm; roll downward 0 degrees; pitch downward 69 degrees; yaw counterclockwise 14 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,132], [153,136]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 158, + 128 + ], + "task_obj_bbox": [ + 151, + 132, + 153, + 136 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.010714286006987095, + 0.0, + 0.03142857179045677, + 0.0, + -0.029999999329447746, + 0.015714285895228386, + -1.0 + ], + "delta_next_20": [ + -0.17714285850524902, + 0.0, + 0.6135714054107666, + 0.0, + -1.268571376800537, + 0.25857141613960266, + -1.0 + ], + "delta_full_state_norm": [ + -0.6584974757342854, + -0.08633108557305769, + 0.7242363057893213, + 0.2857140581240032, + -0.21991705331800449, + -0.15923135638455221, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 177 mm; move right 0 mm; move upward 614 mm; roll downward 0 degrees; pitch downward 73 degrees; yaw counterclockwise 15 degrees; close gripper;", + "subtask_movement_text": "move backward 168 mm; move right 0 mm; move upward 570 mm; roll downward 0 degrees; pitch downward 69 degrees; yaw counterclockwise 14 degrees; close gripper;" + }, + { + "frame_index": 429, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 166 mm; move right 0 mm; move upward 582 mm; roll downward 0 degrees; pitch downward 71 degrees; yaw counterclockwise 14 degrees; close gripper;\nSubtask Movement: move backward 157 mm; move right 0 mm; move upward 539 mm; roll downward 0 degrees; pitch downward 67 degrees; yaw counterclockwise 13 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,131], [153,137]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 158, + 128 + ], + "task_obj_bbox": [ + 151, + 131, + 153, + 137 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.010000000707805157, + 0.0, + 0.03142857179045677, + 0.0, + -0.03285714238882065, + 0.014285714365541935, + -1.0 + ], + "delta_next_20": [ + -0.1664285659790039, + 0.0, + 0.5821428298950195, + 0.0, + -1.2385714054107666, + 0.24285712838172913, + -1.0 + ], + "delta_full_state_norm": [ + -0.6183207328251619, + -0.08633108557305769, + 0.7242363057893213, + 0.2857140581240032, + -0.25449519967652023, + -0.17638990172982028, + -1.0 + ], + "movement_text": "move backward 10 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 166 mm; move right 0 mm; move upward 582 mm; roll downward 0 degrees; pitch downward 71 degrees; yaw counterclockwise 14 degrees; close gripper;", + "subtask_movement_text": "move backward 157 mm; move right 0 mm; move upward 539 mm; roll downward 0 degrees; pitch downward 67 degrees; yaw counterclockwise 13 degrees; close gripper;" + }, + { + "frame_index": 430, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 0 mm; move upward 30 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 156 mm; move right 0 mm; move upward 551 mm; roll downward 0 degrees; pitch downward 69 degrees; yaw counterclockwise 13 degrees; close gripper;\nSubtask Movement: move backward 147 mm; move right 0 mm; move upward 507 mm; roll downward 0 degrees; pitch downward 65 degrees; yaw counterclockwise 12 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,131], [153,137]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 158, + 128 + ], + "task_obj_bbox": [ + 151, + 131, + 153, + 137 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.010357143357396126, + 0.0, + 0.030000001192092896, + 0.0, + -0.041428569704294205, + 0.012857142835855484, + -1.0 + ], + "delta_next_20": [ + -0.15642857551574707, + 0.0, + 0.5507142543792725, + 0.0, + -1.2057143449783325, + 0.22857141494750977, + -1.0 + ], + "delta_full_state_norm": [ + -0.6384091042797237, + -0.08633108557305769, + 0.6765264201862724, + 0.2857140581240032, + -0.3582296162096832, + -0.19354844707508823, + -1.0 + ], + "movement_text": "move backward 10 mm; move right 0 mm; move upward 30 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 156 mm; move right 0 mm; move upward 551 mm; roll downward 0 degrees; pitch downward 69 degrees; yaw counterclockwise 13 degrees; close gripper;", + "subtask_movement_text": "move backward 147 mm; move right 0 mm; move upward 507 mm; roll downward 0 degrees; pitch downward 65 degrees; yaw counterclockwise 12 degrees; close gripper;" + }, + { + "frame_index": 431, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 0 mm; move upward 30 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 146 mm; move right 0 mm; move upward 521 mm; roll downward 0 degrees; pitch downward 67 degrees; yaw counterclockwise 12 degrees; close gripper;\nSubtask Movement: move backward 136 mm; move right 0 mm; move upward 477 mm; roll downward 0 degrees; pitch downward 63 degrees; yaw counterclockwise 11 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,131], [153,137]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 158, + 128 + ], + "task_obj_bbox": [ + 151, + 131, + 153, + 137 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.013214285485446453, + 0.0, + 0.029642855748534203, + 0.0, + -0.05428571254014969, + 0.009999999776482582, + -1.0 + ], + "delta_next_20": [ + -0.1460714340209961, + 0.0, + 0.5207142233848572, + 0.0, + -1.164285659790039, + 0.21571427583694458, + -1.0 + ], + "delta_full_state_norm": [ + -0.799116128300759, + -0.08633108557305769, + 0.6645988554755398, + 0.2857140581240032, + -0.5138312635518119, + -0.22786553776562424, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 0 mm; move upward 30 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 146 mm; move right 0 mm; move upward 521 mm; roll downward 0 degrees; pitch downward 67 degrees; yaw counterclockwise 12 degrees; close gripper;", + "subtask_movement_text": "move backward 136 mm; move right 0 mm; move upward 477 mm; roll downward 0 degrees; pitch downward 63 degrees; yaw counterclockwise 11 degrees; close gripper;" + }, + { + "frame_index": 432, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 0 mm; move upward 30 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 133 mm; move right 0 mm; move upward 491 mm; roll downward 0 degrees; pitch downward 64 degrees; yaw counterclockwise 12 degrees; close gripper;\nSubtask Movement: move backward 123 mm; move right 0 mm; move upward 448 mm; roll downward 0 degrees; pitch downward 59 degrees; yaw counterclockwise 11 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,131], [153,137]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 158, + 127 + ], + "task_obj_bbox": [ + 151, + 131, + 153, + 137 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.01428571529686451, + 0.0, + 0.03035714291036129, + 0.0, + -0.06142857298254967, + 0.008571428246796131, + -1.0 + ], + "delta_next_20": [ + -0.13285715878009796, + 0.0, + 0.4910713732242584, + 0.0, + -1.1100000143051147, + 0.20571427047252655, + -1.0 + ], + "delta_full_state_norm": [ + -0.8593813474335266, + -0.08633108557305769, + 0.6884538604837112, + 0.2857140581240032, + -0.6002766632616775, + -0.2450240831108922, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 0 mm; move upward 30 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 133 mm; move right 0 mm; move upward 491 mm; roll downward 0 degrees; pitch downward 64 degrees; yaw counterclockwise 12 degrees; close gripper;", + "subtask_movement_text": "move backward 123 mm; move right 0 mm; move upward 448 mm; roll downward 0 degrees; pitch downward 59 degrees; yaw counterclockwise 11 degrees; close gripper;" + }, + { + "frame_index": 433, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 119 mm; move right 0 mm; move upward 461 mm; roll downward 0 degrees; pitch downward 60 degrees; yaw counterclockwise 11 degrees; close gripper;\nSubtask Movement: move backward 109 mm; move right 0 mm; move upward 417 mm; roll downward 0 degrees; pitch downward 56 degrees; yaw counterclockwise 10 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,131], [153,137]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 158, + 127 + ], + "task_obj_bbox": [ + 151, + 131, + 153, + 137 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.013928571715950966, + 0.0, + 0.03142857179045677, + 0.0, + -0.07000000029802322, + 0.008571428246796131, + -1.0 + ], + "delta_next_20": [ + -0.11857142299413681, + 0.0, + 0.4607142508029938, + 0.0, + -1.0485713481903076, + 0.1971428394317627, + -1.0 + ], + "delta_full_state_norm": [ + -0.8392929235944236, + -0.08633108557305769, + 0.7242363057893213, + 0.2857140581240032, + -0.7040110797948405, + -0.2450240831108922, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 119 mm; move right 0 mm; move upward 461 mm; roll downward 0 degrees; pitch downward 60 degrees; yaw counterclockwise 11 degrees; close gripper;", + "subtask_movement_text": "move backward 109 mm; move right 0 mm; move upward 417 mm; roll downward 0 degrees; pitch downward 56 degrees; yaw counterclockwise 10 degrees; close gripper;" + }, + { + "frame_index": 434, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 0 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 105 mm; move right 0 mm; move upward 429 mm; roll downward 0 degrees; pitch downward 56 degrees; yaw counterclockwise 11 degrees; close gripper;\nSubtask Movement: move backward 95 mm; move right 0 mm; move upward 386 mm; roll downward 0 degrees; pitch downward 52 degrees; yaw counterclockwise 10 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,131], [153,137]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 158, + 127 + ], + "task_obj_bbox": [ + 151, + 131, + 153, + 137 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.013928571715950966, + 0.0, + 0.032499998807907104, + 0.0, + -0.07428571581840515, + 0.009999999776482582, + -1.0 + ], + "delta_next_20": [ + -0.10464286804199219, + 0.0, + 0.4292857348918915, + 0.0, + -0.978571355342865, + 0.18857140839099884, + -1.0 + ], + "delta_full_state_norm": [ + -0.8392929235944236, + -0.08633108557305769, + 0.7600186888882843, + 0.2857140581240032, + -0.7558783106038062, + -0.22786553776562424, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 0 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 105 mm; move right 0 mm; move upward 429 mm; roll downward 0 degrees; pitch downward 56 degrees; yaw counterclockwise 11 degrees; close gripper;", + "subtask_movement_text": "move backward 95 mm; move right 0 mm; move upward 386 mm; roll downward 0 degrees; pitch downward 52 degrees; yaw counterclockwise 10 degrees; close gripper;" + }, + { + "frame_index": 435, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 0 mm; move upward 35 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 91 mm; move right 0 mm; move upward 397 mm; roll downward 0 degrees; pitch downward 52 degrees; yaw counterclockwise 10 degrees; close gripper;\nSubtask Movement: move backward 81 mm; move right 0 mm; move upward 354 mm; roll downward 0 degrees; pitch downward 48 degrees; yaw counterclockwise 9 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,131], [153,137]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 158, + 127 + ], + "task_obj_bbox": [ + 151, + 131, + 153, + 137 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.013571429066359997, + 0.0, + 0.03500000014901161, + 0.0, + -0.07999999821186066, + 0.012857142835855484, + -1.0 + ], + "delta_next_20": [ + -0.09071429818868637, + 0.0, + 0.396785706281662, + 0.0, + -0.9042856693267822, + 0.178571417927742, + -1.0 + ], + "delta_full_state_norm": [ + -0.8192045521398619, + -0.08633108557305769, + 0.8435110820035903, + 0.2857140581240032, + -0.8250345582360692, + -0.19354844707508823, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 0 mm; move upward 35 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 91 mm; move right 0 mm; move upward 397 mm; roll downward 0 degrees; pitch downward 52 degrees; yaw counterclockwise 10 degrees; close gripper;", + "subtask_movement_text": "move backward 81 mm; move right 0 mm; move upward 354 mm; roll downward 0 degrees; pitch downward 48 degrees; yaw counterclockwise 9 degrees; close gripper;" + }, + { + "frame_index": 436, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 0 mm; move upward 37 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 77 mm; move right 0 mm; move upward 362 mm; roll downward 0 degrees; pitch downward 47 degrees; yaw counterclockwise 9 degrees; close gripper;\nSubtask Movement: move backward 68 mm; move right 0 mm; move upward 319 mm; roll downward 0 degrees; pitch downward 43 degrees; yaw counterclockwise 8 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,130], [154,137]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 158, + 127 + ], + "task_obj_bbox": [ + 151, + 130, + 154, + 137 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.010714286006987095, + 0.0, + 0.03678571432828903, + 0.0, + -0.09285714477300644, + 0.015714285895228386, + -1.0 + ], + "delta_next_20": [ + -0.0771428644657135, + 0.0, + 0.3617857098579407, + 0.0, + -0.8242856860160828, + 0.16571427881717682, + -1.0 + ], + "delta_full_state_norm": [ + -0.6584974757342854, + -0.08633108557305769, + 0.9031484701107246, + 0.2857140581240032, + -0.9806362506629663, + -0.15923135638455221, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 0 mm; move upward 37 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 77 mm; move right 0 mm; move upward 362 mm; roll downward 0 degrees; pitch downward 47 degrees; yaw counterclockwise 9 degrees; close gripper;", + "subtask_movement_text": "move backward 68 mm; move right 0 mm; move upward 319 mm; roll downward 0 degrees; pitch downward 43 degrees; yaw counterclockwise 8 degrees; close gripper;" + }, + { + "frame_index": 437, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 0 mm; move upward 38 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 66 mm; move right 0 mm; move upward 325 mm; roll downward 0 degrees; pitch downward 42 degrees; yaw counterclockwise 9 degrees; close gripper;\nSubtask Movement: move backward 57 mm; move right 0 mm; move upward 282 mm; roll downward 0 degrees; pitch downward 38 degrees; yaw counterclockwise 7 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,130], [154,137]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 158, + 126 + ], + "task_obj_bbox": [ + 151, + 130, + 154, + 137 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.010000000707805157, + 0.0, + 0.03750000149011612, + 0.0, + -0.09857142716646194, + 0.015714285895228386, + -1.0 + ], + "delta_next_20": [ + -0.06642857193946838, + 0.0, + 0.32500001788139343, + 0.0, + -0.7314285635948181, + 0.14999999105930328, + -1.0 + ], + "delta_full_state_norm": [ + -0.6183207328251619, + -0.08633108557305769, + 0.927003475118896, + 0.2857140581240032, + -1.0, + -0.15923135638455221, + -1.0 + ], + "movement_text": "move backward 10 mm; move right 0 mm; move upward 38 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 66 mm; move right 0 mm; move upward 325 mm; roll downward 0 degrees; pitch downward 42 degrees; yaw counterclockwise 9 degrees; close gripper;", + "subtask_movement_text": "move backward 57 mm; move right 0 mm; move upward 282 mm; roll downward 0 degrees; pitch downward 38 degrees; yaw counterclockwise 7 degrees; close gripper;" + }, + { + "frame_index": 438, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 0 mm; move upward 39 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 56 mm; move right 0 mm; move upward 287 mm; roll downward 0 degrees; pitch downward 36 degrees; yaw counterclockwise 8 degrees; close gripper;\nSubtask Movement: move backward 47 mm; move right 0 mm; move upward 244 mm; roll downward 0 degrees; pitch downward 32 degrees; yaw counterclockwise 6 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,130], [154,137]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 158, + 126 + ], + "task_obj_bbox": [ + 151, + 130, + 154, + 137 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.009285714477300644, + 0.0, + 0.03928571566939354, + 0.0, + -0.09857142716646194, + 0.017142856493592262, + -1.0 + ], + "delta_next_20": [ + -0.05642857775092125, + 0.0, + 0.2874999940395355, + 0.0, + -0.6328571438789368, + 0.13428570330142975, + -1.0 + ], + "delta_full_state_norm": [ + -0.5781439375314973, + -0.08633108557305769, + 0.9866408632260306, + 0.2857140581240032, + -1.0, + -0.14207282222538198, + -1.0 + ], + "movement_text": "move backward 9 mm; move right 0 mm; move upward 39 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 56 mm; move right 0 mm; move upward 287 mm; roll downward 0 degrees; pitch downward 36 degrees; yaw counterclockwise 8 degrees; close gripper;", + "subtask_movement_text": "move backward 47 mm; move right 0 mm; move upward 244 mm; roll downward 0 degrees; pitch downward 32 degrees; yaw counterclockwise 6 degrees; close gripper;" + }, + { + "frame_index": 439, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 0 mm; move upward 40 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 47 mm; move right 0 mm; move upward 248 mm; roll downward 0 degrees; pitch downward 31 degrees; yaw counterclockwise 7 degrees; close gripper;\nSubtask Movement: move backward 38 mm; move right 0 mm; move upward 205 mm; roll downward 0 degrees; pitch downward 26 degrees; yaw counterclockwise 5 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [151,129], [154,137]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 159, + 125 + ], + "task_obj_bbox": [ + 151, + 129, + 154, + 137 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.007857142947614193, + 0.0, + 0.04035714268684387, + 0.0, + -0.09571428596973419, + 0.017142856493592262, + -1.0 + ], + "delta_next_20": [ + -0.04714285954833031, + 0.0, + 0.24821428954601288, + 0.0, + -0.5342857241630554, + 0.11714285612106323, + -1.0 + ], + "delta_full_state_norm": [ + -0.49779039932870905, + -0.08633108557305769, + 1.0, + 0.2857140581240032, + -1.0, + -0.14207282222538198, + -1.0 + ], + "movement_text": "move backward 8 mm; move right 0 mm; move upward 40 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 47 mm; move right 0 mm; move upward 248 mm; roll downward 0 degrees; pitch downward 31 degrees; yaw counterclockwise 7 degrees; close gripper;", + "subtask_movement_text": "move backward 38 mm; move right 0 mm; move upward 205 mm; roll downward 0 degrees; pitch downward 26 degrees; yaw counterclockwise 5 degrees; close gripper;" + }, + { + "frame_index": 440, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 0 mm; move upward 40 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 39 mm; move right 0 mm; move upward 208 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw counterclockwise 6 degrees; close gripper;\nSubtask Movement: move backward 30 mm; move right 0 mm; move upward 165 mm; roll downward 0 degrees; pitch downward 21 degrees; yaw counterclockwise 5 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [150,126], [154,137]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 159, + 124 + ], + "task_obj_bbox": [ + 150, + 126, + 154, + 137 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.006071428768336773, + 0.0, + 0.04000000283122063, + 0.0, + -0.09571428596973419, + 0.018571428954601288, + -1.0 + ], + "delta_next_20": [ + -0.03928571566939354, + 0.0, + 0.2078571319580078, + 0.0, + -0.4385714530944824, + 0.09999999403953552, + -1.0 + ], + "delta_full_state_norm": [ + -0.39734848967135916, + -0.08633108557305769, + 1.0, + 0.2857140581240032, + -1.0, + -0.12491426569401631, + -1.0 + ], + "movement_text": "move backward 6 mm; move right 0 mm; move upward 40 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 39 mm; move right 0 mm; move upward 208 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw counterclockwise 6 degrees; close gripper;", + "subtask_movement_text": "move backward 30 mm; move right 0 mm; move upward 165 mm; roll downward 0 degrees; pitch downward 21 degrees; yaw counterclockwise 5 degrees; close gripper;" + }, + { + "frame_index": 441, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 0 mm; move upward 40 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 33 mm; move right 0 mm; move upward 168 mm; roll downward 0 degrees; pitch downward 20 degrees; yaw counterclockwise 5 degrees; close gripper;\nSubtask Movement: move backward 24 mm; move right 0 mm; move upward 125 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw counterclockwise 3 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [150,126], [154,137]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 159, + 123 + ], + "task_obj_bbox": [ + 150, + 126, + 154, + 137 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.006785714533179998, + 0.0, + 0.04035714268684387, + 0.0, + -0.09857142716646194, + 0.019999999552965164, + -1.0 + ], + "delta_next_20": [ + -0.03321428969502449, + 0.0, + 0.16785715520381927, + 0.0, + -0.34285712242126465, + 0.08142857253551483, + -1.0 + ], + "delta_full_state_norm": [ + -0.43752525877275317, + -0.08633108557305769, + 1.0, + 0.2857140581240032, + -1.0, + -0.10775573153484597, + -1.0 + ], + "movement_text": "move backward 7 mm; move right 0 mm; move upward 40 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 33 mm; move right 0 mm; move upward 168 mm; roll downward 0 degrees; pitch downward 20 degrees; yaw counterclockwise 5 degrees; close gripper;", + "subtask_movement_text": "move backward 24 mm; move right 0 mm; move upward 125 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw counterclockwise 3 degrees; close gripper;" + }, + { + "frame_index": 442, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 0 mm; move upward 41 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 26 mm; move right 0 mm; move upward 127 mm; roll downward 0 degrees; pitch downward 14 degrees; yaw counterclockwise 4 degrees; close gripper;\nSubtask Movement: move backward 17 mm; move right 0 mm; move upward 84 mm; roll downward 0 degrees; pitch downward 10 degrees; yaw counterclockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [150,125], [154,137]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 160, + 122 + ], + "task_obj_bbox": [ + 150, + 125, + 154, + 137 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.007857142947614193, + 0.0, + 0.0414285734295845, + 0.0, + -0.09142857044935226, + 0.019999999552965164, + -1.0 + ], + "delta_next_20": [ + -0.026428570970892906, + 0.0, + 0.1274999976158142, + 0.0, + -0.2442857027053833, + 0.06142856925725937, + -1.0 + ], + "delta_full_state_norm": [ + -0.49779039932870905, + -0.08633108557305769, + 1.0, + 0.2857140581240032, + -0.9633471436701322, + -0.10775573153484597, + -1.0 + ], + "movement_text": "move backward 8 mm; move right 0 mm; move upward 41 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 26 mm; move right 0 mm; move upward 127 mm; roll downward 0 degrees; pitch downward 14 degrees; yaw counterclockwise 4 degrees; close gripper;", + "subtask_movement_text": "move backward 17 mm; move right 0 mm; move upward 84 mm; roll downward 0 degrees; pitch downward 10 degrees; yaw counterclockwise 2 degrees; close gripper;" + }, + { + "frame_index": 443, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 0 mm; move upward 43 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; close gripper;\nNext 20 Movement: move backward 19 mm; move right 0 mm; move upward 86 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw counterclockwise 2 degrees; close gripper;\nSubtask Movement: move backward 9 mm; move right 0 mm; move upward 43 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [150,125], [154,137]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 160, + 121 + ], + "task_obj_bbox": [ + 150, + 125, + 154, + 137 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + -0.008928571827709675, + 0.0, + 0.04285714402794838, + 0.0, + -0.07999999821186066, + 0.019999999552965164, + -1.0 + ], + "delta_next_20": [ + -0.018571428954601288, + 0.0, + 0.0860714316368103, + 0.0, + -0.15285713970661163, + 0.0414285734295845, + -1.0 + ], + "delta_full_state_norm": [ + -0.5580555660769355, + -0.08633108557305769, + 1.0, + 0.2857140581240032, + -0.8250345582360692, + -0.10775573153484597, + -1.0 + ], + "movement_text": "move backward 9 mm; move right 0 mm; move upward 43 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; close gripper;", + "next_20_movement_text": "move backward 19 mm; move right 0 mm; move upward 86 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw counterclockwise 2 degrees; close gripper;", + "subtask_movement_text": "move backward 9 mm; move right 0 mm; move upward 43 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; close gripper;" + }, + { + "frame_index": 444, + "segment_id": 10790, + "subtask": "place the green cup in the sink", + "reason": "The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the cup from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the green cup\n2. grasp the green cup\n3. lift the green cup\n4. move to the sink\n5. place the green cup in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the green cup in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin, and the green cup is visible inside the sink area. The end-effector remains relatively stationary near the object, consistent with the final placement phase of the task.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 10 mm; move right 0 mm; move upward 43 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [150,124], [154,137]\ndistr_counter: [29,122], [42,137]\n", + "gripper_2d": [ + 160, + 120 + ], + "task_obj_bbox": [ + 150, + 124, + 154, + 137 + ], + "distractor_bboxes": [ + [ + 29, + 122, + 42, + 137 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.009642857126891613, + 0.0, + 0.04321428760886192, + 0.0, + -0.07285714149475098, + 0.02142857201397419, + -1.0 + ], + "delta_full_state_norm": [ + -0.05584596540564457, + -0.08633108557305769, + -0.3253817995442222, + 0.2857140581240032, + 0.14315344963283438, + -0.3479753439964024, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 10 mm; move right 0 mm; move upward 43 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + } + ], + "all_object_names": [ + "obj", + "distr_counter", + "distr_sink" + ], + "obj_cat": "obj", + "distr_cats": [ + "distr_counter", + "distr_sink" + ], + "grounding_camera": "robot0_agentview_left", + "grounding_method": "self_render_selfconsistent" +} \ No newline at end of file diff --git a/grounding_cot/PnPCounterToSink/extras/episode_000016/cot_annotations.json b/grounding_cot/PnPCounterToSink/extras/episode_000016/cot_annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..1a0d44a1441c75bbef660920582a06f873f6abdc --- /dev/null +++ b/grounding_cot/PnPCounterToSink/extras/episode_000016/cot_annotations.json @@ -0,0 +1,23702 @@ +{ + "sample_key": "PnPCounterToSink|16", + "subtask_list": [ + "approach the corn", + "grasp the corn", + "lift the corn", + "move to the sink", + "place the corn in the sink" + ], + "segment_labels_raw": { + "1": [ + "approach the corn", + "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact." + ], + "2": [ + "grasp the corn", + "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action." + ], + "3": [ + "lift the corn", + "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion." + ], + "4": [ + "move to the sink", + "The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point." + ], + "5": [ + "place the corn in the sink", + "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container." + ], + "6": [ + "place the corn in the sink", + "The robot's end-effector is positioned over the sink with the corn inside, and the scene state shows no significant change across frames, indicating the completion of the placement action." + ], + "7": [ + "place the corn in the sink", + "The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring." + ], + "8": [ + "place the corn in the sink", + "The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object." + ], + "9": [ + "place the corn in the sink", + "The robot's end-effector is positioned directly over the sink basin and appears to be lowering an object (the corn) into the water, consistent with the final placement action." + ], + "10": [ + "place the corn in the sink", + "The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace." + ] + }, + "instruction": "pick the corn from the counter and place it in the sink", + "suite": "PnPCounterToSink", + "num_frames": 376, + "segment_count": 10, + "movement_statistics": { + "mean": [ + 0.0010676292620198009, + 0.0012395516890311674, + -0.004369301072500171, + 0.0017819149002304023, + -0.00910714284753417, + -0.0009232522802739504, + -0.1702127659574468 + ], + "std": [ + 0.009396946874630932, + 0.012840954842978784, + 0.010466184969024432, + 0.006300651206281472, + 0.02300532851261161, + 0.003430308275229528, + 0.9854073342050563 + ], + "Q1": [ + -0.031785715371370316, + -0.03366071451455355, + -0.018214285373687744, + 0.0, + -0.09035714529454708, + -0.019999999552965164, + -1.0 + ], + "Q99": [ + 0.013928571715950966, + 0.025446428451687098, + 0.020446429029107094, + 0.029999999329447746, + 0.005714285536669195, + 0.0, + 1.0 + ] + }, + "frames": [ + { + "frame_index": 0, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 112 mm; move left 253 mm; move downward 50 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 156 mm; move left 522 mm; move downward 112 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,164]\ndistr_counter: [54,111], [67,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 154, + 104 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 164 + ], + "distractor_bboxes": [ + [ + 54, + 111, + 67, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.0, + 0.0007142857066355646, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.11178572475910187, + 0.2532142996788025, + -0.049642857164144516, + 0.0, + 0.022857142612338066, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.1631418025098441, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 112 mm; move left 253 mm; move downward 50 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 156 mm; move left 522 mm; move downward 112 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 1, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 116 mm; move left 275 mm; move downward 55 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 156 mm; move left 521 mm; move downward 112 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,164]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 154, + 104 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 164 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.0, + 0.0010714286472648382, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.1160714402794838, + 0.2753571569919586, + -0.05535713955760002, + 0.0, + 0.022857142612338066, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.1752263954129487, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 116 mm; move left 275 mm; move downward 55 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 156 mm; move left 521 mm; move downward 112 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 2, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move left 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 120 mm; move left 297 mm; move downward 61 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 156 mm; move left 520 mm; move downward 112 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,164]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 154, + 104 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 164 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.002500000176951289, + 0.0021428572945296764, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.11964286863803864, + 0.29678571224212646, + -0.061071425676345825, + 0.0, + 0.022857142612338066, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.2812497209999245, + 0.2114801682135703, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 3 mm; move left 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 120 mm; move left 297 mm; move downward 61 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 156 mm; move left 520 mm; move downward 112 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 3, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move left 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 120 mm; move left 319 mm; move downward 67 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 153 mm; move left 518 mm; move downward 112 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,164]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 154, + 104 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 164 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.0010714286472648382, + 0.0039285714738070965, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.12035715579986572, + 0.3189285695552826, + -0.06678571552038193, + 0.0, + 0.022857142612338066, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3437497098746374, + 0.2719031150030169, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 1 mm; move left 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 120 mm; move left 319 mm; move downward 67 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 153 mm; move left 518 mm; move downward 112 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 4, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 2 mm; move left 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 123 mm; move left 340 mm; move downward 73 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 152 mm; move left 514 mm; move downward 112 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 154, + 104 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.0017857144121080637, + 0.0053571430034935474, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.12250001728534698, + 0.33964285254478455, + -0.07285714149475098, + 0.0, + 0.022857142612338066, + -0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + 0.31249971543728083, + 0.320241478737179, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 2 mm; move left 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 123 mm; move left 340 mm; move downward 73 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 152 mm; move left 514 mm; move downward 112 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 5, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move left 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 124 mm; move left 359 mm; move downward 79 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 150 mm; move left 509 mm; move downward 112 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 154, + 104 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.007142857648432255, + 0.004285714589059353, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.12357144802808762, + 0.35857143998146057, + -0.07857143133878708, + 0.0, + 0.022857142612338066, + -0.004285714123398066, + -1.0 + ], + "delta_full_state_norm": [ + 0.07812475715710732, + 0.28398771381481347, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 7 mm; move left 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 124 mm; move left 359 mm; move downward 79 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 150 mm; move left 509 mm; move downward 112 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 6, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move left 6 mm; move downward 1 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 119 mm; move left 380 mm; move downward 85 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; close gripper;\nSubtask Movement: move backward 143 mm; move left 505 mm; move downward 112 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 154, + 104 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.010714286006987095, + 0.0057142856530845165, + -0.0007142857066355646, + 0.0, + 0.0014285714132711291, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.11892857402563095, + 0.3800000250339508, + -0.08500000089406967, + 0.0, + 0.022857142612338066, + -0.011428571306169033, + -1.0 + ], + "delta_full_state_norm": [ + -0.07812519465699863, + 0.3323260617924635, + -0.09468847584309215, + -1.0, + 0.9107804757310247, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 11 mm; move left 6 mm; move downward 1 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 119 mm; move left 380 mm; move downward 85 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; close gripper;", + "subtask_movement_text": "move backward 143 mm; move left 505 mm; move downward 112 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 7, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move left 7 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 112 mm; move left 400 mm; move downward 90 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; close gripper;\nSubtask Movement: move backward 132 mm; move left 499 mm; move downward 111 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 154, + 104 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.010000000707805157, + 0.006785714533179998, + 0.0, + 0.0, + 0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.11178572475910187, + 0.3996428847312927, + -0.09035714715719223, + 0.0, + 0.02142857015132904, + -0.018571428954601288, + -1.0 + ], + "delta_full_state_norm": [ + -0.04687522059231841, + 0.3685798424713411, + -0.05773698475391176, + -1.0, + 0.9405202485690511, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 10 mm; move left 7 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 112 mm; move left 400 mm; move downward 90 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; close gripper;", + "subtask_movement_text": "move backward 132 mm; move left 499 mm; move downward 111 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 8, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move left 9 mm; move downward 1 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 107 mm; move left 417 mm; move downward 95 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; close gripper;\nSubtask Movement: move backward 122 mm; move left 492 mm; move downward 111 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 153, + 104 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.008214286528527737, + 0.008928571827709675, + -0.0010714286472648382, + 0.0, + 0.011428571306169033, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.10678571462631226, + 0.41678571701049805, + -0.0949999988079071, + 0.0, + 0.018571428954601288, + -0.025714285671710968, + -1.0 + ], + "delta_full_state_norm": [ + 0.031249755314734617, + 0.4410873880725845, + -0.11316422590448805, + -1.0, + 1.0, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 8 mm; move left 9 mm; move downward 1 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 107 mm; move left 417 mm; move downward 95 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; close gripper;", + "subtask_movement_text": "move backward 122 mm; move left 492 mm; move downward 111 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 9, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move left 13 mm; move downward 3 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 104 mm; move left 433 mm; move downward 99 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 2 degrees; close gripper;\nSubtask Movement: move backward 114 mm; move left 483 mm; move downward 110 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 153, + 105 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.007857142947614193, + 0.012500000186264515, + -0.002500000176951289, + 0.0, + 0.0028571428265422583, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.10357142984867096, + 0.43285712599754333, + -0.09928571432828903, + 0.0, + 0.00714285671710968, + -0.03285714238882065, + -1.0 + ], + "delta_full_state_norm": [ + 0.04687478309242721, + 0.5619332816514777, + -0.18706721410525629, + -1.0, + 0.9405202485690511, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 8 mm; move left 13 mm; move downward 3 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 104 mm; move left 433 mm; move downward 99 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "subtask_movement_text": "move backward 114 mm; move left 483 mm; move downward 110 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 10, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move left 17 mm; move downward 4 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 100 mm; move left 446 mm; move downward 103 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 2 degrees; close gripper;\nSubtask Movement: move backward 106 mm; move left 471 mm; move downward 107 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 153, + 105 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.007500000298023224, + 0.016785714775323868, + -0.0035714288242161274, + 0.0, + 0.004285714123398066, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.10035715252161026, + 0.4457142949104309, + -0.10285713523626328, + 0.0, + 0.004285714123398066, + -0.03999999910593033, + -1.0 + ], + "delta_full_state_norm": [ + 0.06249977012476737, + 0.7069483728539641, + -0.24249445525583257, + -1.0, + 0.9702600189835617, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 8 mm; move left 17 mm; move downward 4 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 100 mm; move left 446 mm; move downward 103 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "subtask_movement_text": "move backward 106 mm; move left 471 mm; move downward 107 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 11, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move left 18 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 99 mm; move left 454 mm; move downward 104 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nSubtask Movement: move backward 99 mm; move left 454 mm; move downward 104 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 152, + 105 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.007142857648432255, + 0.018214285373687744, + -0.0035714288242161274, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.09892857819795609, + 0.45392856001853943, + -0.1039285808801651, + 0.0, + 0.0, + -0.03999999910593033, + -1.0 + ], + "delta_full_state_norm": [ + 0.07812475715710732, + 0.755286705075102, + -0.24249445525583257, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 7 mm; move left 18 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 99 mm; move left 454 mm; move downward 104 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "subtask_movement_text": "move backward 99 mm; move left 454 mm; move downward 104 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 12, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move left 19 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 96 mm; move left 461 mm; move downward 105 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nSubtask Movement: move backward 92 mm; move left 436 mm; move downward 100 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 152, + 106 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.007500000298023224, + 0.019285714253783226, + -0.0035714288242161274, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.09642857313156128, + 0.4610714614391327, + -0.10499999672174454, + 0.0, + 0.0, + -0.03999999910593033, + -1.0 + ], + "delta_full_state_norm": [ + 0.06249977012476737, + 0.7915404857539796, + -0.24249445525583257, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 8 mm; move left 19 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 96 mm; move left 461 mm; move downward 105 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "subtask_movement_text": "move backward 92 mm; move left 436 mm; move downward 100 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 13, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move left 20 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 93 mm; move left 466 mm; move downward 106 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nSubtask Movement: move backward 84 mm; move left 416 mm; move downward 97 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 151, + 106 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.006785714533179998, + 0.020000001415610313, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.09321429580450058, + 0.4660714268684387, + -0.10571428388357162, + 0.0, + 0.0, + -0.03999999910593033, + -1.0 + ], + "delta_full_state_norm": [ + 0.0937497645621237, + 0.8157097148905972, + -0.2794459493562167, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 7 mm; move left 20 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 93 mm; move left 466 mm; move downward 106 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "subtask_movement_text": "move backward 84 mm; move left 416 mm; move downward 97 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 14, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move left 20 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 92 mm; move left 469 mm; move downward 105 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nSubtask Movement: move backward 78 mm; move left 396 mm; move downward 92 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 150, + 107 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.006785714533179998, + 0.020000001415610313, + -0.004642857238650322, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.09214285761117935, + 0.46892857551574707, + -0.10535713285207748, + 0.0, + 0.0, + -0.03999999910593033, + -1.0 + ], + "delta_full_state_norm": [ + 0.0937497645621237, + 0.8157097148905972, + -0.2979216843615934, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 7 mm; move left 20 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 92 mm; move left 469 mm; move downward 105 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "subtask_movement_text": "move backward 78 mm; move left 396 mm; move downward 92 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 15, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move left 20 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 91 mm; move left 470 mm; move downward 104 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nSubtask Movement: move backward 71 mm; move left 376 mm; move downward 88 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 149, + 107 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.0057142856530845165, + 0.020000001415610313, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.09142857789993286, + 0.46964284777641296, + -0.1039285659790039, + 0.0, + 0.0, + -0.03999999910593033, + -1.0 + ], + "delta_full_state_norm": [ + 0.14062476640449662, + 0.8157097148905972, + -0.3348731784619775, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 6 mm; move left 20 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 91 mm; move left 470 mm; move downward 104 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "subtask_movement_text": "move backward 71 mm; move left 376 mm; move downward 88 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 16, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move left 21 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 90 mm; move left 470 mm; move downward 101 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nSubtask Movement: move backward 65 mm; move left 356 mm; move downward 83 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 148, + 107 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.005000000353902578, + 0.02142857201397419, + -0.0057142856530845165, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.09035714715719223, + 0.46964284777641296, + -0.10142858326435089, + 0.0, + 0.0, + -0.03999999910593033, + -1.0 + ], + "delta_full_state_norm": [ + 0.17187474046917672, + 0.8640480471117351, + -0.3533489134673542, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 5 mm; move left 21 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 90 mm; move left 470 mm; move downward 101 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "subtask_movement_text": "move backward 65 mm; move left 356 mm; move downward 83 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 17, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move left 21 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 89 mm; move left 467 mm; move downward 99 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nSubtask Movement: move backward 60 mm; move left 335 mm; move downward 77 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 147, + 108 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.0057142856530845165, + 0.02142857201397419, + -0.004642857238650322, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.0892857238650322, + 0.46714287996292114, + -0.09892857819795609, + 0.0, + 0.0, + -0.03999999910593033, + -1.0 + ], + "delta_full_state_norm": [ + 0.14062476640449662, + 0.8640480471117351, + -0.2979216843615934, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 6 mm; move left 21 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 89 mm; move left 467 mm; move downward 99 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "subtask_movement_text": "move backward 60 mm; move left 335 mm; move downward 77 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 18, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move left 22 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 88 mm; move left 464 mm; move downward 98 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nSubtask Movement: move backward 54 mm; move left 314 mm; move downward 72 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 146, + 109 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.0057142856530845165, + 0.021785713732242584, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.08750000596046448, + 0.4642857015132904, + -0.09750001132488251, + 0.0, + 0.0, + -0.03999999910593033, + -1.0 + ], + "delta_full_state_norm": [ + 0.14062476640449662, + 0.8761325986539952, + -0.2794459493562167, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 6 mm; move left 22 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 88 mm; move left 464 mm; move downward 98 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "subtask_movement_text": "move backward 54 mm; move left 314 mm; move downward 72 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 19, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move left 23 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 85 mm; move left 463 mm; move downward 96 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nSubtask Movement: move backward 49 mm; move left 292 mm; move downward 68 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 145, + 109 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.004642857238650322, + 0.022857142612338066, + -0.0057142856530845165, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.08500000834465027, + 0.4625000059604645, + -0.09571429342031479, + 0.0, + 0.0, + -0.03999999910593033, + -1.0 + ], + "delta_full_state_norm": [ + 0.1874997478741931, + 0.9123863793328728, + -0.3533489134673542, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 5 mm; move left 23 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 85 mm; move left 463 mm; move downward 96 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "subtask_movement_text": "move backward 49 mm; move left 292 mm; move downward 68 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 20, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move left 23 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 84 mm; move left 462 mm; move downward 92 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nSubtask Movement: move backward 44 mm; move left 269 mm; move downward 62 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 144, + 110 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.004285714589059353, + 0.022857142612338066, + -0.0057142856530845165, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.0835714340209961, + 0.4617857038974762, + -0.09214286506175995, + 0.0, + 0.0, + -0.03999999910593033, + -1.0 + ], + "delta_full_state_norm": [ + 0.20312473490653327, + 0.9123863793328728, + -0.3533489134673542, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 4 mm; move left 23 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 84 mm; move left 462 mm; move downward 92 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "subtask_movement_text": "move backward 44 mm; move left 269 mm; move downward 62 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 21, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move left 22 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 82 mm; move left 461 mm; move downward 89 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nSubtask Movement: move backward 40 mm; move left 246 mm; move downward 56 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 143, + 110 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.0035714288242161274, + 0.022499999031424522, + -0.0057142856530845165, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.08178571611642838, + 0.46142855286598206, + -0.08892857283353806, + 0.0, + 0.0, + -0.03999999910593033, + -1.0 + ], + "delta_full_state_norm": [ + 0.2343747293438898, + 0.9003017647645641, + -0.3533489134673542, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 4 mm; move left 22 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 82 mm; move left 461 mm; move downward 89 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "subtask_movement_text": "move backward 40 mm; move left 246 mm; move downward 56 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 22, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move left 24 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 81 mm; move left 461 mm; move downward 85 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nSubtask Movement: move backward 36 mm; move left 224 mm; move downward 51 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 141, + 111 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.0032142859417945147, + 0.02428571507334709, + -0.0057142856530845165, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.08107142895460129, + 0.46142855286598206, + -0.08535715192556381, + 0.0, + 0.0, + -0.03999999910593033, + -1.0 + ], + "delta_full_state_norm": [ + 0.24999972656256797, + 0.9607247745800593, + -0.3533489134673542, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 3 mm; move left 24 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 81 mm; move left 461 mm; move downward 85 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "subtask_movement_text": "move backward 36 mm; move left 224 mm; move downward 51 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 23, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move left 25 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 80 mm; move left 461 mm; move downward 82 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nSubtask Movement: move backward 33 mm; move left 199 mm; move downward 45 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 140, + 111 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.0032142859417945147, + 0.024642856791615486, + -0.006071428768336773, + 0.0, + 0.0, + -0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + -0.08000000566244125, + 0.46071431040763855, + -0.08178572356700897, + 0.0, + 0.0, + -0.03999999910593033, + -1.0 + ], + "delta_full_state_norm": [ + 0.24999972656256797, + 0.9728093261223194, + -0.37182467256236174, + -1.0, + 0.8810407028929985, + 0.8571419269087968, + -1.0 + ], + "movement_text": "move backward 3 mm; move left 25 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 80 mm; move left 461 mm; move downward 82 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "subtask_movement_text": "move backward 33 mm; move left 199 mm; move downward 45 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 24, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move left 24 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 78 mm; move left 460 mm; move downward 79 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nSubtask Movement: move backward 30 mm; move left 175 mm; move downward 39 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 139, + 112 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.0028571428265422583, + 0.02428571507334709, + -0.0057142856530845165, + 0.0, + 0.0, + -0.0028571428265422583, + -1.0 + ], + "delta_next_20": [ + -0.07785714417695999, + 0.4603571593761444, + -0.07857143133878708, + 0.0, + 0.0, + -0.03857142850756645, + -1.0 + ], + "delta_full_state_norm": [ + 0.26562473396758435, + 0.9607247745800593, + -0.3533489134673542, + -1.0, + 0.8810407028929985, + 0.714284853817116, + -1.0 + ], + "movement_text": "move backward 3 mm; move left 24 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 78 mm; move left 460 mm; move downward 79 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "subtask_movement_text": "move backward 30 mm; move left 175 mm; move downward 39 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 25, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move left 26 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 75 mm; move left 460 mm; move downward 77 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nSubtask Movement: move backward 27 mm; move left 150 mm; move downward 33 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 138, + 112 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.002500000176951289, + 0.025714287534356117, + -0.006428571883589029, + 0.0, + 0.0, + -0.0071428571827709675, + -1.0 + ], + "delta_next_20": [ + -0.07500000298023224, + 0.4599999487400055, + -0.07678572088479996, + 0.0, + 0.0, + -0.0357142873108387, + -1.0 + ], + "delta_full_state_norm": [ + 0.2812497209999245, + 1.0, + -0.39030043165736916, + -1.0, + 0.8810407028929985, + 0.285713622900547, + -1.0 + ], + "movement_text": "move backward 3 mm; move left 26 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 75 mm; move left 460 mm; move downward 77 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "subtask_movement_text": "move backward 27 mm; move left 150 mm; move downward 33 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 26, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move left 25 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 73 mm; move left 458 mm; move downward 74 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\nSubtask Movement: move backward 24 mm; move left 125 mm; move downward 27 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 136, + 113 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.0035714288242161274, + 0.025357142090797424, + -0.006071428768336773, + 0.0, + 0.0, + -0.0071428571827709675, + -1.0 + ], + "delta_next_20": [ + -0.07250000536441803, + 0.4582141935825348, + -0.07428570836782455, + 0.0, + 0.0, + -0.02857142873108387, + -1.0 + ], + "delta_full_state_norm": [ + 0.2343747293438898, + 0.9969784922328884, + -0.37182467256236174, + -1.0, + 0.8810407028929985, + 0.285713622900547, + -1.0 + ], + "movement_text": "move backward 4 mm; move left 25 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 73 mm; move left 458 mm; move downward 74 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;", + "subtask_movement_text": "move backward 24 mm; move left 125 mm; move downward 27 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 27, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move left 24 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 69 mm; move left 458 mm; move downward 74 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nSubtask Movement: move backward 21 mm; move left 99 mm; move downward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 135, + 113 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.005000000353902578, + 0.023928571492433548, + -0.004642857238650322, + 0.0, + 0.0, + -0.0071428571827709675, + -1.0 + ], + "delta_next_20": [ + -0.06892856955528259, + 0.4578571319580078, + -0.07357142865657806, + 0.0, + 0.0, + -0.02142857201397419, + -1.0 + ], + "delta_full_state_norm": [ + 0.17187474046917672, + 0.9486401600117507, + -0.2979216843615934, + -1.0, + 0.8810407028929985, + 0.285713622900547, + -1.0 + ], + "movement_text": "move backward 5 mm; move left 24 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 69 mm; move left 458 mm; move downward 74 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "subtask_movement_text": "move backward 21 mm; move left 99 mm; move downward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;" + }, + { + "frame_index": 28, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move left 25 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 64 mm; move left 459 mm; move downward 75 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\nSubtask Movement: move backward 16 mm; move left 75 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 134, + 114 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.005000000353902578, + 0.02500000037252903, + -0.0053571430034935474, + 0.0, + 0.0, + -0.0071428571827709675, + -1.0 + ], + "delta_next_20": [ + -0.06392857432365417, + 0.45892855525016785, + -0.07535713911056519, + 0.0, + 0.0, + -0.014285714365541935, + -1.0 + ], + "delta_full_state_norm": [ + 0.17187474046917672, + 0.9848939406906283, + -0.3348731784619775, + -1.0, + 0.8810407028929985, + 0.285713622900547, + -1.0 + ], + "movement_text": "move backward 5 mm; move left 25 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 64 mm; move left 459 mm; move downward 75 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;", + "subtask_movement_text": "move backward 16 mm; move left 75 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; close gripper;" + }, + { + "frame_index": 29, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move left 25 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 59 mm; move left 459 mm; move downward 78 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 11 mm; move left 50 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 132, + 114 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.004642857238650322, + 0.025357142090797424, + -0.006071428768336773, + 0.0, + 0.0, + -0.0071428571827709675, + -1.0 + ], + "delta_next_20": [ + -0.05892856791615486, + 0.4592857360839844, + -0.07750000059604645, + 0.0, + 0.0, + -0.0071428571827709675, + -1.0 + ], + "delta_full_state_norm": [ + 0.1874997478741931, + 0.9969784922328884, + -0.37182467256236174, + -1.0, + 0.8810407028929985, + 0.285713622900547, + -1.0 + ], + "movement_text": "move backward 5 mm; move left 25 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 59 mm; move left 459 mm; move downward 78 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 11 mm; move left 50 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 30, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move left 25 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 54 mm; move left 460 mm; move downward 80 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 6 mm; move left 25 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 131, + 115 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.006071428768336773, + 0.02500000037252903, + -0.004642857238650322, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.05428571626543999, + 0.4596428871154785, + -0.08000000566244125, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.12499975899948024, + 0.9848939406906283, + -0.2979216843615934, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 6 mm; move left 25 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 54 mm; move left 460 mm; move downward 80 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 6 mm; move left 25 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 31, + "segment_id": 40100, + "subtask": "approach the corn", + "reason": "The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the corn\nSubtask Reasoning: The robot arm moves from a stationary position towards the green corn on the counter, positioning its gripper near the object without making contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move left 25 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 48 mm; move left 460 mm; move downward 86 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 130, + 116 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.004642857238650322, + 0.025357142090797424, + -0.004642857238650322, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.04821428656578064, + 0.4603571593761444, + -0.08571428805589676, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.1874997478741931, + 0.9969784922328884, + -0.2979216843615934, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 5 mm; move left 25 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 48 mm; move left 460 mm; move downward 86 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 32, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move left 24 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 44 mm; move left 461 mm; move downward 93 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 44 mm; move left 788 mm; move downward 318 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 128, + 116 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.004285714589059353, + 0.02428571507334709, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.04357143118977547, + 0.46071434020996094, + -0.09321428835391998, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.20312473490653327, + 0.9607247745800593, + -0.2794459493562167, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 4 mm; move left 24 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 44 mm; move left 461 mm; move downward 93 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 44 mm; move left 788 mm; move downward 318 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 33, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move left 23 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 39 mm; move left 461 mm; move downward 102 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 39 mm; move left 764 mm; move downward 314 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 127, + 117 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.0057142856530845165, + 0.022857142612338066, + -0.0039285714738070965, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.03928571566939354, + 0.4610714614391327, + -0.10214286297559738, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.14062476640449662, + 0.9123863793328728, + -0.26097019026120927, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 6 mm; move left 23 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 39 mm; move left 461 mm; move downward 102 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 39 mm; move left 764 mm; move downward 314 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 34, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move left 21 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 34 mm; move left 463 mm; move downward 113 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 34 mm; move left 741 mm; move downward 310 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 126, + 117 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.006071428768336773, + 0.02071428671479225, + -0.0032142859417945147, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.033571433275938034, + 0.4625000059604645, + -0.1128571406006813, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.12499975899948024, + 0.8398788810011661, + -0.2240187082056404, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 6 mm; move left 21 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 34 mm; move left 463 mm; move downward 113 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 34 mm; move left 741 mm; move downward 310 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 35, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move left 20 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 28 mm; move left 466 mm; move downward 125 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 28 mm; move left 720 mm; move downward 307 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,138], [141,153]\n", + "gripper_2d": [ + 125, + 118 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 138, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.004642857238650322, + 0.020000001415610313, + -0.0028571428265422583, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.027500003576278687, + 0.4657142758369446, + -0.125, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.1874997478741931, + 0.8157097148905972, + -0.20554294911063298, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 5 mm; move left 20 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 28 mm; move left 466 mm; move downward 125 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 28 mm; move left 720 mm; move downward 307 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 36, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move left 19 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 23 mm; move left 470 mm; move downward 138 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 23 mm; move left 700 mm; move downward 304 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,139], [140,153]\n", + "gripper_2d": [ + 124, + 118 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 139, + 140, + 153 + ] + ], + "delta_full_state": [ + -0.0039285714738070965, + 0.018928570672869682, + -0.0032142859417945147, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.022857144474983215, + 0.46964284777641296, + -0.13785715401172638, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.21874974231154964, + 0.779455871185671, + -0.2240187082056404, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 4 mm; move left 19 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 23 mm; move left 470 mm; move downward 138 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 23 mm; move left 700 mm; move downward 304 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 37, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move left 19 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 19 mm; move left 475 mm; move downward 151 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 19 mm; move left 681 mm; move downward 301 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,139], [140,153]\n", + "gripper_2d": [ + 122, + 119 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 139, + 140, + 153 + ] + ], + "delta_full_state": [ + -0.0039285714738070965, + 0.018571428954601288, + -0.0032142859417945147, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.01892857253551483, + 0.47499990463256836, + -0.1510714292526245, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.21874974231154964, + 0.7673713196434107, + -0.2240187082056404, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 4 mm; move left 19 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 19 mm; move left 475 mm; move downward 151 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 19 mm; move left 681 mm; move downward 301 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 38, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move left 20 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 15 mm; move left 481 mm; move downward 165 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 15 mm; move left 663 mm; move downward 298 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,141], [140,153]\n", + "gripper_2d": [ + 121, + 119 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 141, + 140, + 153 + ] + ], + "delta_full_state": [ + -0.0032142859417945147, + 0.020000001415610313, + -0.002500000176951289, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.015000000596046448, + 0.48071423172950745, + -0.16500000655651093, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.24999972656256797, + 0.8157097148905972, + -0.18706721410525629, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 3 mm; move left 20 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 15 mm; move left 481 mm; move downward 165 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 15 mm; move left 663 mm; move downward 298 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 39, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move left 22 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 12 mm; move left 485 mm; move downward 180 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 12 mm; move left 643 mm; move downward 295 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,142], [139,153]\n", + "gripper_2d": [ + 120, + 120 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 142, + 139, + 153 + ] + ], + "delta_full_state": [ + -0.0032142859417945147, + 0.022142857313156128, + -0.0021428572945296764, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.011785714887082577, + 0.48464280366897583, + -0.17964284121990204, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.24999972656256797, + 0.8882172132223038, + -0.16859146705506423, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 3 mm; move left 22 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 12 mm; move left 485 mm; move downward 180 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 12 mm; move left 643 mm; move downward 295 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 40, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move left 22 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 9 mm; move left 486 mm; move downward 195 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 9 mm; move left 620 mm; move downward 293 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,143], [138,153]\n", + "gripper_2d": [ + 119, + 120 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 143, + 138, + 153 + ] + ], + "delta_full_state": [ + -0.002500000176951289, + 0.022499999031424522, + -0.002500000176951289, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.008571429178118706, + 0.4860714375972748, + -0.1946428418159485, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.2812497209999245, + 0.9003017647645641, + -0.18706721410525629, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 3 mm; move left 22 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 9 mm; move left 486 mm; move downward 195 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 9 mm; move left 620 mm; move downward 293 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 41, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move left 22 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 6 mm; move left 487 mm; move downward 209 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 6 mm; move left 598 mm; move downward 290 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,145], [137,153]\n", + "gripper_2d": [ + 118, + 120 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 145, + 137, + 153 + ] + ], + "delta_full_state": [ + -0.0028571428265422583, + 0.022499999031424522, + -0.0021428572945296764, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.006071428768336773, + 0.4871428608894348, + -0.20928572118282318, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.26562473396758435, + 0.9003017647645641, + -0.16859146705506423, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 3 mm; move left 22 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 6 mm; move left 487 mm; move downward 209 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 6 mm; move left 598 mm; move downward 290 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 42, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 2 mm; move left 24 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 3 mm; move left 488 mm; move downward 224 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 3 mm; move left 575 mm; move downward 288 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,147], [137,153]\n", + "gripper_2d": [ + 117, + 121 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 147, + 137, + 153 + ] + ], + "delta_full_state": [ + -0.0021428572945296764, + 0.023571429774165154, + -0.0021428572945296764, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.0032142859417945147, + 0.4878571927547455, + -0.22428572177886963, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.2968747182186027, + 0.9365556084694904, + -0.16859146705506423, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 2 mm; move left 24 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 3 mm; move left 488 mm; move downward 224 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 3 mm; move left 575 mm; move downward 288 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 43, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move left 24 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 1 mm; move left 487 mm; move downward 239 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 1 mm; move left 552 mm; move downward 286 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,148], [134,152]\n", + "gripper_2d": [ + 116, + 121 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 148, + 134, + 152 + ] + ], + "delta_full_state": [ + -0.0010714286472648382, + 0.02428571507334709, + -0.0028571428265422583, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.0010714286472648382, + 0.4871428906917572, + -0.23892858624458313, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3437497098746374, + 0.9607247745800593, + -0.20554294911063298, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 1 mm; move left 24 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 1 mm; move left 487 mm; move downward 239 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 1 mm; move left 552 mm; move downward 286 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 44, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 24 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 485 mm; move downward 252 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 528 mm; move downward 283 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,151], [132,151]\n", + "gripper_2d": [ + 114, + 122 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 151, + 132, + 151 + ] + ], + "delta_full_state": [ + 0.0, + 0.023928571492433548, + -0.0039285714738070965, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.484642893075943, + -0.25214287638664246, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.9486401600117507, + -0.26097019026120927, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 24 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 485 mm; move downward 252 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 528 mm; move downward 283 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 45, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 24 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 482 mm; move downward 264 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 504 mm; move downward 279 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 113, + 122 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + 0.023928571492433548, + -0.0039285714738070965, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.4821428954601288, + -0.26357144117355347, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.9486401600117507, + -0.26097019026120927, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 24 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 482 mm; move downward 264 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 504 mm; move downward 279 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 46, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 25 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 480 mm; move downward 275 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 480 mm; move downward 275 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 112, + 123 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + 0.02500000037252903, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.47964292764663696, + -0.2753571569919586, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.9848939406906283, + -0.3348731784619775, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 25 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 480 mm; move downward 275 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 480 mm; move downward 275 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 47, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 25 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 475 mm; move downward 286 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 455 mm; move downward 270 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 110, + 123 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + 0.02500000037252903, + -0.006428571883589029, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.4750000536441803, + -0.285714328289032, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.9848939406906283, + -0.39030043165736916, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 25 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 475 mm; move downward 286 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 455 mm; move downward 270 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 48, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 25 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 470 mm; move downward 295 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 430 mm; move downward 264 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 109, + 123 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + 0.025357142090797424, + -0.007500000298023224, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.4699999988079071, + -0.2946428656578064, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.9969784922328884, + -0.44572766076313, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 25 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 470 mm; move downward 295 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 430 mm; move downward 264 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 49, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 26 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 464 mm; move downward 302 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 404 mm; move downward 256 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 107, + 124 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + 0.025714287534356117, + -0.008571429178118706, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.46357136964797974, + -0.3017857074737549, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 1.0, + -0.5011549139585216, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 26 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 464 mm; move downward 302 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 404 mm; move downward 256 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 50, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 26 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 456 mm; move downward 308 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 379 mm; move downward 248 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 106, + 125 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + 0.025714287534356117, + -0.010357143357396126, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.45642852783203125, + -0.3078571557998657, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 1.0, + -0.5935336371646666, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 26 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 456 mm; move downward 308 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 379 mm; move downward 248 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 51, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 26 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 447 mm; move downward 311 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 353 mm; move downward 237 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 104, + 125 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + 0.025714287534356117, + -0.012142857536673546, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.44749996066093445, + -0.31142857670783997, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 1.0, + -0.6859123603708115, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 26 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 447 mm; move downward 311 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 353 mm; move downward 237 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 52, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 25 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 437 mm; move downward 313 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 327 mm; move downward 225 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 103, + 126 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + 0.024642856791615486, + -0.013214285485446453, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.4374999701976776, + -0.31285715103149414, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.9728093261223194, + -0.7413395653869417, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 25 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 437 mm; move downward 313 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 327 mm; move downward 225 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 53, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 24 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 429 mm; move downward 313 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 302 mm; move downward 212 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 101, + 127 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + 0.02428571507334709, + -0.014642857015132904, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.4285713732242584, + -0.3132143020629883, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.9607247745800593, + -0.81524255358771, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 24 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 429 mm; move downward 313 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 302 mm; move downward 212 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 54, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 24 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 420 mm; move downward 310 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 278 mm; move downward 197 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 100, + 127 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + 0.023928571492433548, + -0.015357143245637417, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.419642835855484, + -0.3100000321865082, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.9486401600117507, + -0.8521940717777249, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 24 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 420 mm; move downward 310 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 278 mm; move downward 197 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 55, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 24 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 411 mm; move downward 305 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 254 mm; move downward 182 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 99, + 128 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + 0.023928571492433548, + -0.015714285895228386, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.41107138991355896, + -0.3046428859233856, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.9486401600117507, + -0.8706698067831016, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 24 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 411 mm; move downward 305 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 254 mm; move downward 182 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 56, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 24 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 400 mm; move downward 299 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 230 mm; move downward 166 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 97, + 129 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + 0.02428571507334709, + -0.016428573057055473, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.40035709738731384, + -0.29928573966026306, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.9607247745800593, + -0.9076213731523779, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 24 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 400 mm; move downward 299 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 230 mm; move downward 166 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 57, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 24 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 388 mm; move downward 292 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 206 mm; move downward 150 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 96, + 130 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + 0.02428571507334709, + -0.01714285835623741, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.3878571391105652, + -0.29249998927116394, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.9607247745800593, + -0.9445728431631313, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 24 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 388 mm; move downward 292 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 206 mm; move downward 150 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 58, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 24 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 375 mm; move downward 285 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 182 mm; move downward 133 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 94, + 131 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + 0.023928571492433548, + -0.01714285835623741, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.375, + -0.2850000262260437, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.9486401600117507, + -0.9445728431631313, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 24 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 375 mm; move downward 285 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 182 mm; move downward 133 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 59, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 24 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 361 mm; move downward 278 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 158 mm; move downward 115 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 93, + 132 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + 0.023571429774165154, + -0.01714285835623741, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.3614285886287689, + -0.27785712480545044, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.9365556084694904, + -0.9445728431631313, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 24 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 361 mm; move downward 278 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 158 mm; move downward 115 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 60, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 24 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 346 mm; move downward 270 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 134 mm; move downward 98 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 92, + 133 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + 0.023571429774165154, + -0.01714285835623741, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.3457143008708954, + -0.2696428596973419, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.9365556084694904, + -0.9445728431631313, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 24 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 346 mm; move downward 270 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 134 mm; move downward 98 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 61, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 23 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move left 328 mm; move downward 261 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 111 mm; move downward 81 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 90, + 134 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + 0.02321428619325161, + -0.01714285835623741, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.32821425795555115, + -0.261428564786911, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.9244709939011817, + -0.9445728431631313, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 23 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move left 328 mm; move downward 261 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 111 mm; move downward 81 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 62, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 23 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 1 mm; move left 311 mm; move downward 254 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 87 mm; move downward 64 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 89, + 135 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + 0.022857142612338066, + -0.016785714775323868, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0010714286472648382, + 0.3107142746448517, + -0.25357142090797424, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.9123863793328728, + -0.9260970599784931, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 23 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 1 mm; move left 311 mm; move downward 254 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 87 mm; move downward 64 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 63, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 22 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 3 mm; move left 293 mm; move downward 245 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 65 mm; move downward 47 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 88, + 136 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + 0.021785713732242584, + -0.01607142947614193, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.002500000176951289, + 0.29250001907348633, + -0.24535714089870453, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.8761325986539952, + -0.8891455899677397, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 22 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 3 mm; move left 293 mm; move downward 245 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 65 mm; move downward 47 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 64, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 21 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 4 mm; move left 274 mm; move downward 238 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 43 mm; move downward 31 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 87, + 137 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + 0.02142857201397419, + -0.015357143245637417, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0035714288242161274, + 0.2742857336997986, + -0.2378571480512619, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.8640480471117351, + -0.8521940717777249, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 21 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 4 mm; move left 274 mm; move downward 238 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 43 mm; move downward 31 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 65, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 21 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 6 mm; move left 255 mm; move downward 230 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move left 21 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [74,165]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 85, + 138 + ], + "task_obj_bbox": [ + 59, + 141, + 74, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + 0.02142857201397419, + -0.015714285895228386, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.005714286118745804, + 0.25535717606544495, + -0.23035717010498047, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.8640480471117351, + -0.8706698067831016, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 21 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 6 mm; move left 255 mm; move downward 230 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move left 21 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 66, + "segment_id": 50100, + "subtask": "grasp the corn", + "reason": "The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: grasp the corn\nSubtask Reasoning: The robot's end-effector moves towards the green corn on the counter and makes physical contact, indicating a grasping action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 20 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 12 mm; move left 236 mm; move downward 221 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,141], [73,165]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 84, + 139 + ], + "task_obj_bbox": [ + 59, + 141, + 73, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + 0.020357143133878708, + -0.015714285895228386, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.011785714887082577, + 0.23571430146694183, + -0.22107143700122833, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.8277942664328573, + -0.8706698067831016, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 20 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 12 mm; move left 236 mm; move downward 221 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 67, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 20 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 19 mm; move left 217 mm; move downward 212 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 529 mm; move left 218 mm; move downward 621 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,143], [73,165]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 83, + 140 + ], + "task_obj_bbox": [ + 59, + 143, + 73, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + 0.020000001415610313, + -0.015357143245637417, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.01892857253551483, + 0.2167857438325882, + -0.21178574860095978, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.8157097148905972, + -0.8521940717777249, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 20 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 19 mm; move left 217 mm; move downward 212 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 529 mm; move left 218 mm; move downward 621 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 68, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 19 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 25 mm; move left 197 mm; move downward 203 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 529 mm; move left 198 mm; move downward 606 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,145], [72,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [140,138], [140,138]\n", + "gripper_2d": [ + 82, + 140 + ], + "task_obj_bbox": [ + 59, + 145, + 72, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 140, + 138, + 140, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.018928570672869682, + -0.014642857015132904, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.025357145816087723, + 0.19678570330142975, + -0.20285718142986298, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.779455871185671, + -0.81524255358771, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 19 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 25 mm; move left 197 mm; move downward 203 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 529 mm; move left 198 mm; move downward 606 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 69, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 19 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 31 mm; move left 178 mm; move downward 194 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 529 mm; move left 179 mm; move downward 591 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,147], [72,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [136,137], [141,139]\n", + "gripper_2d": [ + 81, + 141 + ], + "task_obj_bbox": [ + 59, + 147, + 72, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 136, + 137, + 141, + 139 + ] + ], + "delta_full_state": [ + 0.0, + 0.018571428954601288, + -0.014642857015132904, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.031071430072188377, + 0.1778571456670761, + -0.19357146322727203, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.7673713196434107, + -0.81524255358771, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 19 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 31 mm; move left 178 mm; move downward 194 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 529 mm; move left 179 mm; move downward 591 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 70, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 17 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 38 mm; move left 159 mm; move downward 184 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 529 mm; move left 160 mm; move downward 577 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,148], [71,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [135,137], [141,140]\n", + "gripper_2d": [ + 80, + 142 + ], + "task_obj_bbox": [ + 59, + 148, + 71, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 135, + 137, + 141, + 140 + ] + ], + "delta_full_state": [ + 0.0, + 0.016785714775323868, + -0.013928571715950966, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.03785714507102966, + 0.15928570926189423, + -0.1842857450246811, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.7069483728539641, + -0.7782910835769565, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 17 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 38 mm; move left 159 mm; move downward 184 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 529 mm; move left 160 mm; move downward 577 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 71, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 16 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 45 mm; move left 142 mm; move downward 176 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 529 mm; move left 143 mm; move downward 563 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,149], [71,165]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [134,137], [141,141]\n", + "gripper_2d": [ + 79, + 143 + ], + "task_obj_bbox": [ + 59, + 149, + 71, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 134, + 137, + 141, + 141 + ] + ], + "delta_full_state": [ + 0.0, + 0.015714285895228386, + -0.013571429066359997, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.04500000178813934, + 0.14249999821186066, + -0.17642860114574432, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.6706945921750864, + -0.7598153485715798, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 16 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 45 mm; move left 142 mm; move downward 176 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 529 mm; move left 143 mm; move downward 563 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 72, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 16 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 52 mm; move left 127 mm; move downward 169 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 529 mm; move left 128 mm; move downward 549 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,151], [71,165]\ndistr_counter: [53,111], [65,125]\ndistr_sink: [133,137], [141,142]\n", + "gripper_2d": [ + 78, + 144 + ], + "task_obj_bbox": [ + 59, + 151, + 71, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 65, + 125 + ], + [ + 133, + 137, + 141, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.015714285895228386, + -0.013571429066359997, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.05178571864962578, + 0.12678571045398712, + -0.16928575932979584, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.6706945921750864, + -0.7598153485715798, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 16 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 52 mm; move left 127 mm; move downward 169 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 529 mm; move left 128 mm; move downward 549 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 73, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 15 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 59 mm; move left 111 mm; move downward 162 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 529 mm; move left 112 mm; move downward 536 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,152], [70,165]\ndistr_counter: [53,111], [64,125]\ndistr_sink: [132,137], [141,142]\n", + "gripper_2d": [ + 77, + 144 + ], + "task_obj_bbox": [ + 59, + 152, + 70, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 64, + 125 + ], + [ + 132, + 137, + 141, + 142 + ] + ], + "delta_full_state": [ + 0.0, + 0.015357143245637417, + -0.011428571306169033, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.059285718947649, + 0.11107143014669418, + -0.16178573668003082, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.6586100091198019, + -0.6489608421807966, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 15 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 59 mm; move left 111 mm; move downward 162 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 529 mm; move left 112 mm; move downward 536 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 74, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 15 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 67 mm; move left 96 mm; move downward 156 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 529 mm; move left 96 mm; move downward 524 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,153], [70,165]\ndistr_counter: [53,111], [63,125]\ndistr_sink: [132,137], [141,143]\n", + "gripper_2d": [ + 76, + 145 + ], + "task_obj_bbox": [ + 59, + 153, + 70, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 125 + ], + [ + 132, + 137, + 141, + 143 + ] + ], + "delta_full_state": [ + 0.0, + 0.015357143245637417, + -0.010000000707805157, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.06714286655187607, + 0.09571428596973419, + -0.15642857551574707, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.6586100091198019, + -0.5750579021592899, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 15 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 67 mm; move left 96 mm; move downward 156 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 529 mm; move left 96 mm; move downward 524 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 75, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 13 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 76 mm; move left 81 mm; move downward 154 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 529 mm; move left 81 mm; move downward 514 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,154], [69,165]\ndistr_counter: [53,111], [63,125]\ndistr_sink: [132,137], [141,143]\n", + "gripper_2d": [ + 76, + 146 + ], + "task_obj_bbox": [ + 59, + 154, + 69, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 125 + ], + [ + 132, + 137, + 141, + 143 + ] + ], + "delta_full_state": [ + 0.0, + 0.013214285485446453, + -0.010357143357396126, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.07642857730388641, + 0.08107142895460129, + -0.15357142686843872, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.5861024477620465, + -0.5935336371646666, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 13 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 76 mm; move left 81 mm; move downward 154 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 529 mm; move left 81 mm; move downward 514 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 76, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 12 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 85 mm; move left 69 mm; move downward 151 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 529 mm; move left 68 mm; move downward 504 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,155], [69,165]\ndistr_counter: [53,111], [62,125]\ndistr_sink: [132,137], [141,144]\n", + "gripper_2d": [ + 75, + 146 + ], + "task_obj_bbox": [ + 59, + 155, + 69, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 62, + 125 + ], + [ + 132, + 137, + 141, + 144 + ] + ], + "delta_full_state": [ + 0.0, + 0.011785714887082577, + -0.009642857126891613, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.08535715192556381, + 0.06892856955528259, + -0.15071427822113037, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.5377641155409087, + -0.5565821189746517, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 12 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 85 mm; move left 69 mm; move downward 151 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 529 mm; move left 68 mm; move downward 504 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 77, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 11 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 95 mm; move left 59 mm; move downward 149 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 529 mm; move left 56 mm; move downward 494 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,156], [68,165]\ndistr_counter: [53,111], [61,125]\ndistr_sink: [132,137], [141,144]\n", + "gripper_2d": [ + 74, + 147 + ], + "task_obj_bbox": [ + 59, + 156, + 68, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 61, + 125 + ], + [ + 132, + 137, + 141, + 144 + ] + ], + "delta_full_state": [ + 0.0, + 0.011428571306169033, + -0.009642857126891613, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0950000062584877, + 0.059285718947649, + -0.1492857038974762, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.5256795009725999, + -0.5565821189746517, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 11 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 95 mm; move left 59 mm; move downward 149 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 529 mm; move left 56 mm; move downward 494 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 78, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 10 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 105 mm; move left 50 mm; move downward 147 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 529 mm; move left 45 mm; move downward 485 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,157], [68,165]\ndistr_counter: [53,111], [60,125]\ndistr_sink: [132,137], [141,145]\n", + "gripper_2d": [ + 73, + 147 + ], + "task_obj_bbox": [ + 59, + 157, + 68, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 60, + 125 + ], + [ + 132, + 137, + 141, + 145 + ] + ], + "delta_full_state": [ + 0.0, + 0.010357143357396126, + -0.010000000707805157, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.10535714775323868, + 0.05000000819563866, + -0.14749999344348907, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.48942575180674663, + -0.5750579021592899, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 10 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 105 mm; move left 50 mm; move downward 147 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 529 mm; move left 45 mm; move downward 485 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 79, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 8 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 114 mm; move left 42 mm; move downward 145 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 529 mm; move left 34 mm; move downward 475 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,158], [67,165]\ndistr_counter: [53,111], [59,125]\ndistr_sink: [132,137], [141,145]\n", + "gripper_2d": [ + 73, + 148 + ], + "task_obj_bbox": [ + 59, + 158, + 67, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 59, + 125 + ], + [ + 132, + 137, + 141, + 145 + ] + ], + "delta_full_state": [ + 0.0, + 0.007857142947614193, + -0.008928571827709675, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.11428572237491608, + 0.041785720735788345, + -0.1453571319580078, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.40483360739370666, + -0.5196306489638982, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 8 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 114 mm; move left 42 mm; move downward 145 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 529 mm; move left 34 mm; move downward 475 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 80, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 6 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 123 mm; move left 36 mm; move downward 145 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 529 mm; move left 26 mm; move downward 466 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,159], [67,165]\ndistr_counter: [53,111], [59,125]\ndistr_sink: [131,137], [141,145]\n", + "gripper_2d": [ + 72, + 148 + ], + "task_obj_bbox": [ + 59, + 159, + 67, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 59, + 125 + ], + [ + 131, + 137, + 141, + 145 + ] + ], + "delta_full_state": [ + 0.0, + 0.006071428768336773, + -0.008928571827709675, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.12321429699659348, + 0.03607143834233284, + -0.14500001072883606, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.34441066060426007, + -0.5196306489638982, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 6 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 123 mm; move left 36 mm; move downward 145 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 529 mm; move left 26 mm; move downward 466 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 81, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move left 6 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 133 mm; move left 32 mm; move downward 145 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 529 mm; move left 20 mm; move downward 457 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,160], [66,165]\ndistr_counter: [53,111], [58,125]\ndistr_sink: [131,137], [141,145]\n", + "gripper_2d": [ + 72, + 149 + ], + "task_obj_bbox": [ + 59, + 160, + 66, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 58, + 125 + ], + [ + 131, + 137, + 141, + 145 + ] + ], + "delta_full_state": [ + 0.0010714286472648382, + 0.0057142856530845165, + -0.009285714477300644, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.13285715878009796, + 0.03214286267757416, + -0.14500002562999725, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4374996931867068, + 0.3323260617924635, + -0.538106383969275, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 1 mm; move left 6 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 133 mm; move left 32 mm; move downward 145 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 529 mm; move left 20 mm; move downward 457 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 82, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move left 5 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 141 mm; move left 29 mm; move downward 145 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 527 mm; move left 15 mm; move downward 447 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,161], [66,165]\ndistr_counter: [53,111], [58,125]\ndistr_sink: [131,137], [141,146]\n", + "gripper_2d": [ + 72, + 149 + ], + "task_obj_bbox": [ + 59, + 161, + 66, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 58, + 125 + ], + [ + 131, + 137, + 141, + 146 + ] + ], + "delta_full_state": [ + 0.0014285714132711291, + 0.004642857238650322, + -0.008571429178118706, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.14107143878936768, + 0.029285714030265808, + -0.1446428745985031, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.45312468531221595, + 0.29607229687009795, + -0.5011549139585216, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 1 mm; move left 5 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 141 mm; move left 29 mm; move downward 145 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 527 mm; move left 15 mm; move downward 447 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 83, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move left 4 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 149 mm; move left 28 mm; move downward 145 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 526 mm; move left 10 mm; move downward 439 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,161], [66,165]\ndistr_counter: [53,111], [57,124]\ndistr_sink: [131,137], [141,146]\n", + "gripper_2d": [ + 71, + 150 + ], + "task_obj_bbox": [ + 59, + 161, + 66, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 57, + 124 + ], + [ + 131, + 137, + 141, + 146 + ] + ], + "delta_full_state": [ + 0.0010714286472648382, + 0.0035714288242161274, + -0.008571429178118706, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1485714316368103, + 0.027500001713633537, + -0.1446428745985031, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4374996931867068, + 0.2598185319477324, + -0.5011549139585216, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 1 mm; move left 4 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 149 mm; move left 28 mm; move downward 145 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 526 mm; move left 10 mm; move downward 439 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 84, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move left 3 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 157 mm; move left 27 mm; move downward 145 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 525 mm; move left 6 mm; move downward 430 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,162], [65,165]\ndistr_counter: [53,111], [57,124]\ndistr_sink: [131,137], [141,146]\n", + "gripper_2d": [ + 71, + 150 + ], + "task_obj_bbox": [ + 59, + 162, + 65, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 57, + 124 + ], + [ + 131, + 137, + 141, + 146 + ] + ], + "delta_full_state": [ + 0.0021428572945296764, + 0.002500000176951289, + -0.007857142947614193, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.15678571164608002, + 0.027142856270074844, + -0.1446428894996643, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4843746848427415, + 0.22356475914711083, + -0.46420339576850667, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 2 mm; move left 3 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 157 mm; move left 27 mm; move downward 145 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 525 mm; move left 6 mm; move downward 430 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 85, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move left 2 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 164 mm; move left 28 mm; move downward 146 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 523 mm; move left 4 mm; move downward 422 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,162], [64,165]\ndistr_counter: [53,112], [56,123]\ndistr_sink: [131,137], [141,146]\n", + "gripper_2d": [ + 71, + 150 + ], + "task_obj_bbox": [ + 59, + 162, + 64, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 112, + 56, + 123 + ], + [ + 131, + 137, + 141, + 146 + ] + ], + "delta_full_state": [ + 0.006071428768336773, + 0.0017857144121080637, + -0.006428571883589029, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16357143223285675, + 0.027857143431901932, + -0.14571431279182434, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.6562496440618639, + 0.19939557728002977, + -0.39030043165736916, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 6 mm; move left 2 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 164 mm; move left 28 mm; move downward 146 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 523 mm; move left 4 mm; move downward 422 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 86, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move left 1 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 165 mm; move left 30 mm; move downward 150 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 517 mm; move left 2 mm; move downward 416 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,162], [63,165]\ndistr_counter: [53,112], [56,123]\ndistr_sink: [131,137], [141,146]\n", + "gripper_2d": [ + 71, + 150 + ], + "task_obj_bbox": [ + 59, + 162, + 63, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 112, + 56, + 123 + ], + [ + 131, + 137, + 141, + 146 + ] + ], + "delta_full_state": [ + 0.007142857648432255, + 0.0014285714132711291, + -0.006428571883589029, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16535715758800507, + 0.0296428594738245, + -0.1503571718931198, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7031246459042366, + 0.1873109824073611, + -0.39030043165736916, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 7 mm; move left 1 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 165 mm; move left 30 mm; move downward 150 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 517 mm; move left 2 mm; move downward 416 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 87, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 166 mm; move left 33 mm; move downward 156 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 510 mm; move left 1 mm; move downward 410 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [60,163], [63,165]\ndistr_counter: [53,112], [56,123]\ndistr_sink: [131,137], [141,146]\n", + "gripper_2d": [ + 71, + 150 + ], + "task_obj_bbox": [ + 60, + 163, + 63, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 112, + 56, + 123 + ], + [ + 131, + 137, + 141, + 146 + ] + ], + "delta_full_state": [ + 0.006428571883589029, + 0.0, + -0.006428571883589029, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16607144474983215, + 0.0325000025331974, + -0.15607145428657532, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.6718746514668803, + 0.13897262261232712, + -0.39030043165736916, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 166 mm; move left 33 mm; move downward 156 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 510 mm; move left 1 mm; move downward 410 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 88, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 168 mm; move left 37 mm; move downward 161 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 503 mm; move left 1 mm; move downward 403 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [60,163], [63,165]\ndistr_counter: [53,112], [56,123]\ndistr_sink: [131,137], [141,146]\n", + "gripper_2d": [ + 71, + 150 + ], + "task_obj_bbox": [ + 60, + 163, + 63, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 112, + 56, + 123 + ], + [ + 131, + 137, + 141, + 146 + ] + ], + "delta_full_state": [ + 0.0057142856530845165, + 0.0, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16785715520381927, + 0.03678571805357933, + -0.16142858564853668, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.6406246366568475, + 0.13897262261232712, + -0.3348731784619775, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 168 mm; move left 37 mm; move downward 161 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 503 mm; move left 1 mm; move downward 403 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 89, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 169 mm; move left 42 mm; move downward 168 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 497 mm; move left 1 mm; move downward 398 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [60,163], [63,165]\ndistr_counter: [53,112], [56,123]\ndistr_sink: [131,137], [141,146]\n", + "gripper_2d": [ + 71, + 150 + ], + "task_obj_bbox": [ + 60, + 163, + 63, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 112, + 56, + 123 + ], + [ + 131, + 137, + 141, + 146 + ] + ], + "delta_full_state": [ + 0.006785714533179998, + 0.0, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16928571462631226, + 0.04178571701049805, + -0.16750001907348633, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.6874996384992205, + 0.13897262261232712, + -0.3348731784619775, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 169 mm; move left 42 mm; move downward 168 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 497 mm; move left 1 mm; move downward 398 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 90, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 170 mm; move left 47 mm; move downward 174 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 491 mm; move left 1 mm; move downward 392 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [60,163], [63,164]\ndistr_counter: [53,111], [57,123]\ndistr_sink: [131,137], [141,146]\n", + "gripper_2d": [ + 71, + 150 + ], + "task_obj_bbox": [ + 60, + 163, + 63, + 164 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 57, + 123 + ], + [ + 131, + 137, + 141, + 146 + ] + ], + "delta_full_state": [ + 0.007142857648432255, + 0.0, + -0.006071428768336773, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17035715281963348, + 0.04678571969270706, + -0.17357143759727478, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7031246459042366, + 0.13897262261232712, + -0.37182467256236174, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 170 mm; move left 47 mm; move downward 174 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 491 mm; move left 1 mm; move downward 392 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 91, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 170 mm; move left 51 mm; move downward 179 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 484 mm; move left 1 mm; move downward 386 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,162], [63,165]\ndistr_counter: [53,111], [57,123]\ndistr_sink: [131,137], [141,145]\n", + "gripper_2d": [ + 71, + 150 + ], + "task_obj_bbox": [ + 59, + 162, + 63, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 57, + 123 + ], + [ + 131, + 137, + 141, + 145 + ] + ], + "delta_full_state": [ + 0.006785714533179998, + 0.0, + -0.006428571883589029, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1703571379184723, + 0.051428575068712234, + -0.1785714477300644, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.6874996384992205, + 0.13897262261232712, + -0.39030043165736916, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 170 mm; move left 51 mm; move downward 179 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 484 mm; move left 1 mm; move downward 386 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 92, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 171 mm; move left 56 mm; move downward 183 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 477 mm; move left 1 mm; move downward 380 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,162], [63,164]\ndistr_counter: [53,111], [57,123]\ndistr_sink: [131,137], [141,145]\n", + "gripper_2d": [ + 71, + 150 + ], + "task_obj_bbox": [ + 59, + 162, + 63, + 164 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 57, + 123 + ], + [ + 131, + 137, + 141, + 145 + ] + ], + "delta_full_state": [ + 0.007500000298023224, + 0.0, + -0.006071428768336773, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17071428894996643, + 0.05571429058909416, + -0.18321429193019867, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7187496329365768, + 0.13897262261232712, + -0.37182467256236174, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 171 mm; move left 56 mm; move downward 183 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 477 mm; move left 1 mm; move downward 380 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 93, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 170 mm; move left 60 mm; move downward 188 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 469 mm; move left 1 mm; move downward 374 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,162], [63,164]\ndistr_counter: [53,111], [57,123]\ndistr_sink: [131,137], [141,145]\n", + "gripper_2d": [ + 71, + 150 + ], + "task_obj_bbox": [ + 59, + 162, + 63, + 164 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 57, + 123 + ], + [ + 131, + 137, + 141, + 145 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + 0.0, + -0.006071428768336773, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1703571379184723, + 0.06000000983476639, + -0.18821430206298828, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.734374619968917, + 0.13897262261232712, + -0.37182467256236174, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 170 mm; move left 60 mm; move downward 188 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 469 mm; move left 1 mm; move downward 374 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 94, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 1 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 169 mm; move left 64 mm; move downward 193 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 461 mm; move left 1 mm; move downward 368 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,162], [64,164]\ndistr_counter: [53,111], [57,124]\ndistr_sink: [131,137], [141,145]\n", + "gripper_2d": [ + 71, + 150 + ], + "task_obj_bbox": [ + 59, + 162, + 64, + 164 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 57, + 124 + ], + [ + 131, + 137, + 141, + 145 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + 0.0007142857066355646, + -0.007142857648432255, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16928569972515106, + 0.06428572535514832, + -0.19285714626312256, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7968746088436298, + 0.1631418025098441, + -0.4272519257577533, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 9 mm; move left 1 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 169 mm; move left 64 mm; move downward 193 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 461 mm; move left 1 mm; move downward 368 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 95, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 1 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 166 mm; move left 68 mm; move downward 196 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 452 mm; move left 0 mm; move downward 361 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,162], [64,164]\ndistr_counter: [53,111], [57,124]\ndistr_sink: [131,137], [141,145]\n", + "gripper_2d": [ + 71, + 150 + ], + "task_obj_bbox": [ + 59, + 162, + 64, + 164 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 57, + 124 + ], + [ + 131, + 137, + 141, + 145 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + 0.0010714286472648382, + -0.007500000298023224, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1664285659790039, + 0.0682142972946167, + -0.196428582072258, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7812496218112899, + 0.1752263954129487, + -0.44572766076313, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 9 mm; move left 1 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 166 mm; move left 68 mm; move downward 196 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 452 mm; move left 0 mm; move downward 361 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 96, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move left 2 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 166 mm; move left 73 mm; move downward 200 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 443 mm; move right 1 mm; move downward 353 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,162], [64,164]\ndistr_counter: [53,111], [57,124]\ndistr_sink: [132,137], [141,145]\n", + "gripper_2d": [ + 71, + 150 + ], + "task_obj_bbox": [ + 59, + 162, + 64, + 164 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 57, + 124 + ], + [ + 132, + 137, + 141, + 145 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + 0.0021428572945296764, + -0.008214286528527737, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1664285659790039, + 0.07285715639591217, + -0.20000000298023224, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.81249959587597, + 0.2114801682135703, + -0.4826791789531448, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 10 mm; move left 2 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 166 mm; move left 73 mm; move downward 200 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 443 mm; move right 1 mm; move downward 353 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 97, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move left 2 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 165 mm; move left 77 mm; move downward 203 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 434 mm; move right 3 mm; move downward 345 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,162], [64,164]\ndistr_counter: [53,111], [57,124]\ndistr_sink: [132,137], [141,144]\n", + "gripper_2d": [ + 71, + 150 + ], + "task_obj_bbox": [ + 59, + 162, + 64, + 164 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 57, + 124 + ], + [ + 132, + 137, + 141, + 144 + ] + ], + "delta_full_state": [ + 0.010357143357396126, + 0.0021428572945296764, + -0.007857142947614193, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16535715758800507, + 0.07678572833538055, + -0.20250001549720764, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.8437496106860027, + 0.2114801682135703, + -0.46420339576850667, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 10 mm; move left 2 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 165 mm; move left 77 mm; move downward 203 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 434 mm; move right 3 mm; move downward 345 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 98, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 2 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 163 mm; move left 80 mm; move downward 205 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 423 mm; move right 5 mm; move downward 337 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,162], [64,164]\ndistr_counter: [53,111], [58,124]\ndistr_sink: [132,137], [141,144]\n", + "gripper_2d": [ + 71, + 150 + ], + "task_obj_bbox": [ + 59, + 162, + 64, + 164 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 58, + 124 + ], + [ + 132, + 137, + 141, + 144 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + 0.0021428572945296764, + -0.007857142947614193, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1632142961025238, + 0.08000000566244125, + -0.20464284718036652, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7812496218112899, + 0.2114801682135703, + -0.46420339576850667, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 9 mm; move left 2 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 163 mm; move left 80 mm; move downward 205 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 423 mm; move right 5 mm; move downward 337 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 99, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 2 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 164 mm; move left 83 mm; move downward 207 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 414 mm; move right 7 mm; move downward 329 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,162], [64,164]\ndistr_counter: [53,111], [58,124]\ndistr_sink: [132,137], [141,144]\n", + "gripper_2d": [ + 71, + 150 + ], + "task_obj_bbox": [ + 59, + 162, + 64, + 164 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 58, + 124 + ], + [ + 132, + 137, + 141, + 144 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + 0.0021428572945296764, + -0.008571429178118706, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1639285832643509, + 0.08321429044008255, + -0.20714285969734192, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7812496218112899, + 0.2114801682135703, + -0.5011549139585216, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 9 mm; move left 2 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 164 mm; move left 83 mm; move downward 207 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 414 mm; move right 7 mm; move downward 329 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 100, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move left 2 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 164 mm; move left 87 mm; move downward 209 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 405 mm; move right 10 mm; move downward 321 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,162], [64,164]\ndistr_counter: [53,111], [58,124]\ndistr_sink: [132,137], [141,144]\n", + "gripper_2d": [ + 71, + 150 + ], + "task_obj_bbox": [ + 59, + 162, + 64, + 164 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 58, + 124 + ], + [ + 132, + 137, + 141, + 144 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + 0.0021428572945296764, + -0.008928571827709675, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16392859816551208, + 0.0867857113480568, + -0.20892857015132904, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.81249959587597, + 0.2114801682135703, + -0.5196306489638982, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 10 mm; move left 2 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 164 mm; move left 87 mm; move downward 209 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 405 mm; move right 10 mm; move downward 321 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 101, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 3 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 164 mm; move left 90 mm; move downward 210 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 396 mm; move right 12 mm; move downward 312 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,162], [64,164]\ndistr_counter: [53,111], [58,124]\ndistr_sink: [132,137], [141,143]\n", + "gripper_2d": [ + 71, + 150 + ], + "task_obj_bbox": [ + 59, + 162, + 64, + 164 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 58, + 124 + ], + [ + 132, + 137, + 141, + 143 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + 0.0028571428265422583, + -0.008928571827709675, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16357144713401794, + 0.08964285254478455, + -0.20964287221431732, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7968746088436298, + 0.2356493422023953, + -0.5196306489638982, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 9 mm; move left 3 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 164 mm; move left 90 mm; move downward 210 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 396 mm; move right 12 mm; move downward 312 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 102, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 3 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 165 mm; move left 92 mm; move downward 210 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 386 mm; move right 15 mm; move downward 303 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,162], [64,164]\ndistr_counter: [53,111], [58,124]\ndistr_sink: [132,137], [141,143]\n", + "gripper_2d": [ + 71, + 151 + ], + "task_obj_bbox": [ + 59, + 162, + 64, + 164 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 58, + 124 + ], + [ + 132, + 137, + 141, + 143 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + 0.0028571428265422583, + -0.008571429178118706, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16500000655651093, + 0.09178571403026581, + -0.20999999344348907, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7812496218112899, + 0.2356493422023953, + -0.5011549139585216, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 9 mm; move left 3 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 165 mm; move left 92 mm; move downward 210 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 386 mm; move right 15 mm; move downward 303 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 103, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 3 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 167 mm; move left 94 mm; move downward 211 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 378 mm; move right 17 mm; move downward 294 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,162], [64,164]\ndistr_counter: [53,111], [58,124]\ndistr_sink: [132,137], [141,142]\n", + "gripper_2d": [ + 70, + 151 + ], + "task_obj_bbox": [ + 59, + 162, + 64, + 164 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 58, + 124 + ], + [ + 132, + 137, + 141, + 142 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + 0.0032142859417945147, + -0.008571429178118706, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.167142853140831, + 0.09428571164608002, + -0.21142855286598206, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7968746088436298, + 0.24773394101419188, + -0.5011549139585216, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 9 mm; move left 3 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 167 mm; move left 94 mm; move downward 211 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 378 mm; move right 17 mm; move downward 294 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 104, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 3 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 168 mm; move left 96 mm; move downward 212 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 368 mm; move right 21 mm; move downward 286 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,162], [64,164]\ndistr_counter: [53,111], [58,124]\ndistr_sink: [132,137], [141,142]\n", + "gripper_2d": [ + 70, + 151 + ], + "task_obj_bbox": [ + 59, + 162, + 64, + 164 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 58, + 124 + ], + [ + 132, + 137, + 141, + 142 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + 0.0032142859417945147, + -0.008928571827709675, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16750000417232513, + 0.0957142785191536, + -0.21214282512664795, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7812496218112899, + 0.24773394101419188, + -0.5196306489638982, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 9 mm; move left 3 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 168 mm; move left 96 mm; move downward 212 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 368 mm; move right 21 mm; move downward 286 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 105, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move left 4 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 169 mm; move left 97 mm; move downward 212 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 359 mm; move right 24 mm; move downward 277 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [59,162], [64,164]\ndistr_counter: [53,111], [59,124]\ndistr_sink: [132,137], [141,141]\n", + "gripper_2d": [ + 70, + 151 + ], + "task_obj_bbox": [ + 59, + 162, + 64, + 164 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 59, + 124 + ], + [ + 132, + 137, + 141, + 141 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + 0.0035714288242161274, + -0.011071428656578064, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.16857144236564636, + 0.09714284539222717, + -0.21214285492897034, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.734374619968917, + 0.2598185319477324, + -0.6304851071754201, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 8 mm; move left 4 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 169 mm; move left 97 mm; move downward 212 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 359 mm; move right 24 mm; move downward 277 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 106, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move left 4 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 171 mm; move left 98 mm; move downward 210 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 351 mm; move right 27 mm; move downward 266 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [60,163], [64,164]\ndistr_counter: [53,111], [59,124]\ndistr_sink: [133,137], [141,140]\n", + "gripper_2d": [ + 70, + 151 + ], + "task_obj_bbox": [ + 60, + 163, + 64, + 164 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 59, + 124 + ], + [ + 133, + 137, + 141, + 140 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + 0.004285714589059353, + -0.012142857536673546, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17142856121063232, + 0.09785714000463486, + -0.21035714447498322, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.734374619968917, + 0.28398771381481347, + -0.6859123603708115, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 8 mm; move left 4 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 171 mm; move left 98 mm; move downward 210 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 351 mm; move right 27 mm; move downward 266 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 107, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move left 4 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 174 mm; move left 98 mm; move downward 207 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 344 mm; move right 32 mm; move downward 254 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [60,163], [64,164]\ndistr_counter: [53,111], [59,123]\ndistr_sink: [133,137], [141,140]\n", + "gripper_2d": [ + 70, + 151 + ], + "task_obj_bbox": [ + 60, + 163, + 64, + 164 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 59, + 123 + ], + [ + 133, + 137, + 141, + 140 + ] + ], + "delta_full_state": [ + 0.008214286528527737, + 0.004285714589059353, + -0.011785714887082577, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1735714077949524, + 0.09785714000463486, + -0.20714285969734192, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7499996477466095, + 0.28398771381481347, + -0.6674366253654349, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 8 mm; move left 4 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 174 mm; move left 98 mm; move downward 207 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 344 mm; move right 32 mm; move downward 254 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 108, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move left 5 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 175 mm; move left 98 mm; move downward 204 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 335 mm; move right 36 mm; move downward 242 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [61,164], [63,164]\ndistr_counter: [53,111], [60,123]\ndistr_sink: [133,137], [141,139]\n", + "gripper_2d": [ + 70, + 151 + ], + "task_obj_bbox": [ + 61, + 164, + 63, + 164 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 60, + 123 + ], + [ + 133, + 137, + 141, + 139 + ] + ], + "delta_full_state": [ + 0.007142857648432255, + 0.005000000353902578, + -0.011428571306169033, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1753571480512619, + 0.09785714745521545, + -0.20392857491970062, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7031246459042366, + 0.3081568956818945, + -0.6489608421807966, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 7 mm; move left 5 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 175 mm; move left 98 mm; move downward 204 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 335 mm; move right 36 mm; move downward 242 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 109, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move left 5 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 178 mm; move left 97 mm; move downward 201 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 328 mm; move right 41 mm; move downward 230 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [61,164], [63,165]\ndistr_counter: [53,111], [60,123]\ndistr_sink: [133,137], [141,139]\n", + "gripper_2d": [ + 70, + 151 + ], + "task_obj_bbox": [ + 61, + 164, + 63, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 60, + 123 + ], + [ + 133, + 137, + 141, + 139 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + 0.005000000353902578, + -0.011428571306169033, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17821429669857025, + 0.09714286774396896, + -0.20107142627239227, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.734374619968917, + 0.3081568956818945, + -0.6489608421807966, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 8 mm; move left 5 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 178 mm; move left 97 mm; move downward 201 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 328 mm; move right 41 mm; move downward 230 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 110, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move left 5 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 180 mm; move left 96 mm; move downward 199 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 320 mm; move right 46 mm; move downward 219 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [61,164], [63,165]\ndistr_counter: [53,111], [61,123]\ndistr_sink: [133,137], [140,138]\n", + "gripper_2d": [ + 70, + 152 + ], + "task_obj_bbox": [ + 61, + 164, + 63, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 61, + 123 + ], + [ + 133, + 137, + 140, + 138 + ] + ], + "delta_full_state": [ + 0.007142857648432255, + 0.004642857238650322, + -0.011071428656578064, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17964285612106323, + 0.09642858803272247, + -0.19857144355773926, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7031246459042366, + 0.29607229687009795, + -0.6304851071754201, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 7 mm; move left 5 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 180 mm; move left 96 mm; move downward 199 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 320 mm; move right 46 mm; move downward 219 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 111, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move left 4 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 182 mm; move left 96 mm; move downward 197 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 313 mm; move right 51 mm; move downward 208 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [63,165], [63,165]\ndistr_counter: [53,111], [61,123]\ndistr_sink: [135,137], [137,137]\n", + "gripper_2d": [ + 69, + 152 + ], + "task_obj_bbox": [ + 63, + 165, + 63, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 61, + 123 + ], + [ + 135, + 137, + 137, + 137 + ] + ], + "delta_full_state": [ + 0.007142857648432255, + 0.004285714589059353, + -0.011071428656578064, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1817857176065445, + 0.09607144445180893, + -0.19714286923408508, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7031246459042366, + 0.28398771381481347, + -0.6304851071754201, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 7 mm; move left 4 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 182 mm; move left 96 mm; move downward 197 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 313 mm; move right 51 mm; move downward 208 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 112, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move left 4 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 183 mm; move left 96 mm; move downward 196 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 306 mm; move right 55 mm; move downward 197 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [63,165], [63,165]\ndistr_counter: [53,111], [62,123]\ndistr_sink: [135,137], [137,137]\n", + "gripper_2d": [ + 69, + 152 + ], + "task_obj_bbox": [ + 63, + 165, + 63, + 165 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 62, + 123 + ], + [ + 135, + 137, + 137, + 137 + ] + ], + "delta_full_state": [ + 0.007142857648432255, + 0.004285714589059353, + -0.011071428656578064, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.18321429193019867, + 0.09607144445180893, + -0.1957143098115921, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7031246459042366, + 0.28398771381481347, + -0.6304851071754201, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 7 mm; move left 4 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 183 mm; move left 96 mm; move downward 196 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 306 mm; move right 55 mm; move downward 197 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 113, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move left 4 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 185 mm; move left 96 mm; move downward 194 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 299 mm; move right 59 mm; move downward 186 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [62,123]\n", + "gripper_2d": [ + 69, + 152 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 62, + 123 + ] + ], + "delta_full_state": [ + 0.006785714533179998, + 0.004285714589059353, + -0.010714286006987095, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.18464286625385284, + 0.09607145190238953, + -0.19428573548793793, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.6874996384992205, + 0.28398771381481347, + -0.6120093721700433, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 7 mm; move left 4 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 185 mm; move left 96 mm; move downward 194 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 299 mm; move right 59 mm; move downward 186 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 114, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move left 5 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 186 mm; move left 96 mm; move downward 194 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 292 mm; move right 64 mm; move downward 175 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [62,123]\n", + "gripper_2d": [ + 69, + 153 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 62, + 123 + ] + ], + "delta_full_state": [ + 0.006428571883589029, + 0.004642857238650322, + -0.010714286006987095, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.18642859160900116, + 0.09607145935297012, + -0.19357146322727203, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.6718746514668803, + 0.29607229687009795, + -0.6120093721700433, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 6 mm; move left 5 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 186 mm; move left 96 mm; move downward 194 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 292 mm; move right 64 mm; move downward 175 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 115, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 6 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 188 mm; move left 95 mm; move downward 193 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 286 mm; move right 68 mm; move downward 164 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [62,121]\n", + "gripper_2d": [ + 69, + 153 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 62, + 121 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + 0.0057142856530845165, + -0.011071428656578064, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.18785716593265533, + 0.09535717219114304, + -0.1925000250339508, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7812496218112899, + 0.3323260617924635, + -0.6304851071754201, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 9 mm; move left 6 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 188 mm; move left 95 mm; move downward 193 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 286 mm; move right 68 mm; move downward 164 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 116, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 6 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 187 mm; move left 93 mm; move downward 191 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 277 mm; move right 74 mm; move downward 153 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [63,121]\n", + "gripper_2d": [ + 69, + 153 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 121 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + 0.006071428768336773, + -0.010714286006987095, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1867857426404953, + 0.09321431070566177, + -0.19107146561145782, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7656246347789497, + 0.34441066060426007, + -0.6120093721700433, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 9 mm; move left 6 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 187 mm; move left 93 mm; move downward 191 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 277 mm; move right 74 mm; move downward 153 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 117, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move left 5 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 185 mm; move left 91 mm; move downward 189 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 268 mm; move right 80 mm; move downward 143 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [64,121]\n", + "gripper_2d": [ + 68, + 153 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 64, + 121 + ] + ], + "delta_full_state": [ + 0.008214286528527737, + 0.0053571430034935474, + -0.010000000707805157, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.18535716831684113, + 0.09071429818868637, + -0.1892857402563095, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7499996477466095, + 0.320241478737179, + -0.5750579021592899, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 8 mm; move left 5 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 185 mm; move left 91 mm; move downward 189 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 268 mm; move right 80 mm; move downward 143 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 118, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move left 5 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 183 mm; move left 89 mm; move downward 187 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 260 mm; move right 85 mm; move downward 133 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [64,121]\n", + "gripper_2d": [ + 68, + 153 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 64, + 121 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + 0.0053571430034935474, + -0.010357143357396126, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.18285715579986572, + 0.0885714441537857, + -0.18714287877082825, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.81249959587597, + 0.320241478737179, + -0.5935336371646666, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 10 mm; move left 5 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 183 mm; move left 89 mm; move downward 187 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 260 mm; move right 85 mm; move downward 133 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 119, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 6 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 179 mm; move left 86 mm; move downward 185 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 250 mm; move right 91 mm; move downward 122 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [64,121]\n", + "gripper_2d": [ + 68, + 153 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 64, + 121 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + 0.0057142856530845165, + -0.010357143357396126, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17928573489189148, + 0.0860714390873909, + -0.18464288115501404, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7812496218112899, + 0.3323260617924635, + -0.5935336371646666, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 9 mm; move left 6 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 179 mm; move left 86 mm; move downward 185 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 250 mm; move right 91 mm; move downward 122 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 120, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 5 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 175 mm; move left 82 mm; move downward 181 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 241 mm; move right 96 mm; move downward 112 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [64,121]\n", + "gripper_2d": [ + 68, + 154 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 64, + 121 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + 0.005000000353902578, + -0.009642857126891613, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.17500002682209015, + 0.08214286714792252, + -0.18071430921554565, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7968746088436298, + 0.3081568956818945, + -0.5565821189746517, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 9 mm; move left 5 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 175 mm; move left 82 mm; move downward 181 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 241 mm; move right 96 mm; move downward 112 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 121, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move left 5 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 170 mm; move left 77 mm; move downward 176 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 232 mm; move right 101 mm; move downward 102 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [63,121]\n", + "gripper_2d": [ + 68, + 154 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 121 + ] + ], + "delta_full_state": [ + 0.010714286006987095, + 0.005000000353902578, + -0.009285714477300644, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1696428656578064, + 0.0771428570151329, + -0.17607145011425018, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.8593745977183429, + 0.3081568956818945, + -0.538106383969275, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 11 mm; move left 5 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 170 mm; move left 77 mm; move downward 176 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 232 mm; move right 101 mm; move downward 102 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 122, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move left 5 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 161 mm; move left 72 mm; move downward 169 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 221 mm; move right 106 mm; move downward 93 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [63,121]\n", + "gripper_2d": [ + 68, + 154 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 121 + ] + ], + "delta_full_state": [ + 0.011071428656578064, + 0.0053571430034935474, + -0.010000000707805157, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1607142984867096, + 0.07214286178350449, + -0.16928572952747345, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.8749995847506828, + 0.320241478737179, + -0.5750579021592899, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 11 mm; move left 5 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 161 mm; move left 72 mm; move downward 169 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 221 mm; move right 106 mm; move downward 93 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 123, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move left 5 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 150 mm; move left 67 mm; move downward 160 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 210 mm; move right 112 mm; move downward 83 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [63,121]\n", + "gripper_2d": [ + 67, + 154 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 121 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + 0.004642857238650322, + -0.009285714477300644, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.14964285492897034, + 0.06678571552038193, + -0.1600000113248825, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.81249959587597, + 0.29607229687009795, + -0.538106383969275, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 10 mm; move left 5 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 150 mm; move left 67 mm; move downward 160 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 210 mm; move right 112 mm; move downward 83 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 124, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move left 5 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 140 mm; move left 62 mm; move downward 151 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 201 mm; move right 116 mm; move downward 74 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [63,121]\n", + "gripper_2d": [ + 67, + 154 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 121 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + 0.004642857238650322, + -0.008928571827709675, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.13999998569488525, + 0.062142856419086456, + -0.15071429312229156, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.8281246236536626, + 0.29607229687009795, + -0.5196306489638982, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 10 mm; move left 5 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 140 mm; move left 62 mm; move downward 151 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 201 mm; move right 116 mm; move downward 74 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 125, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move left 4 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 130 mm; move left 58 mm; move downward 142 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 191 mm; move right 121 mm; move downward 65 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [63,121]\n", + "gripper_2d": [ + 67, + 154 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 121 + ] + ], + "delta_full_state": [ + 0.010714286006987095, + 0.004285714589059353, + -0.009285714477300644, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.12999998033046722, + 0.05750000476837158, + -0.14178572595119476, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.8593745977183429, + 0.28398771381481347, + -0.538106383969275, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 11 mm; move left 4 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 130 mm; move left 58 mm; move downward 142 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 191 mm; move right 121 mm; move downward 65 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 126, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move left 4 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 119 mm; move left 53 mm; move downward 133 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 180 mm; move right 125 mm; move downward 55 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [63,121]\n", + "gripper_2d": [ + 67, + 154 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 121 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + 0.004285714589059353, + -0.008928571827709675, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.1192857176065445, + 0.053214289247989655, + -0.13250000774860382, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.8281246236536626, + 0.28398771381481347, + -0.5196306489638982, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 10 mm; move left 4 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 119 mm; move left 53 mm; move downward 133 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 180 mm; move right 125 mm; move downward 55 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 127, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move left 4 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 109 mm; move left 49 mm; move downward 124 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 170 mm; move right 130 mm; move downward 46 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [63,121]\n", + "gripper_2d": [ + 67, + 154 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 121 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + 0.004285714589059353, + -0.008571429178118706, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.10928572714328766, + 0.04892857372760773, + -0.12357143312692642, + 0.0, + 0.004285714123398066, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.8281246236536626, + 0.28398771381481347, + -0.5011549139585216, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 10 mm; move left 4 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 109 mm; move left 49 mm; move downward 124 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 170 mm; move right 130 mm; move downward 46 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 128, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move left 4 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 99 mm; move left 45 mm; move downward 115 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 160 mm; move right 134 mm; move downward 38 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [63,121]\n", + "gripper_2d": [ + 67, + 154 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 121 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + 0.004285714589059353, + -0.008571429178118706, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.09928572177886963, + 0.0446428619325161, + -0.11500000953674316, + 0.0, + 0.01428571343421936, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.8281246236536626, + 0.28398771381481347, + -0.5011549139585216, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 10 mm; move left 4 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 99 mm; move left 45 mm; move downward 115 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 160 mm; move right 134 mm; move downward 38 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 129, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 4 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 89 mm; move left 40 mm; move downward 106 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 150 mm; move right 138 mm; move downward 29 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [63,121]\n", + "gripper_2d": [ + 67, + 154 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 121 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + 0.004285714589059353, + -0.008928571827709675, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0892857238650322, + 0.04035714268684387, + -0.10642857849597931, + 0.0, + 0.02857142686843872, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7968746088436298, + 0.28398771381481347, + -0.5196306489638982, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 9 mm; move left 4 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 89 mm; move left 40 mm; move downward 106 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 150 mm; move right 138 mm; move downward 29 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 130, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 4 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 80 mm; move left 36 mm; move downward 97 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 141 mm; move right 142 mm; move downward 20 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [63,121]\n", + "gripper_2d": [ + 67, + 154 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 121 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + 0.004285714589059353, + -0.009642857126891613, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.08000000566244125, + 0.03607143089175224, + -0.09749999642372131, + 0.0, + 0.038571424782276154, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7968746088436298, + 0.28398771381481347, + -0.5565821189746517, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 9 mm; move left 4 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 80 mm; move left 36 mm; move downward 97 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 141 mm; move right 142 mm; move downward 20 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 131, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 4 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 71 mm; move left 32 mm; move downward 88 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 131 mm; move right 147 mm; move downward 11 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [63,122]\n", + "gripper_2d": [ + 67, + 154 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 122 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + 0.004285714589059353, + -0.009642857126891613, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.07071428745985031, + 0.031785715371370316, + -0.08785714209079742, + 0.0, + 0.038571424782276154, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7656246347789497, + 0.28398771381481347, + -0.5565821189746517, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 9 mm; move left 4 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 71 mm; move left 32 mm; move downward 88 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 131 mm; move right 147 mm; move downward 11 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 132, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 4 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 62 mm; move left 28 mm; move downward 80 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 123 mm; move right 151 mm; move downward 1 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [63,122]\n", + "gripper_2d": [ + 66, + 154 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 122 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + 0.004285714589059353, + -0.009642857126891613, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.062142856419086456, + 0.027500001713633537, + -0.0803571417927742, + 0.0, + 0.038571424782276154, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7656246347789497, + 0.28398771381481347, + -0.5565821189746517, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 9 mm; move left 4 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 62 mm; move left 28 mm; move downward 80 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 123 mm; move right 151 mm; move downward 1 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 133, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 4 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 54 mm; move left 23 mm; move downward 76 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 114 mm; move right 155 mm; move upward 9 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [63,122]\n", + "gripper_2d": [ + 66, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 122 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + 0.004285714589059353, + -0.010000000707805157, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.05428571254014969, + 0.02321428619325161, + -0.07607142627239227, + 0.0, + 0.038571424782276154, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7656246347789497, + 0.28398771381481347, + -0.5750579021592899, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 9 mm; move left 4 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 54 mm; move left 23 mm; move downward 76 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 114 mm; move right 155 mm; move upward 9 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 134, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move left 4 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 46 mm; move left 19 mm; move downward 75 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 106 mm; move right 160 mm; move upward 19 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [63,123]\n", + "gripper_2d": [ + 66, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 123 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + 0.0039285714738070965, + -0.009642857126891613, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.04642857238650322, + 0.01892857253551483, + -0.07500000298023224, + 0.0, + 0.038571424782276154, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.734374619968917, + 0.2719031150030169, + -0.5565821189746517, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 8 mm; move left 4 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 46 mm; move left 19 mm; move downward 75 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 106 mm; move right 160 mm; move upward 19 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 135, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move left 4 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 40 mm; move left 15 mm; move downward 77 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 98 mm; move right 164 mm; move upward 28 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [63,123]\n", + "gripper_2d": [ + 66, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 123 + ] + ], + "delta_full_state": [ + 0.007857142947614193, + 0.0035714288242161274, + -0.009642857126891613, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.04000000283122063, + 0.015000000596046448, + -0.07678572088479996, + 0.0, + 0.038571424782276154, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.734374619968917, + 0.2598185319477324, + -0.5565821189746517, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 8 mm; move left 4 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 40 mm; move left 15 mm; move downward 77 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 98 mm; move right 164 mm; move upward 28 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 136, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move left 4 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 34 mm; move left 11 mm; move downward 80 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 90 mm; move right 167 mm; move upward 38 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [63,123]\n", + "gripper_2d": [ + 66, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 123 + ] + ], + "delta_full_state": [ + 0.007142857648432255, + 0.0035714288242161274, + -0.008928571827709675, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.033571433275938034, + 0.011428571306169033, + -0.08000000566244125, + 0.0, + 0.038571424782276154, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.7031246459042366, + 0.2598185319477324, + -0.5196306489638982, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 7 mm; move left 4 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 34 mm; move left 11 mm; move downward 80 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 90 mm; move right 167 mm; move upward 38 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 137, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move left 3 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 28 mm; move left 8 mm; move downward 85 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 83 mm; move right 171 mm; move upward 47 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [63,123]\ndistr_sink: [136,153], [136,153]\n", + "gripper_2d": [ + 66, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 123 + ], + [ + 136, + 153, + 136, + 153 + ] + ], + "delta_full_state": [ + 0.0057142856530845165, + 0.0032142859417945147, + -0.007857142947614193, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.027500003576278687, + 0.007857142947614193, + -0.08464286476373672, + 0.0, + 0.038571424782276154, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.6406246366568475, + 0.24773394101419188, + -0.46420339576850667, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 6 mm; move left 3 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 28 mm; move left 8 mm; move downward 85 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 83 mm; move right 171 mm; move upward 47 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 138, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move left 3 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 24 mm; move left 5 mm; move downward 92 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 77 mm; move right 174 mm; move upward 55 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [63,123]\ndistr_sink: [134,152], [135,152]\n", + "gripper_2d": [ + 66, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 123 + ], + [ + 134, + 152, + 135, + 152 + ] + ], + "delta_full_state": [ + 0.006071428768336773, + 0.0028571428265422583, + -0.007857142947614193, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.023928573355078697, + 0.004642857238650322, + -0.0917857214808464, + 0.0, + 0.038571424782276154, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.6562496440618639, + 0.2356493422023953, + -0.46420339576850667, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 6 mm; move left 3 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 24 mm; move left 5 mm; move downward 92 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 77 mm; move right 174 mm; move upward 55 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 139, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move left 2 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 21 mm; move left 2 mm; move downward 99 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 71 mm; move right 177 mm; move upward 62 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [63,123]\ndistr_sink: [132,151], [135,152]\n", + "gripper_2d": [ + 66, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 123 + ], + [ + 132, + 151, + 135, + 152 + ] + ], + "delta_full_state": [ + 0.004642857238650322, + 0.0017857144121080637, + -0.006428571883589029, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.02142857201397419, + 0.0017857144121080637, + -0.09928571432828903, + 0.0, + 0.03999999538064003, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.5937496551871511, + 0.19939557728002977, + -0.39030043165736916, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 5 mm; move left 2 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 21 mm; move left 2 mm; move downward 99 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 71 mm; move right 177 mm; move upward 62 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 140, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 19 mm; move right 0 mm; move downward 108 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 66 mm; move right 179 mm; move upward 69 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [63,123]\ndistr_sink: [132,151], [134,152]\n", + "gripper_2d": [ + 66, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 123 + ], + [ + 132, + 151, + 134, + 152 + ] + ], + "delta_full_state": [ + 0.0039285714738070965, + 0.0, + -0.005000000353902578, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.019285714253783226, + 0.0, + -0.10785714536905289, + 0.0, + 0.03999999538064003, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.5624996607497945, + 0.13897262261232712, + -0.3163974434566008, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 19 mm; move right 0 mm; move downward 108 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 66 mm; move right 179 mm; move upward 69 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 141, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 0 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 18 mm; move right 0 mm; move downward 118 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 62 mm; move right 179 mm; move upward 74 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [63,123]\ndistr_sink: [132,150], [134,151]\n", + "gripper_2d": [ + 66, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 123 + ], + [ + 132, + 150, + 134, + 151 + ] + ], + "delta_full_state": [ + 0.0017857144121080637, + 0.0, + -0.002500000176951289, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.017500001937150955, + 0.0, + -0.11785715073347092, + 0.0, + 0.03999999538064003, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4687496876240633, + 0.13897262261232712, + -0.18706721410525629, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 0 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 18 mm; move right 0 mm; move downward 118 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 62 mm; move right 179 mm; move upward 74 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 142, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 18 mm; move right 0 mm; move downward 128 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 61 mm; move right 179 mm; move upward 76 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [63,123]\ndistr_sink: [132,150], [133,151]\n", + "gripper_2d": [ + 66, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 123 + ], + [ + 132, + 150, + 133, + 151 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.0007142857066355646, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.017500001937150955, + 0.0, + -0.1275000125169754, + 0.0, + 0.03999999538064003, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.09468847584309215, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 18 mm; move right 0 mm; move downward 128 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 61 mm; move right 179 mm; move upward 76 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 143, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 19 mm; move right 0 mm; move downward 135 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 61 mm; move right 179 mm; move upward 77 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [62,123]\ndistr_sink: [131,149], [133,151]\n", + "gripper_2d": [ + 66, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 62, + 123 + ], + [ + 131, + 149, + 133, + 151 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.018571430817246437, + 0.0, + -0.13464286923408508, + 0.0, + 0.03999999538064003, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 19 mm; move right 0 mm; move downward 135 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 61 mm; move right 179 mm; move upward 77 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 144, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 19 mm; move right 0 mm; move downward 135 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 61 mm; move right 179 mm; move upward 77 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [65,122]\ndistr_sink: [131,149], [133,151]\n", + "gripper_2d": [ + 66, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 65, + 122 + ], + [ + 131, + 149, + 133, + 151 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.018571430817246437, + 0.0, + -0.13464286923408508, + 0.0, + 0.03999999538064003, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 19 mm; move right 0 mm; move downward 135 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 61 mm; move right 179 mm; move upward 77 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 145, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 19 mm; move right 0 mm; move downward 135 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 61 mm; move right 179 mm; move upward 77 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [65,121]\ndistr_sink: [131,149], [133,151]\n", + "gripper_2d": [ + 65, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 65, + 121 + ], + [ + 131, + 149, + 133, + 151 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.018571430817246437, + 0.0, + -0.13464286923408508, + 0.0, + 0.03999999538064003, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 19 mm; move right 0 mm; move downward 135 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 61 mm; move right 179 mm; move upward 77 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 146, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 19 mm; move right 0 mm; move downward 135 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 61 mm; move right 179 mm; move upward 77 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [65,121]\ndistr_sink: [131,149], [133,151]\n", + "gripper_2d": [ + 65, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 65, + 121 + ], + [ + 131, + 149, + 133, + 151 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.004285714123398066, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.018571430817246437, + 0.0, + -0.13464286923408508, + 0.0, + 0.03999999538064003, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.9702600189835617, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 19 mm; move right 0 mm; move downward 135 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 61 mm; move right 179 mm; move upward 77 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 147, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 19 mm; move right 0 mm; move downward 135 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 61 mm; move right 179 mm; move upward 77 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [65,121]\ndistr_sink: [131,149], [132,151]\n", + "gripper_2d": [ + 65, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 65, + 121 + ], + [ + 131, + 149, + 132, + 151 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.009999999776482582, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.018571430817246437, + 0.0, + -0.13464286923408508, + 0.0, + 0.0357142873108387, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 1.0, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 19 mm; move right 0 mm; move downward 135 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 61 mm; move right 179 mm; move upward 77 mm; roll upward 12 degrees; pitch upward 2 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 148, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 19 mm; move right 0 mm; move downward 135 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 61 mm; move right 179 mm; move upward 77 mm; roll upward 12 degrees; pitch upward 1 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [65,121]\ndistr_sink: [131,149], [132,151]\n", + "gripper_2d": [ + 65, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 65, + 121 + ], + [ + 131, + 149, + 132, + 151 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.014285714365541935, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.018571430817246437, + 0.0, + -0.13464286923408508, + 0.0, + 0.025714285671710968, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 1.0, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 19 mm; move right 0 mm; move downward 135 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 61 mm; move right 179 mm; move upward 77 mm; roll upward 12 degrees; pitch upward 1 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 149, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 19 mm; move right 0 mm; move downward 135 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 61 mm; move right 179 mm; move upward 77 mm; roll upward 12 degrees; pitch upward 1 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [65,120]\ndistr_sink: [131,149], [132,150]\n", + "gripper_2d": [ + 65, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 65, + 120 + ], + [ + 131, + 149, + 132, + 150 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.009999999776482582, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.018571430817246437, + 0.0, + -0.13464286923408508, + 0.0, + 0.011428571306169033, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 1.0, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 19 mm; move right 0 mm; move downward 135 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 61 mm; move right 179 mm; move upward 77 mm; roll upward 12 degrees; pitch upward 1 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 150, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 19 mm; move right 0 mm; move downward 135 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 61 mm; move right 179 mm; move upward 77 mm; roll upward 12 degrees; pitch upward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [65,120]\ndistr_sink: [131,149], [132,150]\n", + "gripper_2d": [ + 65, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 65, + 120 + ], + [ + 131, + 149, + 132, + 150 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.018571430817246437, + 0.0, + -0.13464286923408508, + 0.0, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 19 mm; move right 0 mm; move downward 135 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 61 mm; move right 179 mm; move upward 77 mm; roll upward 12 degrees; pitch upward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 151, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 19 mm; move right 0 mm; move downward 135 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 61 mm; move right 179 mm; move upward 77 mm; roll upward 12 degrees; pitch upward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [65,119]\ndistr_sink: [131,149], [132,149]\n", + "gripper_2d": [ + 65, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 65, + 119 + ], + [ + 131, + 149, + 132, + 149 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + -0.0021428572945296764, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.018571430817246437, + 0.0, + -0.13464286923408508, + 0.0, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.16859146705506423, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 19 mm; move right 0 mm; move downward 135 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 61 mm; move right 179 mm; move upward 77 mm; roll upward 12 degrees; pitch upward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 152, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 19 mm; move right 0 mm; move downward 133 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 61 mm; move right 179 mm; move upward 79 mm; roll upward 12 degrees; pitch upward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [65,119]\ndistr_sink: [131,149], [132,149]\n", + "gripper_2d": [ + 65, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 65, + 119 + ], + [ + 131, + 149, + 132, + 149 + ] + ], + "delta_full_state": [ + 0.0007142857066355646, + 0.0, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.018571430817246437, + 0.0, + -0.13250000774860382, + 0.0, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4218746934214439, + 0.13897262261232712, + -0.3348731784619775, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 19 mm; move right 0 mm; move downward 133 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 61 mm; move right 179 mm; move upward 79 mm; roll upward 12 degrees; pitch upward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 153, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 18 mm; move right 0 mm; move downward 127 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 60 mm; move right 179 mm; move upward 85 mm; roll upward 12 degrees; pitch upward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [65,119]\ndistr_sink: [131,149], [131,149]\n", + "gripper_2d": [ + 65, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 65, + 119 + ], + [ + 131, + 149, + 131, + 149 + ] + ], + "delta_full_state": [ + 0.0007142857066355646, + 0.0, + -0.008928571827709675, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0178571455180645, + 0.0, + -0.12714287638664246, + 0.0, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4218746934214439, + 0.13897262261232712, + -0.5196306489638982, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 18 mm; move right 0 mm; move downward 127 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 60 mm; move right 179 mm; move upward 85 mm; roll upward 12 degrees; pitch upward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 154, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 17 mm; move right 0 mm; move downward 118 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 59 mm; move right 179 mm; move upward 94 mm; roll upward 12 degrees; pitch upward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [65,120]\ndistr_sink: [131,149], [131,149]\n", + "gripper_2d": [ + 65, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 65, + 120 + ], + [ + 131, + 149, + 131, + 149 + ] + ], + "delta_full_state": [ + 0.0014285714132711291, + 0.0, + -0.011428571306169033, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.01714286021888256, + 0.0, + -0.11821430176496506, + 0.0, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.45312468531221595, + 0.13897262261232712, + -0.6489608421807966, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 17 mm; move right 0 mm; move downward 118 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 59 mm; move right 179 mm; move upward 94 mm; roll upward 12 degrees; pitch upward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 155, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 16 mm; move right 0 mm; move downward 107 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 58 mm; move right 179 mm; move upward 105 mm; roll upward 12 degrees; pitch upward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [65,121]\ndistr_sink: [131,149], [131,149]\n", + "gripper_2d": [ + 65, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 65, + 121 + ], + [ + 131, + 149, + 131, + 149 + ] + ], + "delta_full_state": [ + 0.0014285714132711291, + 0.0, + -0.012857143767178059, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.015714287757873535, + 0.0, + -0.10678570717573166, + 0.0, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.45312468531221595, + 0.13897262261232712, + -0.7228638785608265, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 16 mm; move right 0 mm; move downward 107 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 58 mm; move right 179 mm; move upward 105 mm; roll upward 12 degrees; pitch upward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 156, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 14 mm; move right 0 mm; move downward 94 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 56 mm; move right 179 mm; move upward 118 mm; roll upward 12 degrees; pitch upward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [65,121]\n", + "gripper_2d": [ + 65, + 156 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 65, + 121 + ] + ], + "delta_full_state": [ + 0.0010714286472648382, + 0.0, + -0.013571429066359997, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.01428571529686451, + 0.0, + -0.09392856806516647, + 0.0, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4374996931867068, + 0.13897262261232712, + -0.7598153485715798, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 14 mm; move right 0 mm; move downward 94 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 56 mm; move right 179 mm; move upward 118 mm; roll upward 12 degrees; pitch upward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 157, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 13 mm; move right 0 mm; move downward 80 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 55 mm; move right 179 mm; move upward 131 mm; roll upward 12 degrees; pitch upward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,122]\n", + "gripper_2d": [ + 65, + 156 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 122 + ] + ], + "delta_full_state": [ + 0.0021428572945296764, + 0.0, + -0.015000000596046448, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.013214285485446453, + 0.0, + -0.0803571417927742, + 0.0, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4843746848427415, + 0.13897262261232712, + -0.8337183367723482, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 13 mm; move right 0 mm; move downward 80 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 55 mm; move right 179 mm; move upward 131 mm; roll upward 12 degrees; pitch upward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 158, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 11 mm; move right 0 mm; move downward 65 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 53 mm; move right 179 mm; move upward 146 mm; roll upward 12 degrees; pitch upward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,123]\n", + "gripper_2d": [ + 65, + 157 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 123 + ] + ], + "delta_full_state": [ + 0.0035714288242161274, + 0.0, + -0.015357143245637417, + 0.0, + 0.0014285714132711291, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.011071428656578064, + 0.0, + -0.06535714119672775, + 0.0, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5468746737174544, + 0.13897262261232712, + -0.8521940717777249, + -1.0, + 0.9107804757310247, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 11 mm; move right 0 mm; move downward 65 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 53 mm; move right 179 mm; move upward 146 mm; roll upward 12 degrees; pitch upward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 159, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 8 mm; move right 0 mm; move downward 50 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 50 mm; move right 179 mm; move upward 162 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,123]\n", + "gripper_2d": [ + 66, + 157 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 123 + ] + ], + "delta_full_state": [ + 0.002500000176951289, + 0.0, + -0.015000000596046448, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.007500000298023224, + 0.0, + -0.05000000074505806, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.49999968206141965, + 0.13897262261232712, + -0.8337183367723482, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 8 mm; move right 0 mm; move downward 50 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 50 mm; move right 179 mm; move upward 162 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 160, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 5 mm; move right 0 mm; move downward 35 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 47 mm; move right 179 mm; move upward 177 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,124]\n", + "gripper_2d": [ + 66, + 158 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 124 + ] + ], + "delta_full_state": [ + 0.0021428572945296764, + 0.0, + -0.015000000596046448, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.005000000353902578, + 0.0, + -0.03500000387430191, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4843746848427415, + 0.13897262261232712, + -0.8337183367723482, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 5 mm; move right 0 mm; move downward 35 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 47 mm; move right 179 mm; move upward 177 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 161, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 3 mm; move right 0 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 45 mm; move right 179 mm; move upward 192 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 66, + 158 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0017857144121080637, + 0.0, + -0.012142857536673546, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.002857143059372902, + 0.0, + -0.020000001415610313, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4687496876240633, + 0.13897262261232712, + -0.6859123603708115, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 0 mm; move downward 12 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 3 mm; move right 0 mm; move downward 20 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 45 mm; move right 179 mm; move upward 192 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 162, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 1 mm; move right 0 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 43 mm; move right 179 mm; move upward 204 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 66, + 159 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0010714286472648382, + 0.0, + -0.007857142947614193, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0010714286472648382, + 0.0, + -0.007857142947614193, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4374996931867068, + 0.13897262261232712, + -0.46420339576850667, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 1 mm; move right 0 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 43 mm; move right 179 mm; move upward 204 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 163, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 65, + 159 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 164, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,124]\n", + "gripper_2d": [ + 65, + 158 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 124 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 165, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,124]\n", + "gripper_2d": [ + 65, + 158 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 124 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 166, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,123]\n", + "gripper_2d": [ + 64, + 158 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 123 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 167, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,123]\n", + "gripper_2d": [ + 64, + 158 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 123 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + 0.0017857144121080637, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 168, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 0 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,123]\n", + "gripper_2d": [ + 64, + 158 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 123 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0003571428533177823, + 0.0, + 0.006428571883589029, + 0.0, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 0 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 169, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 0 mm; move right 4 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,123]\n", + "gripper_2d": [ + 64, + 158 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 123 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0003571428533177823, + -0.0039285714738070965, + 0.013571429066359997, + 0.0, + 0.0, + -0.009999999776482582, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 0 mm; move right 4 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 170, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 2 mm; move right 8 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,122]\n", + "gripper_2d": [ + 64, + 158 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 122 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0017857144121080637, + -0.008214286528527737, + 0.02142857387661934, + 0.0, + 0.0, + -0.02428571507334709, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 2 mm; move right 8 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 171, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 6 mm; move right 12 mm; move upward 30 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,122]\n", + "gripper_2d": [ + 64, + 157 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 122 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.005714286118745804, + -0.01214285846799612, + 0.03035714663565159, + 0.004285714123398066, + 0.0, + -0.04285714402794838, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 6 mm; move right 12 mm; move upward 30 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 172, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 9 mm; move right 18 mm; move upward 43 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,122]\n", + "gripper_2d": [ + 64, + 157 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 122 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.008928571827709675, + -0.01785714365541935, + 0.042500004172325134, + 0.011428571306169033, + 0.0, + -0.06285714358091354, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 9 mm; move right 18 mm; move upward 43 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 173, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 12 mm; move right 25 mm; move upward 56 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,122]\n", + "gripper_2d": [ + 64, + 157 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 122 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.011785714887082577, + -0.024642858654260635, + 0.05571429058909416, + 0.019999999552965164, + 0.0, + -0.082857146859169, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 12 mm; move right 25 mm; move upward 56 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 174, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 16 mm; move right 32 mm; move upward 69 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,122]\n", + "gripper_2d": [ + 64, + 157 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 122 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.015714285895228386, + -0.03214285895228386, + 0.06928572058677673, + 0.029999999329447746, + 0.0, + -0.1071428656578064, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 16 mm; move right 32 mm; move upward 69 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 175, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 19 mm; move right 42 mm; move upward 85 mm; roll upward 3 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,122]\n", + "gripper_2d": [ + 64, + 157 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 122 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.01892857253551483, + -0.04214286059141159, + 0.08464286476373672, + 0.044285714626312256, + 0.0, + -0.13285714387893677, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 19 mm; move right 42 mm; move upward 85 mm; roll upward 3 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 176, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 22 mm; move right 54 mm; move upward 100 mm; roll upward 3 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,122]\n", + "gripper_2d": [ + 64, + 157 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 122 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.021785715594887733, + -0.053928572684526443, + 0.10000000149011612, + 0.058571428060531616, + 0.0, + -0.1542857140302658, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 22 mm; move right 54 mm; move upward 100 mm; roll upward 3 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 177, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 26 mm; move right 67 mm; move upward 115 mm; roll upward 4 degrees; pitch downward 0 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,122]\n", + "gripper_2d": [ + 64, + 157 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 122 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.026428570970892906, + -0.06678571552038193, + 0.11464285850524902, + 0.07428571581840515, + 0.0, + -0.1728571355342865, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 26 mm; move right 67 mm; move upward 115 mm; roll upward 4 degrees; pitch downward 0 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 178, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 30 mm; move right 82 mm; move upward 130 mm; roll upward 5 degrees; pitch downward 0 degrees; yaw clockwise 11 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,122]\ndistr_sink: [133,137], [137,138]\n", + "gripper_2d": [ + 64, + 158 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 122 + ], + [ + 133, + 137, + 137, + 138 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.03035714291036129, + -0.08178571611642838, + 0.13035714626312256, + 0.09428571164608002, + 0.0, + -0.19142857193946838, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 30 mm; move right 82 mm; move upward 130 mm; roll upward 5 degrees; pitch downward 0 degrees; yaw clockwise 11 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 179, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 33 mm; move right 98 mm; move upward 147 mm; roll upward 7 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,122]\ndistr_sink: [132,137], [141,139]\n", + "gripper_2d": [ + 64, + 158 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 122 + ], + [ + 132, + 137, + 141, + 139 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.03321428596973419, + -0.098214291036129, + 0.14678572118282318, + 0.11428570747375488, + 0.0, + -0.20714285969734192, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 33 mm; move right 98 mm; move upward 147 mm; roll upward 7 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 180, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 37 mm; move right 117 mm; move upward 163 mm; roll upward 8 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,122]\ndistr_sink: [132,137], [141,141]\n", + "gripper_2d": [ + 64, + 158 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 122 + ], + [ + 132, + 137, + 141, + 141 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.03678571805357933, + -0.11678571999073029, + 0.16250000894069672, + 0.1371428519487381, + 0.0, + -0.21285714209079742, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 37 mm; move right 117 mm; move upward 163 mm; roll upward 8 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 181, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 40 mm; move right 137 mm; move upward 178 mm; roll upward 9 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,122]\ndistr_sink: [131,137], [141,143]\n", + "gripper_2d": [ + 64, + 158 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 122 + ], + [ + 131, + 137, + 141, + 143 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.04035714641213417, + -0.13678573071956635, + 0.17821429669857025, + 0.1614285707473755, + 0.0, + -0.21571429073810577, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 40 mm; move right 137 mm; move upward 178 mm; roll upward 9 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 182, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 42 mm; move right 158 mm; move upward 195 mm; roll upward 11 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,122]\ndistr_sink: [131,137], [141,144]\n", + "gripper_2d": [ + 64, + 158 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 122 + ], + [ + 131, + 137, + 141, + 144 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.04178571701049805, + -0.1575000137090683, + 0.19500000774860382, + 0.18571428954601288, + 0.0, + -0.21571429073810577, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 42 mm; move right 158 mm; move upward 195 mm; roll upward 11 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 183, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,122]\ndistr_sink: [131,137], [141,146]\n", + "gripper_2d": [ + 64, + 158 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 122 + ], + [ + 131, + 137, + 141, + 146 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.04214286059141159, + -0.1785714477300644, + 0.2117857187986374, + 0.21142858266830444, + 0.0, + -0.21571429073810577, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 184, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 44 mm; move right 199 mm; move upward 227 mm; roll upward 14 degrees; pitch downward 0 degrees; yaw clockwise 13 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,122]\ndistr_sink: [131,137], [141,147]\n", + "gripper_2d": [ + 64, + 158 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 122 + ], + [ + 131, + 137, + 141, + 147 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.04357143118977547, + -0.1989285796880722, + 0.22714285552501678, + 0.23571430146694183, + 0.0, + -0.2199999988079071, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 44 mm; move right 199 mm; move upward 227 mm; roll upward 14 degrees; pitch downward 0 degrees; yaw clockwise 13 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 185, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 45 mm; move right 220 mm; move upward 241 mm; roll upward 15 degrees; pitch downward 0 degrees; yaw clockwise 13 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,122]\ndistr_sink: [131,137], [141,148]\n", + "gripper_2d": [ + 64, + 158 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 122 + ], + [ + 131, + 137, + 141, + 148 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0446428619325161, + -0.2200000137090683, + 0.24142856895923615, + 0.2600000202655792, + 0.0, + -0.22142857313156128, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 45 mm; move right 220 mm; move upward 241 mm; roll upward 15 degrees; pitch downward 0 degrees; yaw clockwise 13 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 186, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 45 mm; move right 242 mm; move upward 256 mm; roll upward 16 degrees; pitch downward 0 degrees; yaw clockwise 13 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,122]\ndistr_sink: [131,137], [141,150]\n", + "gripper_2d": [ + 64, + 158 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 122 + ], + [ + 131, + 137, + 141, + 150 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0017857144121080637, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0446428619325161, + -0.24249999225139618, + 0.2557142674922943, + 0.2842857241630554, + 0.0, + -0.22142857313156128, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + 0.03464175049704865, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 45 mm; move right 242 mm; move upward 256 mm; roll upward 16 degrees; pitch downward 0 degrees; yaw clockwise 13 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 179 mm; move upward 212 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 187, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 0 mm; move right 0 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 45 mm; move right 266 mm; move upward 267 mm; roll upward 18 degrees; pitch downward 0 degrees; yaw clockwise 13 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 179 mm; move upward 210 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,122]\ndistr_sink: [131,137], [141,151]\n", + "gripper_2d": [ + 64, + 158 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 122 + ], + [ + 131, + 137, + 141, + 151 + ] + ], + "delta_full_state": [ + 0.0003571428533177823, + 0.0, + 0.004642857238650322, + 0.0, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.0446428619325161, + -0.26642856001853943, + 0.26678571105003357, + 0.3085714280605316, + 0.0, + -0.22142857313156128, + 1.0 + ], + "delta_full_state_norm": [ + 0.4062496974760581, + 0.13897262261232712, + 0.18244771485376976, + -1.0, + 0.8810407028929985, + 0.714284853817116, + 0.9999999900000001 + ], + "movement_text": "move forward 0 mm; move right 0 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 45 mm; move right 266 mm; move upward 267 mm; roll upward 18 degrees; pitch downward 0 degrees; yaw clockwise 13 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 179 mm; move upward 210 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 188, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 4 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 44 mm; move right 291 mm; move upward 274 mm; roll upward 19 degrees; pitch downward 0 degrees; yaw clockwise 13 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 179 mm; move upward 205 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,122]\ndistr_sink: [131,137], [141,152]\n", + "gripper_2d": [ + 64, + 158 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 122 + ], + [ + 131, + 137, + 141, + 152 + ] + ], + "delta_full_state": [ + 0.0, + -0.0039285714738070965, + 0.007142857648432255, + 0.0, + 0.0, + -0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.044285718351602554, + -0.29107141494750977, + 0.2742857038974762, + 0.3328571319580078, + 0.0, + -0.21857142448425293, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.006042130221637132, + 0.31177795624992966, + -1.0, + 0.8810407028929985, + 0.285713622900547, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 4 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 44 mm; move right 291 mm; move upward 274 mm; roll upward 19 degrees; pitch downward 0 degrees; yaw clockwise 13 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 179 mm; move upward 205 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 189, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 4 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 44 mm; move right 313 mm; move upward 279 mm; roll upward 20 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 175 mm; move upward 198 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,122]\ndistr_sink: [131,137], [141,152]\n", + "gripper_2d": [ + 64, + 157 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 122 + ], + [ + 131, + 137, + 141, + 152 + ] + ], + "delta_full_state": [ + 0.0014285714132711291, + -0.004285714589059353, + 0.007857142947614193, + 0.0, + 0.0, + -0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + 0.044285718351602554, + -0.3132142722606659, + 0.2785714268684387, + 0.35571426153182983, + 0.0, + -0.21142858266830444, + 1.0 + ], + "delta_full_state_norm": [ + 0.45312468531221595, + -0.006042468590159444, + 0.34872942626068304, + -1.0, + 0.8810407028929985, + -0.4285717541993834, + 0.9999999900000001 + ], + "movement_text": "move forward 1 mm; move right 4 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 44 mm; move right 313 mm; move upward 279 mm; roll upward 20 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 175 mm; move upward 198 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 190, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 4 mm; move upward 9 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 43 mm; move right 341 mm; move upward 282 mm; roll upward 22 degrees; pitch downward 0 degrees; yaw clockwise 11 degrees; open gripper;\nSubtask Movement: move forward 40 mm; move right 170 mm; move upward 190 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,122]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 64, + 157 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 122 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.0039285714738070965, + -0.0039285714738070965, + 0.008928571827709675, + 0.004285714123398066, + 0.0, + -0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + 0.04285714775323868, + -0.3410714268684387, + 0.2817856967449188, + 0.3828571140766144, + 0.0, + -0.19714286923408508, + 1.0 + ], + "delta_full_state_norm": [ + 0.5624996607497945, + 0.006042130221637132, + 0.4041566794560747, + -0.7142858139586479, + 0.8810407028929985, + -0.8571430083990056, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 4 mm; move upward 9 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 43 mm; move right 341 mm; move upward 282 mm; roll upward 22 degrees; pitch downward 0 degrees; yaw clockwise 11 degrees; open gripper;", + "subtask_movement_text": "move forward 40 mm; move right 170 mm; move upward 190 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 11 degrees; open gripper;" + }, + { + "frame_index": 191, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 6 mm; move upward 12 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 39 mm; move right 371 mm; move upward 284 mm; roll upward 23 degrees; pitch downward 0 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move forward 36 mm; move right 166 mm; move upward 181 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,122]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 64, + 157 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 122 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.0032142859417945147, + -0.0057142856530845165, + 0.012142857536673546, + 0.0071428571827709675, + 0.0, + -0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + 0.03892857953906059, + -0.3707142770290375, + 0.28357142210006714, + 0.4099999666213989, + 0.0, + -0.1785714328289032, + 1.0 + ], + "delta_full_state_norm": [ + 0.5312496764987762, + -0.054380816567809465, + 0.570438390862988, + -0.5238096692350291, + 0.8810407028929985, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 3 mm; move right 6 mm; move upward 12 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 39 mm; move right 371 mm; move upward 284 mm; roll upward 23 degrees; pitch downward 0 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 36 mm; move right 166 mm; move upward 181 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 192, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 7 mm; move upward 13 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 36 mm; move right 398 mm; move upward 281 mm; roll upward 25 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; open gripper;\nSubtask Movement: move forward 33 mm; move right 161 mm; move upward 169 mm; roll upward 11 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,121]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 64, + 156 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 121 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.0028571428265422583, + -0.006785714533179998, + 0.013214285485446453, + 0.008571428246796131, + 0.0, + -0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + 0.035714291036129, + -0.39821428060531616, + 0.28142857551574707, + 0.43285712599754333, + 0.0, + -0.15857142210006714, + 1.0 + ], + "delta_full_state_norm": [ + 0.5156246690937598, + -0.0906345972466871, + 0.6258655958791182, + -0.42857162791729586, + 0.8810407028929985, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 3 mm; move right 7 mm; move upward 13 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 36 mm; move right 398 mm; move upward 281 mm; roll upward 25 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; open gripper;", + "subtask_movement_text": "move forward 33 mm; move right 161 mm; move upward 169 mm; roll upward 11 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; open gripper;" + }, + { + "frame_index": 193, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 8 mm; move upward 14 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 33 mm; move right 426 mm; move upward 277 mm; roll upward 26 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move forward 30 mm; move right 154 mm; move upward 156 mm; roll upward 11 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,121]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 65, + 156 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 121 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.0039285714738070965, + -0.007500000298023224, + 0.013571429066359997, + 0.009999999776482582, + 0.0, + -0.02428571507334709, + 1.0 + ], + "delta_next_20": [ + 0.03285714611411095, + -0.42571431398391724, + 0.27714285254478455, + 0.45571425557136536, + 0.0, + -0.13857144117355347, + 1.0 + ], + "delta_full_state_norm": [ + 0.5624996607497945, + -0.11480377911376816, + 0.6443413790637562, + -0.3333335555554865, + 0.8810407028929985, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 8 mm; move upward 14 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 33 mm; move right 426 mm; move upward 277 mm; roll upward 26 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move forward 30 mm; move right 154 mm; move upward 156 mm; roll upward 11 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; open gripper;" + }, + { + "frame_index": 194, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 10 mm; move upward 15 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 29 mm; move right 454 mm; move upward 272 mm; roll upward 27 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move forward 26 mm; move right 146 mm; move upward 143 mm; roll upward 10 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [65,121]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 65, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 65, + 121 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.0032142859417945147, + -0.010000000707805157, + 0.015357143245637417, + 0.014285714365541935, + 0.0, + -0.025714285671710968, + 1.0 + ], + "delta_next_20": [ + 0.028928572311997414, + -0.45392856001853943, + 0.271785706281662, + 0.47857141494750977, + 0.0, + -0.11428571492433548, + 1.0 + ], + "delta_full_state_norm": [ + 0.5312496764987762, + -0.19939592352680802, + 0.7367201022699013, + -0.04761933847005828, + 0.8810407028929985, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 3 mm; move right 10 mm; move upward 15 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 29 mm; move right 454 mm; move upward 272 mm; roll upward 27 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 26 mm; move right 146 mm; move upward 143 mm; roll upward 10 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 195, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 12 mm; move upward 15 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 26 mm; move right 479 mm; move upward 264 mm; roll upward 28 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 23 mm; move right 136 mm; move upward 127 mm; roll upward 10 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [65,121]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 65, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 65, + 121 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.0028571428265422583, + -0.011785714887082577, + 0.015357143245637417, + 0.014285714365541935, + 0.0, + -0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + 0.025714287534356117, + -0.47857141494750977, + 0.26357144117355347, + 0.4942857325077057, + 0.0, + -0.08857142925262451, + 1.0 + ], + "delta_full_state_norm": [ + 0.5156246690937598, + -0.2598188703162546, + 0.7367201022699013, + -0.04761933847005828, + 0.8810407028929985, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 3 mm; move right 12 mm; move upward 15 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 26 mm; move right 479 mm; move upward 264 mm; roll upward 28 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 23 mm; move right 136 mm; move upward 127 mm; roll upward 10 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 196, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 13 mm; move upward 15 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 23 mm; move right 501 mm; move upward 255 mm; roll upward 29 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 20 mm; move right 125 mm; move upward 112 mm; roll upward 9 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [62,121]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 66, + 154 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 62, + 121 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.004642857238650322, + -0.012857143767178059, + 0.014642857015132904, + 0.015714285895228386, + 0.0, + -0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + 0.022857144474983215, + -0.5007142424583435, + 0.2546428442001343, + 0.508571445941925, + 0.0, + -0.07000000029802322, + 1.0 + ], + "delta_full_state_norm": [ + 0.5937496551871511, + -0.29607265099513236, + 0.6997685840798864, + 0.047618733891751086, + 0.8810407028929985, + -0.8571430083990056, + 0.9999999900000001 + ], + "movement_text": "move forward 5 mm; move right 13 mm; move upward 15 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 23 mm; move right 501 mm; move upward 255 mm; roll upward 29 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 20 mm; move right 125 mm; move upward 112 mm; roll upward 9 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 197, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 15 mm; move upward 16 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 18 mm; move right 520 mm; move upward 245 mm; roll upward 30 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 16 mm; move right 112 mm; move upward 97 mm; roll upward 8 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [63,121]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 66, + 153 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 121 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.0039285714738070965, + -0.015000000596046448, + 0.015714285895228386, + 0.019999999552965164, + 0.0, + -0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + 0.018214287236332893, + -0.5203571319580078, + 0.2449999898672104, + 0.5171428918838501, + 0.0, + -0.05285714194178581, + 1.0 + ], + "delta_full_state_norm": [ + 0.5624996607497945, + -0.36858018083986344, + 0.7551958372752781, + 0.333332888889027, + 0.8810407028929985, + -0.8571430083990056, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 15 mm; move upward 16 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 18 mm; move right 520 mm; move upward 245 mm; roll upward 30 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 16 mm; move right 112 mm; move upward 97 mm; roll upward 8 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 198, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 16 mm; move upward 16 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 14 mm; move right 538 mm; move upward 234 mm; roll upward 30 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 12 mm; move right 97 mm; move upward 81 mm; roll upward 7 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [64,123]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 67, + 152 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 64, + 123 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.0028571428265422583, + -0.016428573057055473, + 0.016428573057055473, + 0.019999999552965164, + 0.0, + -0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + 0.014285716228187084, + -0.5375000238418579, + 0.23357143998146057, + 0.5200000405311584, + 0.0, + -0.034285712987184525, + 1.0 + ], + "delta_full_state_norm": [ + 0.5156246690937598, + -0.41691857608704996, + 0.7921474036445544, + 0.333332888889027, + 0.8810407028929985, + -0.5714288389325908, + 0.9999999900000001 + ], + "movement_text": "move forward 3 mm; move right 16 mm; move upward 16 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 14 mm; move right 538 mm; move upward 234 mm; roll upward 30 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 12 mm; move right 97 mm; move upward 81 mm; roll upward 7 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 199, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 19 mm; move upward 16 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 11 mm; move right 553 mm; move upward 220 mm; roll upward 30 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 9 mm; move right 80 mm; move upward 65 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [65,123]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 67, + 152 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 65, + 123 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.0035714288242161274, + -0.018571428954601288, + 0.015714285895228386, + 0.022857142612338066, + 0.0, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.011428571306169033, + -0.5525000095367432, + 0.2200000137090683, + 0.5185714364051819, + 0.0, + -0.01857142709195614, + 1.0 + ], + "delta_full_state_norm": [ + 0.5468746737174544, + -0.48942607441875663, + 0.7551958372752781, + 0.5238090336126457, + 0.8810407028929985, + 0.4285707076337544, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 19 mm; move upward 16 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 11 mm; move right 553 mm; move upward 220 mm; roll upward 30 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 9 mm; move right 80 mm; move upward 65 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 200, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 20 mm; move upward 16 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 8 mm; move right 565 mm; move upward 205 mm; roll upward 29 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 5 mm; move right 62 mm; move upward 49 mm; roll upward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [64,124]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 68, + 151 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 64, + 124 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.0035714288242161274, + -0.020000001415610313, + 0.015714285895228386, + 0.02428571507334709, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.007857142947614193, + -0.5649999976158142, + 0.20464284718036652, + 0.5114285945892334, + 0.0, + -0.012857142835855484, + 1.0 + ], + "delta_full_state_norm": [ + 0.5468746737174544, + -0.5377644696659432, + 0.7551958372752781, + 0.6190471680626075, + 0.8810407028929985, + 0.714284853817116, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 20 mm; move upward 16 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 8 mm; move right 565 mm; move upward 205 mm; roll upward 29 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 5 mm; move right 62 mm; move upward 49 mm; roll upward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 201, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 21 mm; move upward 17 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 4 mm; move right 574 mm; move upward 189 mm; roll upward 29 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 2 mm; move right 42 mm; move upward 34 mm; roll upward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [64,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 68, + 150 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 64, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.0014285714132711291, + -0.02071428671479225, + 0.016785714775323868, + 0.02428571507334709, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.004285714589059353, + -0.5742857456207275, + 0.18892857432365417, + 0.5, + 0.0, + -0.009999999776482582, + 1.0 + ], + "delta_full_state_norm": [ + 0.45312468531221595, + -0.5619336357765121, + 0.8106230904706695, + 0.6190471680626075, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 1 mm; move right 21 mm; move upward 17 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 4 mm; move right 574 mm; move upward 189 mm; roll upward 29 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 2 mm; move right 42 mm; move upward 34 mm; roll upward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 202, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 0 mm; move right 21 mm; move upward 17 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 3 mm; move right 581 mm; move upward 172 mm; roll upward 28 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 0 mm; move right 21 mm; move upward 17 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [63,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 69, + 149 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.0003571428533177823, + -0.021071428433060646, + 0.016785714775323868, + 0.025714285671710968, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.002857143059372902, + -0.5814286470413208, + 0.1721428483724594, + 0.48571428656578064, + 0.0, + -0.009999999776482582, + 1.0 + ], + "delta_full_state_norm": [ + 0.4062496974760581, + -0.5740181873187722, + 0.8106230904706695, + 0.7142851783362647, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 0 mm; move right 21 mm; move upward 17 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 3 mm; move right 581 mm; move upward 172 mm; roll upward 28 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 0 mm; move right 21 mm; move upward 17 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 203, + "segment_id": 20100, + "subtask": "lift the corn", + "reason": "The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: lift the corn\nSubtask Reasoning: The robot's end-effector is holding the green corn and moving it upwards from the counter surface towards a higher position near the faucet, indicating a lifting motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 20 mm; move upward 15 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 3 mm; move right 588 mm; move upward 155 mm; roll upward 27 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [63,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 70, + 148 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 63, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.0014285714132711291, + -0.020357143133878708, + 0.015357143245637417, + 0.02428571507334709, + 0.0, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.002500000176951289, + -0.5882143378257751, + 0.15535713732242584, + 0.4699999690055847, + 0.0, + -0.009999999776482582, + 1.0 + ], + "delta_full_state_norm": [ + 0.45312468531221595, + -0.5498490212082032, + 0.7367201022699013, + 0.6190471680626075, + 0.8810407028929985, + 0.5714277923669617, + 0.9999999900000001 + ], + "movement_text": "move forward 1 mm; move right 20 mm; move upward 15 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 3 mm; move right 588 mm; move upward 155 mm; roll upward 27 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 204, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 21 mm; move upward 14 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 1 mm; move right 595 mm; move upward 140 mm; roll upward 26 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1 mm; move right 452 mm; move upward 140 mm; roll upward 23 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [64,125]\ndistr_sink: [131,137], [141,152]\n", + "gripper_2d": [ + 71, + 147 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 64, + 125 + ], + [ + 131, + 137, + 141, + 152 + ] + ], + "delta_full_state": [ + 0.0010714286472648382, + -0.021071428433060646, + 0.01428571529686451, + 0.02428571507334709, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.0010714286472648382, + -0.5950000286102295, + 0.14000000059604645, + 0.44999998807907104, + 0.0, + -0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + 0.4374996931867068, + -0.5740181873187722, + 0.6812928972537711, + 0.6190471680626075, + 0.8810407028929985, + 0.8571419269087968, + 0.9999999900000001 + ], + "movement_text": "move forward 1 mm; move right 21 mm; move upward 14 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 1 mm; move right 595 mm; move upward 140 mm; roll upward 26 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1 mm; move right 452 mm; move upward 140 mm; roll upward 23 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 205, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 22 mm; move upward 14 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 600 mm; move upward 126 mm; roll upward 24 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 431 mm; move upward 125 mm; roll upward 21 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [64,125]\ndistr_sink: [131,137], [141,151]\n", + "gripper_2d": [ + 72, + 147 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 64, + 125 + ], + [ + 131, + 137, + 141, + 151 + ] + ], + "delta_full_state": [ + 0.0, + -0.022499999031424522, + 0.01428571529686451, + 0.02428571507334709, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.6000000238418579, + 0.12571430206298828, + 0.42571425437927246, + 0.0, + -0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.62235651953991, + 0.6812928972537711, + 0.6190471680626075, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 22 mm; move upward 14 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 600 mm; move upward 126 mm; roll upward 24 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 431 mm; move upward 125 mm; roll upward 21 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 206, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 24 mm; move upward 13 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 601 mm; move upward 111 mm; roll upward 23 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 408 mm; move upward 111 mm; roll upward 20 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [65,125]\ndistr_sink: [131,137], [141,150]\n", + "gripper_2d": [ + 73, + 146 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 65, + 125 + ], + [ + 131, + 137, + 141, + 150 + ] + ], + "delta_full_state": [ + 0.0, + -0.023928571492433548, + 0.012857143767178059, + 0.02428571507334709, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.6010715365409851, + 0.11142857372760773, + 0.40142855048179626, + 0.0, + -0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.6706949147870964, + 0.6073899090530028, + 0.6190471680626075, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 24 mm; move upward 13 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 601 mm; move upward 111 mm; roll upward 23 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 408 mm; move upward 111 mm; roll upward 20 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 207, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 25 mm; move upward 12 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 600 mm; move upward 99 mm; roll upward 22 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 384 mm; move upward 98 mm; roll upward 19 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,149]\n", + "gripper_2d": [ + 74, + 145 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 149 + ] + ], + "delta_full_state": [ + 0.0, + -0.024642856791615486, + 0.012142857536673546, + 0.02428571507334709, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.5996429324150085, + 0.09857144206762314, + 0.37714284658432007, + 0.0, + -0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.6948640808976654, + 0.570438390862988, + 0.6190471680626075, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 25 mm; move upward 12 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 600 mm; move upward 99 mm; roll upward 22 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 384 mm; move upward 98 mm; roll upward 19 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 208, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 26 mm; move upward 11 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 596 mm; move upward 86 mm; roll upward 20 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 360 mm; move upward 86 mm; roll upward 17 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,148]\n", + "gripper_2d": [ + 75, + 145 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 148 + ] + ], + "delta_full_state": [ + 0.0, + -0.02607142925262451, + 0.011428571306169033, + 0.022857142612338066, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.5964285731315613, + 0.08642857521772385, + 0.3528571128845215, + 0.0, + -0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.7432024761448519, + 0.5334868726729731, + 0.5238090336126457, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 26 mm; move upward 11 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 596 mm; move upward 86 mm; roll upward 20 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 360 mm; move upward 86 mm; roll upward 17 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 209, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 32 mm; move upward 11 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 591 mm; move upward 75 mm; roll upward 19 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 334 mm; move upward 75 mm; roll upward 16 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,147]\n", + "gripper_2d": [ + 76, + 144 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 147 + ] + ], + "delta_full_state": [ + 0.0, + -0.03214285895228386, + 0.011071428656578064, + 0.027142856270074844, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.5910715460777283, + 0.07500001043081284, + 0.33000001311302185, + 0.0, + -0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.9486405456498093, + 0.5150111376675963, + 0.8095231886099217, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 32 mm; move upward 11 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 591 mm; move upward 75 mm; roll upward 19 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 334 mm; move upward 75 mm; roll upward 16 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 210, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 34 mm; move upward 11 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 579 mm; move upward 64 mm; roll upward 17 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 301 mm; move upward 64 mm; roll upward 14 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,145]\n", + "gripper_2d": [ + 77, + 143 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 145 + ] + ], + "delta_full_state": [ + 0.0, + -0.033571429550647736, + 0.010714286006987095, + 0.03142857179045677, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.579285740852356, + 0.06392857432365417, + 0.3028571307659149, + 0.0, + -0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.9969788778709471, + 0.49653540266221974, + 1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 34 mm; move upward 11 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 579 mm; move upward 64 mm; roll upward 17 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 301 mm; move upward 64 mm; roll upward 14 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 211, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 33 mm; move upward 10 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 566 mm; move upward 53 mm; roll upward 16 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 268 mm; move upward 53 mm; roll upward 13 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,144]\n", + "gripper_2d": [ + 79, + 143 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 144 + ] + ], + "delta_full_state": [ + 0.0, + -0.03321428596973419, + 0.010000000707805157, + 0.029999999329447746, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.5657142996788025, + 0.05321429297327995, + 0.27142855525016785, + 0.0, + -0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.9848942633026383, + 0.45958393265146635, + 0.9999993333335406, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 33 mm; move upward 10 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 566 mm; move upward 53 mm; roll upward 16 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 268 mm; move upward 53 mm; roll upward 13 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 212, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 34 mm; move upward 9 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 551 mm; move upward 43 mm; roll upward 14 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 235 mm; move upward 43 mm; roll upward 11 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,137], [141,142]\n", + "gripper_2d": [ + 80, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 137, + 141, + 142 + ] + ], + "delta_full_state": [ + 0.0, + -0.03428571671247482, + 0.008928571827709675, + 0.03142857179045677, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.5514285564422607, + 0.04321428760886192, + 0.24142856895923615, + 0.0, + -0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -1.0, + 0.4041566794560747, + 1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 34 mm; move upward 9 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 551 mm; move upward 43 mm; roll upward 14 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 235 mm; move upward 43 mm; roll upward 11 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 213, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 36 mm; move upward 8 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 535 mm; move upward 34 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 200 mm; move upward 34 mm; roll upward 9 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,137], [141,141]\n", + "gripper_2d": [ + 82, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 137, + 141, + 141 + ] + ], + "delta_full_state": [ + 0.0, + -0.0357142873108387, + 0.008214286528527737, + 0.03285714238882065, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.5353571176528931, + 0.03392857313156128, + 0.20999999344348907, + 0.0, + -0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -1.0, + 0.3672052094453213, + 1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 36 mm; move upward 8 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 535 mm; move upward 34 mm; roll upward 12 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 200 mm; move upward 34 mm; roll upward 9 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 214, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 35 mm; move upward 7 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 517 mm; move upward 24 mm; roll upward 10 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 165 mm; move upward 26 mm; roll upward 7 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [134,137], [141,139]\n", + "gripper_2d": [ + 83, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 134, + 137, + 141, + 139 + ] + ], + "delta_full_state": [ + 0.0, + -0.03464285656809807, + 0.007142857648432255, + 0.029999999329447746, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.5174999237060547, + 0.023928573355078697, + 0.17714285850524902, + 0.0, + -0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -1.0, + 0.31177795624992966, + 0.9999993333335406, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 35 mm; move upward 7 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 517 mm; move upward 24 mm; roll upward 10 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 165 mm; move upward 26 mm; roll upward 7 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 215, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 34 mm; move upward 6 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 500 mm; move upward 14 mm; roll upward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 130 mm; move upward 19 mm; roll upward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [137,137], [137,137]\n", + "gripper_2d": [ + 85, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 137, + 137, + 137, + 137 + ] + ], + "delta_full_state": [ + 0.0, + -0.03392856940627098, + 0.006428571883589029, + 0.02857142873108387, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.5003570914268494, + 0.013928571715950966, + 0.14714287221431732, + 0.0, + -0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -1.0, + 0.27482646214954554, + 0.9047613230598834, + 0.8810407028929985, + 0.714284853817116, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 34 mm; move upward 6 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 500 mm; move upward 14 mm; roll upward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 130 mm; move upward 19 mm; roll upward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 216, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 32 mm; move upward 5 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 483 mm; move upward 2 mm; roll upward 7 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 96 mm; move upward 12 mm; roll upward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 87, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + -0.032499998807907104, + 0.005000000353902578, + 0.02428571507334709, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.4828570783138275, + 0.00214285752736032, + 0.11857142299413681, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.9607250341660207, + 0.2009234739487773, + 0.6190471680626075, + 0.8810407028929985, + 0.8571419269087968, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 32 mm; move upward 5 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 483 mm; move upward 2 mm; roll upward 7 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 96 mm; move upward 12 mm; roll upward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 217, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 32 mm; move upward 4 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 465 mm; move downward 10 mm; roll upward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 64 mm; move upward 7 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 88, + 139 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + -0.03214285895228386, + 0.004285714589059353, + 0.022857142612338066, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.4649999737739563, + -0.010357143357396126, + 0.09428571909666061, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.9486405456498093, + 0.16397197984839318, + 0.5238090336126457, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 32 mm; move upward 4 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 465 mm; move downward 10 mm; roll upward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 64 mm; move upward 7 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 218, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 31 mm; move upward 3 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 0 mm; move right 445 mm; move downward 24 mm; roll upward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 31 mm; move upward 3 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [85,143], [87,144]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 90, + 139 + ], + "task_obj_bbox": [ + 85, + 143, + 87, + 144 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + -0.03142857179045677, + 0.0028571428265422583, + 0.018571428954601288, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0003571428533177823, + -0.445357084274292, + -0.02428571507334709, + 0.0714285746216774, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.9244713165131917, + 0.09006897960280935, + 0.23809487861537004, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 31 mm; move upward 3 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 0 mm; move right 445 mm; move downward 24 mm; roll upward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 31 mm; move upward 3 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 219, + "segment_id": 30100, + "subtask": "move to the sink", + "reason": "The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move to the sink\nSubtask Reasoning: The robot's end-effector, having released the corn in the previous step, is now translating towards the sink basin. The arm angle shifts from facing the counter surface to orienting over the sink opening, indicating transit to the next interaction point.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 31 mm; move upward 0 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 2 mm; move right 426 mm; move downward 38 mm; roll upward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [85,141], [90,144]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 91, + 139 + ], + "task_obj_bbox": [ + 85, + 141, + 90, + 144 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + -0.031071428209543228, + 0.0003571428533177823, + 0.015714285895228386, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0017857144121080637, + -0.4260714054107666, + -0.03821428865194321, + 0.05285714566707611, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.9123867019448829, + -0.039261239209321674, + 0.047618733891751086, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 31 mm; move upward 0 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 2 mm; move right 426 mm; move downward 38 mm; roll upward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 220, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 29 mm; move downward 0 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 4 mm; move right 407 mm; move downward 51 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 620 mm; move right 604 mm; move downward 1089 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [87,141], [93,144]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 93, + 139 + ], + "task_obj_bbox": [ + 87, + 141, + 93, + 144 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + -0.029285714030265808, + 0.0, + 0.012857142835855484, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0035714288242161274, + -0.40714284777641296, + -0.051428575068712234, + 0.037142857909202576, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.8519637551554363, + -0.05773698475391176, + -0.14285741083186765, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 29 mm; move downward 0 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 4 mm; move right 407 mm; move downward 51 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 620 mm; move right 604 mm; move downward 1089 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 221, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 28 mm; move downward 0 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 6 mm; move right 389 mm; move downward 66 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 620 mm; move right 575 mm; move downward 1089 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [88,140], [95,144]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 94, + 139 + ], + "task_obj_bbox": [ + 88, + 140, + 95, + 144 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + -0.027857143431901932, + 0.0, + 0.009999999776482582, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.005714286118745804, + -0.38892853260040283, + -0.06607143580913544, + 0.024285713210701942, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.8036254229342985, + -0.05773698475391176, + -0.3333335555554865, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 28 mm; move downward 0 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 6 mm; move right 389 mm; move downward 66 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 620 mm; move right 575 mm; move downward 1089 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 222, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 28 mm; move downward 0 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 9 mm; move right 371 mm; move downward 83 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 620 mm; move right 547 mm; move downward 1089 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [90,140], [97,144]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 96, + 138 + ], + "task_obj_bbox": [ + 90, + 140, + 97, + 144 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + -0.027857143431901932, + 0.0, + 0.009999999776482582, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.008928571827709675, + -0.3707142770290375, + -0.082857146859169, + 0.01428571343421936, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.8036254229342985, + -0.05773698475391176, + -0.3333335555554865, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 28 mm; move downward 0 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 9 mm; move right 371 mm; move downward 83 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 620 mm; move right 547 mm; move downward 1089 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 223, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 27 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 14 mm; move right 352 mm; move downward 100 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 620 mm; move right 519 mm; move downward 1089 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [91,139], [98,143]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 97, + 138 + ], + "task_obj_bbox": [ + 91, + 139, + 98, + 143 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + -0.027142858132719994, + 0.0, + 0.004285714123398066, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.013571429066359997, + -0.3521428406238556, + -0.10035713762044907, + 0.004285714123398066, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.7794562568237295, + -0.05773698475391176, + -0.7142858139586479, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 27 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 14 mm; move right 352 mm; move downward 100 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 620 mm; move right 519 mm; move downward 1089 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 224, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 26 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 19 mm; move right 334 mm; move downward 118 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 620 mm; move right 492 mm; move downward 1089 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [92,139], [100,143]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 98, + 138 + ], + "task_obj_bbox": [ + 92, + 139, + 100, + 143 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + -0.02607142925262451, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.018571428954601288, + -0.33392855525016785, + -0.11785713583230972, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.7432024761448519, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 26 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 19 mm; move right 334 mm; move downward 118 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 620 mm; move right 492 mm; move downward 1089 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 225, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 24 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 24 mm; move right 316 mm; move downward 135 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 620 mm; move right 466 mm; move downward 1089 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [94,139], [101,143]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 100, + 138 + ], + "task_obj_bbox": [ + 94, + 139, + 101, + 143 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + -0.023571429774165154, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.023571429774165154, + -0.3164285719394684, + -0.13535712659358978, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.6586103632448363, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 24 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 24 mm; move right 316 mm; move downward 135 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 620 mm; move right 466 mm; move downward 1089 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 226, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 22 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 29 mm; move right 301 mm; move downward 154 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 620 mm; move right 442 mm; move downward 1089 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [95,138], [103,143]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 101, + 138 + ], + "task_obj_bbox": [ + 95, + 138, + 103, + 143 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + -0.022499999031424522, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.029285714030265808, + -0.3010714054107666, + -0.15357141196727753, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.62235651953991, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 22 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 29 mm; move right 301 mm; move downward 154 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 620 mm; move right 442 mm; move downward 1089 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 227, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 35 mm; move right 286 mm; move downward 172 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 620 mm; move right 420 mm; move downward 1089 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [96,138], [104,143]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 102, + 138 + ], + "task_obj_bbox": [ + 96, + 138, + 104, + 143 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + -0.02142857201397419, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.035357143729925156, + -0.2864285409450531, + -0.17178569734096527, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.586102801887081, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 35 mm; move right 286 mm; move downward 172 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 620 mm; move right 420 mm; move downward 1089 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 228, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 41 mm; move right 273 mm; move downward 190 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 620 mm; move right 398 mm; move downward 1089 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [97,138], [105,143]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 103, + 138 + ], + "task_obj_bbox": [ + 97, + 138, + 105, + 143 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + -0.02071428671479225, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.041428569704294205, + -0.272857129573822, + -0.18999998271465302, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.5619336357765121, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 41 mm; move right 273 mm; move downward 190 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 620 mm; move right 398 mm; move downward 1089 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 229, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 47 mm; move right 260 mm; move downward 208 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 620 mm; move right 378 mm; move downward 1089 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [98,138], [106,143]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 104, + 138 + ], + "task_obj_bbox": [ + 98, + 138, + 106, + 143 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + -0.020357143133878708, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.04714285582304001, + -0.2603571116924286, + -0.2078571319580078, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.5498490212082032, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 47 mm; move right 260 mm; move downward 208 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 620 mm; move right 378 mm; move downward 1089 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 230, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 54 mm; move right 247 mm; move downward 226 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 620 mm; move right 357 mm; move downward 1089 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [99,138], [108,143]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 105, + 138 + ], + "task_obj_bbox": [ + 99, + 138, + 108, + 143 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + -0.020000001415610313, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0535714291036129, + -0.2474999874830246, + -0.2257142812013626, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.5377644696659432, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 54 mm; move right 247 mm; move downward 226 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 620 mm; move right 357 mm; move downward 1089 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 231, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 60 mm; move right 235 mm; move downward 244 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 620 mm; move right 337 mm; move downward 1089 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [100,138], [109,143]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,151], [136,153]\n", + "gripper_2d": [ + 106, + 138 + ], + "task_obj_bbox": [ + 100, + 138, + 109, + 143 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 151, + 136, + 153 + ] + ], + "delta_full_state": [ + 0.0, + -0.018928570672869682, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.060357142239809036, + -0.2346428632736206, + -0.2435714304447174, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.5015106259610168, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 60 mm; move right 235 mm; move downward 244 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 620 mm; move right 337 mm; move downward 1089 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 232, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 68 mm; move right 223 mm; move downward 261 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 620 mm; move right 318 mm; move downward 1089 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [101,137], [110,143]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,151], [137,153]\n", + "gripper_2d": [ + 107, + 138 + ], + "task_obj_bbox": [ + 101, + 137, + 110, + 143 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 151, + 137, + 153 + ] + ], + "delta_full_state": [ + 0.0, + -0.018214285373687744, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.06750000268220901, + -0.22285716235637665, + -0.261428564786911, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.47734145985044785, + -0.07621273029850195, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 68 mm; move right 223 mm; move downward 261 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 620 mm; move right 318 mm; move downward 1089 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 233, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 74 mm; move right 212 mm; move downward 279 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 620 mm; move right 300 mm; move downward 1089 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [102,137], [111,143]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,150], [137,153]\n", + "gripper_2d": [ + 108, + 138 + ], + "task_obj_bbox": [ + 102, + 137, + 111, + 143 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 150, + 137, + 153 + ] + ], + "delta_full_state": [ + 0.0, + -0.01785714365541935, + -0.0017857144121080637, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.07428571581840515, + -0.21214286983013153, + -0.2785714268684387, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.4652569083081878, + -0.15011572000487217, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 74 mm; move right 212 mm; move downward 279 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 620 mm; move right 300 mm; move downward 1089 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 234, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 81 mm; move right 201 mm; move downward 294 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 620 mm; move right 282 mm; move downward 1087 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [103,137], [111,143]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,149], [138,153]\n", + "gripper_2d": [ + 109, + 138 + ], + "task_obj_bbox": [ + 103, + 137, + 111, + 143 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 149, + 138, + 153 + ] + ], + "delta_full_state": [ + 0.0, + -0.017500000074505806, + -0.0028571428265422583, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.08142857998609543, + -0.2014285773038864, + -0.29357144236564636, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.453172293739879, + -0.20554294911063298, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 81 mm; move right 201 mm; move downward 294 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 620 mm; move right 282 mm; move downward 1087 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 235, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 16 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 89 mm; move right 190 mm; move downward 308 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 620 mm; move right 265 mm; move downward 1084 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [104,137], [112,143]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,148], [138,153]\n", + "gripper_2d": [ + 110, + 138 + ], + "task_obj_bbox": [ + 104, + 137, + 112, + 143 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 148, + 138, + 153 + ] + ], + "delta_full_state": [ + 0.0, + -0.016428573057055473, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.08892857283353806, + -0.19035713374614716, + -0.3075000047683716, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.41691857608704996, + -0.3348731784619775, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 16 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 89 mm; move right 190 mm; move downward 308 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 620 mm; move right 265 mm; move downward 1084 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 236, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 96 mm; move right 180 mm; move downward 318 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 620 mm; move right 248 mm; move downward 1079 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [105,137], [113,143]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,148], [139,153]\n", + "gripper_2d": [ + 110, + 138 + ], + "task_obj_bbox": [ + 105, + 137, + 113, + 143 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 148, + 139, + 153 + ] + ], + "delta_full_state": [ + 0.0, + -0.014642857015132904, + -0.007500000298023224, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.09642857313156128, + -0.17999999225139618, + -0.3182142972946167, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + -0.35649556627155465, + -0.44572766076313, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move downward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 96 mm; move right 180 mm; move downward 318 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 620 mm; move right 248 mm; move downward 1079 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 237, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 0 mm; move right 13 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 104 mm; move right 171 mm; move downward 326 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 620 mm; move right 234 mm; move downward 1071 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [105,137], [114,143]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,147], [139,153]\n", + "gripper_2d": [ + 111, + 138 + ], + "task_obj_bbox": [ + 105, + 137, + 114, + 143 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 147, + 139, + 153 + ] + ], + "delta_full_state": [ + 0.0003571428533177823, + -0.012500000186264515, + -0.009642857126891613, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1039285808801651, + -0.17142857611179352, + -0.3264285922050476, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4062496974760581, + -0.2839880364268236, + -0.5565821189746517, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 0 mm; move right 13 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 104 mm; move right 171 mm; move downward 326 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 620 mm; move right 234 mm; move downward 1071 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 238, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 12 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 111 mm; move right 165 mm; move downward 331 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 620 mm; move right 221 mm; move downward 1062 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [106,137], [115,143]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,147], [139,153]\n", + "gripper_2d": [ + 112, + 138 + ], + "task_obj_bbox": [ + 106, + 137, + 115, + 143 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 147, + 139, + 153 + ] + ], + "delta_full_state": [ + 0.0014285714132711291, + -0.012142857536673546, + -0.011071428656578064, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.11071427911520004, + -0.16464285552501678, + -0.3314286172389984, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.45312468531221595, + -0.2719034533715391, + -0.6304851071754201, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 1 mm; move right 12 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 111 mm; move right 165 mm; move downward 331 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 620 mm; move right 221 mm; move downward 1062 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 239, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 12 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 117 mm; move right 158 mm; move downward 334 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 618 mm; move right 209 mm; move downward 1051 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [107,137], [115,144]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,147], [140,153]\n", + "gripper_2d": [ + 112, + 139 + ], + "task_obj_bbox": [ + 107, + 137, + 115, + 144 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 147, + 140, + 153 + ] + ], + "delta_full_state": [ + 0.0017857144121080637, + -0.012142857536673546, + -0.012857143767178059, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.11678571999073029, + -0.1582142859697342, + -0.33428576588630676, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4687496876240633, + -0.2719034533715391, + -0.7228638785608265, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 2 mm; move right 12 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 117 mm; move right 158 mm; move downward 334 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 618 mm; move right 209 mm; move downward 1051 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 240, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 11 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 123 mm; move right 151 mm; move downward 336 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 616 mm; move right 197 mm; move downward 1038 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [107,138], [116,144]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,147], [140,153]\n", + "gripper_2d": [ + 113, + 139 + ], + "task_obj_bbox": [ + 107, + 138, + 116, + 144 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 147, + 140, + 153 + ] + ], + "delta_full_state": [ + 0.0021428572945296764, + -0.011071428656578064, + -0.014642857015132904, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.12250001728534698, + -0.15142856538295746, + -0.33571431040763855, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4843746848427415, + -0.23564967269266146, + -0.81524255358771, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 2 mm; move right 11 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 123 mm; move right 151 mm; move downward 336 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 616 mm; move right 197 mm; move downward 1038 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 241, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 10 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 129 mm; move right 146 mm; move downward 336 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 614 mm; move right 186 mm; move downward 1023 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [108,138], [117,144]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,146], [140,153]\n", + "gripper_2d": [ + 113, + 139 + ], + "task_obj_bbox": [ + 108, + 138, + 117, + 144 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 146, + 140, + 153 + ] + ], + "delta_full_state": [ + 0.0032142859417945147, + -0.009642857126891613, + -0.016785714775323868, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.12857143580913544, + -0.14571428298950195, + -0.33571431040763855, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5312496764987762, + -0.18731130895849923, + -0.9260970599784931, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 3 mm; move right 10 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 129 mm; move right 146 mm; move downward 336 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 614 mm; move right 186 mm; move downward 1023 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 242, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 9 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 135 mm; move right 141 mm; move downward 333 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 611 mm; move right 176 mm; move downward 1006 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [108,139], [117,145]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,146], [140,153]\n", + "gripper_2d": [ + 114, + 140 + ], + "task_obj_bbox": [ + 108, + 139, + 117, + 145 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 146, + 140, + 153 + ] + ], + "delta_full_state": [ + 0.004642857238650322, + -0.009285714477300644, + -0.017500000074505806, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.13464286923408508, + -0.14071428775787354, + -0.33321431279182434, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5937496551871511, + -0.17522672590321486, + -0.9630485299892466, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 5 mm; move right 9 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 135 mm; move right 141 mm; move downward 333 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 611 mm; move right 176 mm; move downward 1006 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 243, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 9 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 139 mm; move right 136 mm; move downward 330 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 606 mm; move right 167 mm; move downward 989 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [109,139], [118,145]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,146], [140,153]\n", + "gripper_2d": [ + 114, + 140 + ], + "task_obj_bbox": [ + 109, + 139, + 118, + 145 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 146, + 140, + 153 + ] + ], + "delta_full_state": [ + 0.005000000353902578, + -0.008928571827709675, + -0.017500000074505806, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.13928572833538055, + -0.13607144355773926, + -0.33000001311302185, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6093746625921674, + -0.16314214284793038, + -0.9630485299892466, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 5 mm; move right 9 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 139 mm; move right 136 mm; move downward 330 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 606 mm; move right 167 mm; move downward 989 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 244, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 9 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 144 mm; move right 132 mm; move downward 327 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 601 mm; move right 158 mm; move downward 971 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [109,140], [118,146]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,146], [140,153]\n", + "gripper_2d": [ + 114, + 141 + ], + "task_obj_bbox": [ + 109, + 140, + 118, + 146 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 146, + 140, + 153 + ] + ], + "delta_full_state": [ + 0.005000000353902578, + -0.008571429178118706, + -0.017500000074505806, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.14392857253551483, + -0.13178573548793793, + -0.3271428644657135, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6093746625921674, + -0.1510575597926459, + -0.9630485299892466, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 5 mm; move right 9 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 144 mm; move right 132 mm; move downward 327 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 601 mm; move right 158 mm; move downward 971 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 245, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 8 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 149 mm; move right 127 mm; move downward 324 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 596 mm; move right 149 mm; move downward 954 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [109,140], [118,146]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,146], [140,153]\n", + "gripper_2d": [ + 115, + 141 + ], + "task_obj_bbox": [ + 109, + 140, + 118, + 146 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 146, + 140, + 153 + ] + ], + "delta_full_state": [ + 0.0057142856530845165, + -0.008214286528527737, + -0.018214285373687744, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.14892858266830444, + -0.12714286148548126, + -0.32428571581840515, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6406246366568475, + -0.13897297673736142, + -1.0, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move right 8 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 149 mm; move right 127 mm; move downward 324 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 596 mm; move right 149 mm; move downward 954 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 246, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 8 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 153 mm; move right 122 mm; move downward 321 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 591 mm; move right 141 mm; move downward 936 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [109,141], [119,147]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,146], [140,153]\n", + "gripper_2d": [ + 115, + 142 + ], + "task_obj_bbox": [ + 109, + 141, + 119, + 147 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 146, + 140, + 153 + ] + ], + "delta_full_state": [ + 0.006071428768336773, + -0.007857142947614193, + -0.018214285373687744, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.15321429073810577, + -0.1224999949336052, + -0.3207142949104309, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6562496440618639, + -0.12688836216905264, + -1.0, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move right 8 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 153 mm; move right 122 mm; move downward 321 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 591 mm; move right 141 mm; move downward 936 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 247, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 8 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 158 mm; move right 117 mm; move downward 317 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 585 mm; move right 133 mm; move downward 918 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,141], [119,147]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,146], [140,153]\n", + "gripper_2d": [ + 115, + 142 + ], + "task_obj_bbox": [ + 110, + 141, + 119, + 147 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 146, + 140, + 153 + ] + ], + "delta_full_state": [ + 0.006071428768336773, + -0.007857142947614193, + -0.018214285373687744, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1575000137090683, + -0.11749999970197678, + -0.3174999952316284, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6562496440618639, + -0.12688836216905264, + -1.0, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move right 8 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 158 mm; move right 117 mm; move downward 317 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 585 mm; move right 133 mm; move downward 918 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 248, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 8 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 162 mm; move right 112 mm; move downward 314 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 579 mm; move right 125 mm; move downward 899 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,142], [120,148]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,146], [140,153]\n", + "gripper_2d": [ + 116, + 143 + ], + "task_obj_bbox": [ + 110, + 142, + 120, + 148 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 146, + 140, + 153 + ] + ], + "delta_full_state": [ + 0.0057142856530845165, + -0.008214286528527737, + -0.01785714365541935, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.16178572177886963, + -0.11214285343885422, + -0.3142857253551483, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6406246366568475, + -0.13897297673736142, + -0.9815243131738848, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move right 8 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 162 mm; move right 112 mm; move downward 314 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 579 mm; move right 125 mm; move downward 899 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 249, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 8 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 166 mm; move right 106 mm; move downward 311 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 573 mm; move right 117 mm; move downward 881 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,142], [120,148]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,146], [140,153]\n", + "gripper_2d": [ + 116, + 143 + ], + "task_obj_bbox": [ + 110, + 142, + 120, + 148 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 146, + 140, + 153 + ] + ], + "delta_full_state": [ + 0.006428571883589029, + -0.007500000298023224, + -0.01785714365541935, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1664285659790039, + -0.10642856359481812, + -0.31142860651016235, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6718746514668803, + -0.11480377911376816, + -0.9815243131738848, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move right 8 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 166 mm; move right 106 mm; move downward 311 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 573 mm; move right 117 mm; move downward 881 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 250, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 7 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 170 mm; move right 101 mm; move downward 308 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 566 mm; move right 110 mm; move downward 864 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [111,142], [120,148]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,146], [141,153]\n", + "gripper_2d": [ + 116, + 144 + ], + "task_obj_bbox": [ + 111, + 142, + 120, + 148 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 146, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.006785714533179998, + -0.007142857648432255, + -0.01785714365541935, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1703571379184723, + -0.1014285609126091, + -0.3078571856021881, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6874996384992205, + -0.10271919605848379, + -0.9815243131738848, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move right 7 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 170 mm; move right 101 mm; move downward 308 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 566 mm; move right 110 mm; move downward 864 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 251, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 7 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 174 mm; move right 97 mm; move downward 304 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 560 mm; move right 102 mm; move downward 846 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [111,143], [120,149]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,146], [141,153]\n", + "gripper_2d": [ + 116, + 144 + ], + "task_obj_bbox": [ + 111, + 143, + 120, + 149 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 146, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.007142857648432255, + -0.007142857648432255, + -0.01785714365541935, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17392857372760773, + -0.09678569436073303, + -0.3039286136627197, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7031246459042366, + -0.10271919605848379, + -0.9815243131738848, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move right 7 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 174 mm; move right 97 mm; move downward 304 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 560 mm; move right 102 mm; move downward 846 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 252, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 8 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 177 mm; move right 92 mm; move downward 300 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 553 mm; move right 95 mm; move downward 828 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [111,143], [121,149]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,145], [141,153]\n", + "gripper_2d": [ + 117, + 144 + ], + "task_obj_bbox": [ + 111, + 143, + 121, + 149 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 145, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.006785714533179998, + -0.007500000298023224, + -0.017500000074505806, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17714284360408783, + -0.09178569912910461, + -0.30000004172325134, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6874996384992205, + -0.11480377911376816, + -0.9630485299892466, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move right 8 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 177 mm; move right 92 mm; move downward 300 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 553 mm; move right 95 mm; move downward 828 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 253, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 7 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 181 mm; move right 86 mm; move downward 296 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 546 mm; move right 88 mm; move downward 810 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [111,144], [121,150]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,145], [141,153]\n", + "gripper_2d": [ + 117, + 145 + ], + "task_obj_bbox": [ + 111, + 144, + 121, + 150 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 145, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.007142857648432255, + -0.007142857648432255, + -0.016785714775323868, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18142856657505035, + -0.0860714241862297, + -0.29607149958610535, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7031246459042366, + -0.10271919605848379, + -0.9260970599784931, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move right 7 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 181 mm; move right 86 mm; move downward 296 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 546 mm; move right 88 mm; move downward 810 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 254, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 6 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 185 mm; move right 80 mm; move downward 293 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 539 mm; move right 81 mm; move downward 794 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [112,144], [121,150]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,145], [141,153]\n", + "gripper_2d": [ + 117, + 145 + ], + "task_obj_bbox": [ + 112, + 144, + 121, + 150 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 145, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.007500000298023224, + -0.006428571883589029, + -0.016785714775323868, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18535713851451874, + -0.07999999076128006, + -0.29250001907348633, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7187496329365768, + -0.07855001419140262, + -0.9260970599784931, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move right 6 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 185 mm; move right 80 mm; move downward 293 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 539 mm; move right 81 mm; move downward 794 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 255, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 6 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 189 mm; move right 74 mm; move downward 289 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 531 mm; move right 74 mm; move downward 777 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [112,144], [121,150]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,146], [141,153]\n", + "gripper_2d": [ + 117, + 146 + ], + "task_obj_bbox": [ + 112, + 144, + 121, + 150 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 146, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.007500000298023224, + -0.006071428768336773, + -0.01607142947614193, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18857143819332123, + -0.07428570091724396, + -0.2889285981655121, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7187496329365768, + -0.06646541537960604, + -0.8891455899677397, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move right 6 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 189 mm; move right 74 mm; move downward 289 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 531 mm; move right 74 mm; move downward 777 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 256, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 6 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 192 mm; move right 68 mm; move downward 286 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 524 mm; move right 68 mm; move downward 761 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [112,145], [121,151]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,145], [141,153]\n", + "gripper_2d": [ + 118, + 146 + ], + "task_obj_bbox": [ + 112, + 145, + 121, + 151 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 145, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.007500000298023224, + -0.006071428768336773, + -0.015714285895228386, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.19178572297096252, + -0.06821427494287491, + -0.28607141971588135, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7187496329365768, + -0.06646541537960604, + -0.8706698067831016, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move right 6 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 192 mm; move right 68 mm; move downward 286 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 524 mm; move right 68 mm; move downward 761 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 257, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 6 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 195 mm; move right 62 mm; move downward 285 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 516 mm; move right 62 mm; move downward 745 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [112,145], [121,151]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,145], [141,153]\n", + "gripper_2d": [ + 118, + 146 + ], + "task_obj_bbox": [ + 112, + 145, + 121, + 151 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 145, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.007142857648432255, + -0.0057142856530845165, + -0.014642857015132904, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.19464285671710968, + -0.06214284896850586, + -0.2846428453922272, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7031246459042366, + -0.054380816567809465, + -0.81524255358771, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move right 6 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 195 mm; move right 62 mm; move downward 285 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 516 mm; move right 62 mm; move downward 745 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 258, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 6 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 198 mm; move right 56 mm; move downward 285 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 509 mm; move right 56 mm; move downward 730 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [113,145], [122,151]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,145], [141,153]\n", + "gripper_2d": [ + 118, + 147 + ], + "task_obj_bbox": [ + 113, + 145, + 122, + 151 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 145, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.007500000298023224, + -0.0057142856530845165, + -0.013928571715950966, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.19750000536441803, + -0.05642857775092125, + -0.2849999964237213, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7187496329365768, + -0.054380816567809465, + -0.7782910835769565, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move right 6 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 198 mm; move right 56 mm; move downward 285 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 509 mm; move right 56 mm; move downward 730 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 259, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 5 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 200 mm; move right 51 mm; move downward 286 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 501 mm; move right 51 mm; move downward 716 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [113,146], [122,151]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,145], [141,153]\n", + "gripper_2d": [ + 118, + 147 + ], + "task_obj_bbox": [ + 113, + 146, + 122, + 151 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 145, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.007500000298023224, + -0.0053571430034935474, + -0.01428571529686451, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1996428519487381, + -0.050714291632175446, + -0.2864285409450531, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7187496329365768, + -0.04229623351252498, + -0.7967668667615948, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move right 5 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 200 mm; move right 51 mm; move downward 286 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 501 mm; move right 51 mm; move downward 716 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 260, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 5 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 202 mm; move right 45 mm; move downward 288 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 494 mm; move right 45 mm; move downward 702 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [113,146], [122,152]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,144], [141,153]\n", + "gripper_2d": [ + 118, + 147 + ], + "task_obj_bbox": [ + 113, + 146, + 122, + 152 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 144, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.008214286528527737, + -0.0053571430034935474, + -0.014642857015132904, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20178571343421936, + -0.045357149094343185, + -0.2882142961025238, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7499996477466095, + -0.04229623351252498, + -0.81524255358771, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move right 5 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 202 mm; move right 45 mm; move downward 288 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 494 mm; move right 45 mm; move downward 702 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 261, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 203 mm; move right 40 mm; move downward 290 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 486 mm; move right 40 mm; move downward 688 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [113,146], [122,152]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,144], [141,153]\n", + "gripper_2d": [ + 118, + 147 + ], + "task_obj_bbox": [ + 113, + 146, + 122, + 152 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 144, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + -0.004642857238650322, + -0.01428571529686451, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20321428775787354, + -0.04000000283122063, + -0.28964290022850037, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7968746088436298, + -0.018127051645443926, + -0.7967668667615948, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 203 mm; move right 40 mm; move downward 290 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 486 mm; move right 40 mm; move downward 688 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 262, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 203 mm; move right 35 mm; move downward 292 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 476 mm; move right 35 mm; move downward 673 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [113,146], [122,152]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,144], [141,153]\n", + "gripper_2d": [ + 118, + 148 + ], + "task_obj_bbox": [ + 113, + 146, + 122, + 152 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 144, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + -0.004642857238650322, + -0.01428571529686451, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20321428775787354, + -0.035357147455215454, + -0.29178574681282043, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7968746088436298, + -0.018127051645443926, + -0.7967668667615948, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 203 mm; move right 35 mm; move downward 292 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 476 mm; move right 35 mm; move downward 673 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 263, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 5 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 203 mm; move right 31 mm; move downward 294 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 467 mm; move right 31 mm; move downward 659 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [113,147], [122,152]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,143], [141,153]\n", + "gripper_2d": [ + 119, + 148 + ], + "task_obj_bbox": [ + 113, + 147, + 122, + 152 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 143, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + -0.004642857238650322, + -0.014642857015132904, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20321428775787354, + -0.03071429207921028, + -0.2939285933971405, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.81249959587597, + -0.018127051645443926, + -0.81524255358771, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 5 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 203 mm; move right 31 mm; move downward 294 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 467 mm; move right 31 mm; move downward 659 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 264, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 4 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 202 mm; move right 26 mm; move downward 296 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 457 mm; move right 26 mm; move downward 644 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [113,147], [122,153]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,143], [141,153]\n", + "gripper_2d": [ + 119, + 148 + ], + "task_obj_bbox": [ + 113, + 147, + 122, + 153 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 143, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + -0.0039285714738070965, + -0.014642857015132904, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20249998569488525, + -0.02607143297791481, + -0.29607146978378296, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8281246236536626, + 0.006042130221637132, + -0.81524255358771, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 4 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 202 mm; move right 26 mm; move downward 296 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 457 mm; move right 26 mm; move downward 644 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 265, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 4 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 202 mm; move right 22 mm; move downward 299 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 447 mm; move right 22 mm; move downward 630 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [113,147], [122,153]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,143], [141,153]\n", + "gripper_2d": [ + 119, + 148 + ], + "task_obj_bbox": [ + 113, + 147, + 122, + 153 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 143, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + -0.0035714288242161274, + -0.014642857015132904, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2021428644657135, + -0.022142859175801277, + -0.29928573966026306, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8281246236536626, + 0.018126713276921613, + -0.81524255358771, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 4 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 202 mm; move right 22 mm; move downward 299 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 447 mm; move right 22 mm; move downward 630 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 266, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 3 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 203 mm; move right 19 mm; move downward 303 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 438 mm; move right 19 mm; move downward 615 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [114,147], [122,153]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,142], [141,153]\n", + "gripper_2d": [ + 119, + 148 + ], + "task_obj_bbox": [ + 114, + 147, + 122, + 153 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 142, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.010357143357396126, + -0.0028571428265422583, + -0.015000000596046448, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20250001549720764, + -0.018571430817246437, + -0.30250003933906555, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8437496106860027, + 0.04229590302225872, + -0.8337183367723482, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 3 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 203 mm; move right 19 mm; move downward 303 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 438 mm; move right 19 mm; move downward 615 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 267, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 3 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 203 mm; move right 16 mm; move downward 305 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 427 mm; move right 16 mm; move downward 600 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [114,147], [122,153]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,142], [141,153]\n", + "gripper_2d": [ + 119, + 148 + ], + "task_obj_bbox": [ + 114, + 147, + 122, + 153 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 142, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.010357143357396126, + -0.002500000176951289, + -0.015000000596046448, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20285716652870178, + -0.015714285895228386, + -0.3053571581840515, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8437496106860027, + 0.0543804860775432, + -0.8337183367723482, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 3 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 203 mm; move right 16 mm; move downward 305 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 427 mm; move right 16 mm; move downward 600 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 268, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 3 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 204 mm; move right 13 mm; move downward 309 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 417 mm; move right 13 mm; move downward 585 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [114,148], [122,153]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,141], [141,153]\n", + "gripper_2d": [ + 119, + 149 + ], + "task_obj_bbox": [ + 114, + 148, + 122, + 153 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 141, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.010357143357396126, + -0.002500000176951289, + -0.015000000596046448, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20392858982086182, + -0.013214285485446453, + -0.3085714280605316, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8437496106860027, + 0.0543804860775432, + -0.8337183367723482, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 3 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 204 mm; move right 13 mm; move downward 309 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 417 mm; move right 13 mm; move downward 585 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 269, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 3 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 205 mm; move right 11 mm; move downward 312 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 406 mm; move right 11 mm; move downward 570 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [114,148], [122,153]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,140], [141,153]\n", + "gripper_2d": [ + 119, + 149 + ], + "task_obj_bbox": [ + 114, + 148, + 122, + 153 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 140, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.010357143357396126, + -0.002500000176951289, + -0.01428571529686451, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2053571492433548, + -0.010714286006987095, + -0.3117856979370117, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8437496106860027, + 0.0543804860775432, + -0.7967668667615948, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 3 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 205 mm; move right 11 mm; move downward 312 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 406 mm; move right 11 mm; move downward 570 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 270, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 3 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 207 mm; move right 8 mm; move downward 315 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 396 mm; move right 8 mm; move downward 556 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [114,148], [122,153]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,140], [141,153]\n", + "gripper_2d": [ + 119, + 149 + ], + "task_obj_bbox": [ + 114, + 148, + 122, + 153 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 140, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.010357143357396126, + -0.002500000176951289, + -0.013928571715950966, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20714282989501953, + -0.008214286528527737, + -0.3149999976158142, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8437496106860027, + 0.0543804860775432, + -0.7782910835769565, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 3 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 207 mm; move right 8 mm; move downward 315 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 396 mm; move right 8 mm; move downward 556 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 271, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 2 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 210 mm; move right 6 mm; move downward 319 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 386 mm; move right 6 mm; move downward 542 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [114,148], [122,154]\ndistr_counter: [53,111], [115,153]\ndistr_sink: [132,139], [141,153]\n", + "gripper_2d": [ + 119, + 149 + ], + "task_obj_bbox": [ + 114, + 148, + 122, + 154 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 115, + 153 + ], + [ + 132, + 139, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.010357143357396126, + -0.0021428572945296764, + -0.013928571715950966, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20964284241199493, + -0.0057142856530845165, + -0.31857141852378845, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8437496106860027, + 0.06646507701108373, + -0.7782910835769565, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 2 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 210 mm; move right 6 mm; move downward 319 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 386 mm; move right 6 mm; move downward 542 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 272, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 2 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 212 mm; move right 4 mm; move downward 322 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 375 mm; move right 4 mm; move downward 528 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [114,148], [122,154]\ndistr_counter: [53,111], [116,153]\ndistr_sink: [132,139], [141,153]\n", + "gripper_2d": [ + 119, + 149 + ], + "task_obj_bbox": [ + 114, + 148, + 122, + 154 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 116, + 153 + ], + [ + 132, + 139, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.011071428656578064, + -0.0017857144121080637, + -0.013571429066359997, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2124999761581421, + -0.0035714288242161274, + -0.3221428096294403, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8749995847506828, + 0.07854966794462426, + -0.7598153485715798, + -1.0, + 0.8513009300549721, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 2 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 212 mm; move right 4 mm; move downward 322 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 375 mm; move right 4 mm; move downward 528 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 273, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 1 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 215 mm; move right 2 mm; move downward 326 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 364 mm; move right 2 mm; move downward 514 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [114,148], [122,154]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,139], [141,153]\n", + "gripper_2d": [ + 119, + 149 + ], + "task_obj_bbox": [ + 114, + 148, + 122, + 154 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 139, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.011071428656578064, + -0.0010714286472648382, + -0.013214285485446453, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21464283764362335, + -0.0017857144121080637, + -0.3257142901420593, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8749995847506828, + 0.10271884981170532, + -0.7413395653869417, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 1 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 215 mm; move right 2 mm; move downward 326 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 364 mm; move right 2 mm; move downward 514 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 274, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 1 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 217 mm; move right 1 mm; move downward 329 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 353 mm; move right 1 mm; move downward 501 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [114,148], [122,154]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,138], [141,153]\n", + "gripper_2d": [ + 119, + 149 + ], + "task_obj_bbox": [ + 114, + 148, + 122, + 154 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 138, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.010714286006987095, + -0.0007142857066355646, + -0.013214285485446453, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21714285016059875, + -0.0007142857066355646, + -0.32928571105003357, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8593745977183429, + 0.11480344271480991, + -0.7413395653869417, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 1 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 217 mm; move right 1 mm; move downward 329 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 353 mm; move right 1 mm; move downward 501 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 275, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 220 mm; move right 0 mm; move downward 333 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 343 mm; move right 0 mm; move downward 488 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [114,149], [122,154]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,138], [141,153]\n", + "gripper_2d": [ + 118, + 150 + ], + "task_obj_bbox": [ + 114, + 149, + 122, + 154 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 138, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.010714286006987095, + 0.0, + -0.013214285485446453, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2200000137090683, + 0.0, + -0.3328571617603302, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8593745977183429, + 0.13897262261232712, + -0.7413395653869417, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 220 mm; move right 0 mm; move downward 333 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 343 mm; move right 0 mm; move downward 488 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 276, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 222 mm; move right 0 mm; move downward 338 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 332 mm; move right 0 mm; move downward 475 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [113,149], [122,154]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,138], [141,153]\n", + "gripper_2d": [ + 118, + 150 + ], + "task_obj_bbox": [ + 113, + 149, + 122, + 154 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 138, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.010357143357396126, + 0.0, + -0.01428571529686451, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22214286029338837, + 0.0, + -0.33750003576278687, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8437496106860027, + 0.13897262261232712, + -0.7967668667615948, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 222 mm; move right 0 mm; move downward 338 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 332 mm; move right 0 mm; move downward 475 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 277, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 225 mm; move right 0 mm; move downward 340 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 321 mm; move right 0 mm; move downward 460 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [113,149], [122,154]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,138], [141,153]\n", + "gripper_2d": [ + 118, + 150 + ], + "task_obj_bbox": [ + 113, + 149, + 122, + 154 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 138, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.010000000707805157, + 0.0, + -0.015000000596046448, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22464287281036377, + 0.0, + -0.3403571546077728, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8281246236536626, + 0.13897262261232712, + -0.8337183367723482, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 225 mm; move right 0 mm; move downward 340 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 321 mm; move right 0 mm; move downward 460 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 278, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 228 mm; move right 0 mm; move downward 342 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 311 mm; move right 0 mm; move downward 445 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [113,149], [122,154]\ndistr_counter: [53,111], [119,150]\ndistr_sink: [132,138], [141,153]\n", + "gripper_2d": [ + 118, + 150 + ], + "task_obj_bbox": [ + 113, + 149, + 122, + 154 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 119, + 150 + ], + [ + 132, + 138, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + 0.0, + -0.015357143245637417, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22785715758800507, + 0.0, + -0.34214290976524353, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.81249959587597, + 0.13897262261232712, + -0.8521940717777249, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 228 mm; move right 0 mm; move downward 342 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 311 mm; move right 0 mm; move downward 445 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 279, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 232 mm; move right 0 mm; move downward 344 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 302 mm; move right 0 mm; move downward 430 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [113,149], [121,154]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,138], [141,153]\n", + "gripper_2d": [ + 118, + 150 + ], + "task_obj_bbox": [ + 113, + 149, + 121, + 154 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 138, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + 0.0, + -0.01607142947614193, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23178572952747345, + 0.0, + -0.3442857563495636, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.81249959587597, + 0.13897262261232712, + -0.8891455899677397, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 232 mm; move right 0 mm; move downward 344 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 302 mm; move right 0 mm; move downward 430 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 280, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 236 mm; move right 0 mm; move downward 345 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 292 mm; move right 0 mm; move downward 414 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [113,149], [121,155]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,137], [141,153]\n", + "gripper_2d": [ + 118, + 150 + ], + "task_obj_bbox": [ + 113, + 149, + 121, + 155 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + 0.0, + -0.01607142947614193, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23571430146694183, + 0.0, + -0.34535717964172363, + 0.0, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_full_state_norm": [ + 0.81249959587597, + 0.13897262261232712, + -0.8891455899677397, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 236 mm; move right 0 mm; move downward 345 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 292 mm; move right 0 mm; move downward 414 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 281, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 240 mm; move right 0 mm; move downward 346 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 282 mm; move right 0 mm; move downward 398 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [113,149], [121,155]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,137], [141,153]\n", + "gripper_2d": [ + 118, + 150 + ], + "task_obj_bbox": [ + 113, + 149, + 121, + 155 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + 0.0, + -0.016428573057055473, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.24000000953674316, + 0.0, + -0.34642860293388367, + 0.0, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_full_state_norm": [ + 0.7968746088436298, + 0.13897262261232712, + -0.9076213731523779, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 240 mm; move right 0 mm; move downward 346 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 282 mm; move right 0 mm; move downward 398 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 282, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 245 mm; move right 0 mm; move downward 347 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 273 mm; move right 0 mm; move downward 381 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [113,150], [121,155]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,137], [141,153]\n", + "gripper_2d": [ + 118, + 151 + ], + "task_obj_bbox": [ + 113, + 150, + 121, + 155 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.009285714477300644, + 0.0, + -0.016428573057055473, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.24464288353919983, + 0.0, + -0.34714290499687195, + 0.0, + 0.0, + -0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.7968746088436298, + 0.13897262261232712, + -0.9076213731523779, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 245 mm; move right 0 mm; move downward 347 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 273 mm; move right 0 mm; move downward 381 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 283, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 250 mm; move right 0 mm; move downward 348 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 264 mm; move right 0 mm; move downward 365 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [113,150], [121,155]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,137], [141,153]\n", + "gripper_2d": [ + 117, + 151 + ], + "task_obj_bbox": [ + 113, + 150, + 121, + 155 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.008928571827709675, + 0.0, + -0.016785714775323868, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.24964287877082825, + 0.0, + -0.34785720705986023, + 0.0, + 0.0, + -0.00714285671710968, + 1.0 + ], + "delta_full_state_norm": [ + 0.7812496218112899, + 0.13897262261232712, + -0.9260970599784931, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 250 mm; move right 0 mm; move downward 348 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 264 mm; move right 0 mm; move downward 365 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 284, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 255 mm; move right 0 mm; move downward 348 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 255 mm; move right 0 mm; move downward 348 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [112,150], [121,155]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,137], [141,153]\n", + "gripper_2d": [ + 117, + 151 + ], + "task_obj_bbox": [ + 112, + 150, + 121, + 155 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + 0.0, + -0.01785714365541935, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2549999952316284, + 0.0, + -0.34821435809135437, + 0.0, + 0.0, + -0.009999999776482582, + 1.0 + ], + "delta_full_state_norm": [ + 0.81249959587597, + 0.13897262261232712, + -0.9815243131738848, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 255 mm; move right 0 mm; move downward 348 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 255 mm; move right 0 mm; move downward 348 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 285, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 260 mm; move right 0 mm; move downward 347 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 245 mm; move right 0 mm; move downward 330 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [112,150], [120,155]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,137], [141,153]\n", + "gripper_2d": [ + 117, + 151 + ], + "task_obj_bbox": [ + 112, + 150, + 120, + 155 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.010357143357396126, + 0.0, + -0.01785714365541935, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2596428394317627, + 0.0, + -0.34714290499687195, + 0.0, + 0.0, + -0.012857142835855484, + 1.0 + ], + "delta_full_state_norm": [ + 0.8437496106860027, + 0.13897262261232712, + -0.9815243131738848, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 260 mm; move right 0 mm; move downward 347 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 245 mm; move right 0 mm; move downward 330 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 286, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 263 mm; move right 0 mm; move downward 346 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 235 mm; move right 0 mm; move downward 313 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [112,150], [120,156]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,137], [141,153]\n", + "gripper_2d": [ + 117, + 151 + ], + "task_obj_bbox": [ + 112, + 150, + 120, + 156 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.010714286006987095, + 0.0, + -0.01785714365541935, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2632142901420593, + 0.0, + -0.3460714817047119, + 0.0, + 0.0, + -0.015714285895228386, + 1.0 + ], + "delta_full_state_norm": [ + 0.8593745977183429, + 0.13897262261232712, + -0.9815243131738848, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 263 mm; move right 0 mm; move downward 346 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 235 mm; move right 0 mm; move downward 313 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 287, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 266 mm; move right 0 mm; move downward 345 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 224 mm; move right 0 mm; move downward 295 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [112,151], [120,156]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,137], [141,153]\n", + "gripper_2d": [ + 117, + 152 + ], + "task_obj_bbox": [ + 112, + 151, + 120, + 156 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + -0.018214285373687744, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2660714089870453, + 0.0, + -0.3446429371833801, + 0.0, + 0.0, + -0.018571428954601288, + 1.0 + ], + "delta_full_state_norm": [ + 0.890624571783023, + 0.13897262261232712, + -1.0, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 266 mm; move right 0 mm; move downward 345 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 224 mm; move right 0 mm; move downward 295 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 288, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 268 mm; move right 0 mm; move downward 343 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 213 mm; move right 0 mm; move downward 276 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [112,151], [120,156]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,137], [141,153]\n", + "gripper_2d": [ + 117, + 152 + ], + "task_obj_bbox": [ + 112, + 151, + 120, + 156 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.011785714887082577, + 0.0, + -0.018214285373687744, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.26821431517601013, + 0.0, + -0.3428572118282318, + 0.0, + 0.0, + -0.02142857201397419, + 1.0 + ], + "delta_full_state_norm": [ + 0.9062495995607156, + 0.13897262261232712, + -1.0, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 268 mm; move right 0 mm; move downward 343 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 213 mm; move right 0 mm; move downward 276 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 289, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 270 mm; move right 0 mm; move downward 340 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 201 mm; move right 0 mm; move downward 258 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [112,151], [120,156]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,137], [141,153]\n", + "gripper_2d": [ + 117, + 152 + ], + "task_obj_bbox": [ + 112, + 151, + 120, + 156 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.012142857536673546, + 0.0, + -0.017500000074505806, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2696428596973419, + 0.0, + -0.3403571844100952, + 0.0, + 0.0, + -0.02428571507334709, + 1.0 + ], + "delta_full_state_norm": [ + 0.9218745865930558, + 0.13897262261232712, + -0.9630485299892466, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 270 mm; move right 0 mm; move downward 340 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 201 mm; move right 0 mm; move downward 258 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 290, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 271 mm; move right 0 mm; move downward 339 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 189 mm; move right 0 mm; move downward 241 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [112,151], [120,156]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,137], [141,153]\n", + "gripper_2d": [ + 116, + 152 + ], + "task_obj_bbox": [ + 112, + 151, + 120, + 156 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + -0.017500000074505806, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.27071428298950195, + 0.0, + -0.3385714590549469, + 0.0, + -0.0028571428265422583, + -0.02857142873108387, + 1.0 + ], + "delta_full_state_norm": [ + 0.9531246014030885, + 0.13897262261232712, + -0.9630485299892466, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 271 mm; move right 0 mm; move downward 339 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 189 mm; move right 0 mm; move downward 241 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 291, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 271 mm; move right 0 mm; move downward 336 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 176 mm; move right 0 mm; move downward 223 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [112,151], [119,156]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,137], [141,153]\n", + "gripper_2d": [ + 116, + 152 + ], + "task_obj_bbox": [ + 112, + 151, + 119, + 156 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + -0.017500000074505806, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2710714042186737, + 0.0, + -0.33642858266830444, + 0.0, + -0.0057142856530845165, + -0.03285714238882065, + 1.0 + ], + "delta_full_state_norm": [ + 0.968749547690076, + 0.13897262261232712, + -0.9630485299892466, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 271 mm; move right 0 mm; move downward 336 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 176 mm; move right 0 mm; move downward 223 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 292, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 271 mm; move right 0 mm; move downward 334 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 163 mm; move right 0 mm; move downward 206 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [111,151], [119,156]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,137], [141,153]\n", + "gripper_2d": [ + 116, + 152 + ], + "task_obj_bbox": [ + 111, + 151, + 119, + 156 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + -0.01714285835623741, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.27071428298950195, + 0.0, + -0.33392858505249023, + 0.0, + -0.008571428246796131, + -0.037142857909202576, + 1.0 + ], + "delta_full_state_norm": [ + 0.968749547690076, + 0.13897262261232712, + -0.9445728431631313, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 271 mm; move right 0 mm; move downward 334 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 163 mm; move right 0 mm; move downward 206 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 293, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 271 mm; move right 0 mm; move downward 332 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 150 mm; move right 0 mm; move downward 189 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [111,152], [119,157]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,137], [141,153]\n", + "gripper_2d": [ + 116, + 152 + ], + "task_obj_bbox": [ + 111, + 152, + 119, + 157 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.013571429066359997, + 0.0, + -0.016785714775323868, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.27071428298950195, + 0.0, + -0.3317857086658478, + 0.0, + -0.017142856493592262, + -0.0414285734295845, + 1.0 + ], + "delta_full_state_norm": [ + 0.9843745754677686, + 0.13897262261232712, + -0.9260970599784931, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 271 mm; move right 0 mm; move downward 332 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 150 mm; move right 0 mm; move downward 189 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 294, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 270 mm; move right 0 mm; move downward 330 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 136 mm; move right 0 mm; move downward 172 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [111,152], [119,157]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,137], [141,153]\n", + "gripper_2d": [ + 116, + 153 + ], + "task_obj_bbox": [ + 111, + 152, + 119, + 157 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.013571429066359997, + 0.0, + -0.016785714775323868, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.27000001072883606, + 0.0, + -0.3296428620815277, + 0.0, + -0.027142856270074844, + -0.04714285954833031, + 1.0 + ], + "delta_full_state_norm": [ + 0.9843745754677686, + 0.13897262261232712, + -0.9260970599784931, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 270 mm; move right 0 mm; move downward 330 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 136 mm; move right 0 mm; move downward 172 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 295, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 270 mm; move right 0 mm; move downward 327 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 123 mm; move right 0 mm; move downward 155 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [111,152], [119,157]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [114,137], [141,153]\n", + "gripper_2d": [ + 116, + 153 + ], + "task_obj_bbox": [ + 111, + 152, + 119, + 157 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 114, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + -0.01785714365541935, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2696428894996643, + 0.0, + -0.3271428942680359, + 0.0, + -0.037142857909202576, + -0.05285714566707611, + 1.0 + ], + "delta_full_state_norm": [ + 0.9531246014030885, + 0.13897262261232712, + -0.9815243131738848, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 270 mm; move right 0 mm; move downward 327 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 123 mm; move right 0 mm; move downward 155 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 296, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 269 mm; move right 0 mm; move downward 323 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 110 mm; move right 0 mm; move downward 137 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [111,152], [119,157]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,137], [141,153]\n", + "gripper_2d": [ + 116, + 153 + ], + "task_obj_bbox": [ + 111, + 152, + 119, + 157 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + -0.01714285835623741, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.26928573846817017, + 0.0, + -0.3225000202655792, + 0.0, + -0.04714285582304001, + -0.058571431785821915, + 1.0 + ], + "delta_full_state_norm": [ + 0.9531246014030885, + 0.13897262261232712, + -0.9445728431631313, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 269 mm; move right 0 mm; move downward 323 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 110 mm; move right 0 mm; move downward 137 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 297, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 268 mm; move right 0 mm; move downward 318 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 97 mm; move right 0 mm; move downward 120 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [111,152], [119,157]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,137], [141,153]\n", + "gripper_2d": [ + 116, + 153 + ], + "task_obj_bbox": [ + 111, + 152, + 119, + 157 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + -0.016785714775323868, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.267857164144516, + 0.0, + -0.3182142972946167, + 0.0, + -0.06142856925725937, + -0.06428571790456772, + 1.0 + ], + "delta_full_state_norm": [ + 0.968749547690076, + 0.13897262261232712, + -0.9260970599784931, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 268 mm; move right 0 mm; move downward 318 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 97 mm; move right 0 mm; move downward 120 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 298, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 266 mm; move right 0 mm; move downward 314 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 84 mm; move right 0 mm; move downward 103 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [111,152], [118,157]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,137], [141,153]\n", + "gripper_2d": [ + 115, + 153 + ], + "task_obj_bbox": [ + 111, + 152, + 118, + 157 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.013571429066359997, + 0.0, + -0.017500000074505806, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2660714387893677, + 0.0, + -0.3142857253551483, + 0.0, + -0.0771428570151329, + -0.07000000029802322, + 1.0 + ], + "delta_full_state_norm": [ + 0.9843745754677686, + 0.13897262261232712, + -0.9630485299892466, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 18 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 266 mm; move right 0 mm; move downward 314 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 84 mm; move right 0 mm; move downward 103 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 299, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 263 mm; move right 0 mm; move downward 308 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 70 mm; move right 0 mm; move downward 86 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [111,153], [118,157]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,137], [141,153]\n", + "gripper_2d": [ + 115, + 153 + ], + "task_obj_bbox": [ + 111, + 153, + 118, + 157 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.013571429066359997, + 0.0, + -0.01714285835623741, + 0.0, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.2628571689128876, + 0.0, + -0.30750003457069397, + 0.0, + -0.09142857044935226, + -0.07571428269147873, + 1.0 + ], + "delta_full_state_norm": [ + 0.9843745754677686, + 0.13897262261232712, + -0.9445728431631313, + -1.0, + 0.8810407028929985, + 0.8571419269087968, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 263 mm; move right 0 mm; move downward 308 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 70 mm; move right 0 mm; move downward 86 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 300, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 259 mm; move right 0 mm; move downward 299 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 56 mm; move right 0 mm; move downward 69 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [111,153], [118,157]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,137], [141,153]\n", + "gripper_2d": [ + 115, + 154 + ], + "task_obj_bbox": [ + 111, + 153, + 118, + 157 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.013928571715950966, + 0.0, + -0.01714285835623741, + 0.0, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.2589285969734192, + 0.0, + -0.2992857098579407, + 0.0, + -0.10857142508029938, + -0.07857142388820648, + 1.0 + ], + "delta_full_state_norm": [ + 0.9999995625001088, + 0.13897262261232712, + -0.9445728431631313, + -1.0, + 0.8810407028929985, + 0.8571419269087968, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 259 mm; move right 0 mm; move downward 299 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 56 mm; move right 0 mm; move downward 69 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 301, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 254 mm; move right 0 mm; move downward 289 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 5 degrees; close gripper;\nSubtask Movement: move forward 43 mm; move right 0 mm; move downward 51 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [111,153], [118,158]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,137], [141,153]\n", + "gripper_2d": [ + 115, + 154 + ], + "task_obj_bbox": [ + 111, + 153, + 118, + 158 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.013928571715950966, + 0.0, + -0.01714285835623741, + 0.0, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.25357145071029663, + 0.0, + -0.2889285683631897, + 0.0, + -0.12714284658432007, + -0.07857143133878708, + -1.0 + ], + "delta_full_state_norm": [ + 0.9999995625001088, + 0.13897262261232712, + -0.9445728431631313, + -1.0, + 0.8810407028929985, + 0.8571419269087968, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 254 mm; move right 0 mm; move downward 289 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 5 degrees; close gripper;", + "subtask_movement_text": "move forward 43 mm; move right 0 mm; move downward 51 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 302, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 246 mm; move right 0 mm; move downward 275 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 4 degrees; close gripper;\nSubtask Movement: move forward 29 mm; move right 0 mm; move downward 34 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,153], [118,158]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,137], [141,153]\n", + "gripper_2d": [ + 115, + 154 + ], + "task_obj_bbox": [ + 110, + 153, + 118, + 158 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.01428571529686451, + 0.0, + -0.01714285835623741, + 0.0, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.24642859399318695, + 0.0, + -0.275357186794281, + 0.0, + -0.14714284241199493, + -0.0771428570151329, + -1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.13897262261232712, + -0.9445728431631313, + -1.0, + 0.8810407028929985, + 0.714284853817116, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 246 mm; move right 0 mm; move downward 275 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 4 degrees; close gripper;", + "subtask_movement_text": "move forward 29 mm; move right 0 mm; move downward 34 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 303, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 236 mm; move right 0 mm; move downward 259 mm; roll downward 0 degrees; pitch downward 10 degrees; yaw clockwise 4 degrees; close gripper;\nSubtask Movement: move forward 14 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,153], [118,158]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,137], [141,153]\n", + "gripper_2d": [ + 115, + 154 + ], + "task_obj_bbox": [ + 110, + 153, + 118, + 158 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.01428571529686451, + 0.0, + -0.01714285835623741, + 0.0, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.23571431636810303, + 0.0, + -0.25928574800491333, + 0.0, + -0.17999997735023499, + -0.07428571581840515, + -1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.13897262261232712, + -0.9445728431631313, + -1.0, + 0.8810407028929985, + 0.714284853817116, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 236 mm; move right 0 mm; move downward 259 mm; roll downward 0 degrees; pitch downward 10 degrees; yaw clockwise 4 degrees; close gripper;", + "subtask_movement_text": "move forward 14 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 304, + "segment_id": 100, + "subtask": "place the corn in the sink", + "reason": "The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm moves over the sink basin and releases the green object, allowing it to fall into the container.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 222 mm; move right 0 mm; move downward 242 mm; roll downward 0 degrees; pitch downward 13 degrees; yaw clockwise 4 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,153], [118,158]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 115, + 154 + ], + "task_obj_bbox": [ + 110, + 153, + 118, + 158 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.01428571529686451, + 0.0, + -0.016785714775323868, + 0.0, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.22214289009571075, + 0.0, + -0.24214287102222443, + 0.0, + -0.21857140958309174, + -0.0714285746216774, + -1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.13897262261232712, + -0.9260970599784931, + -1.0, + 0.8810407028929985, + 0.714284853817116, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 222 mm; move right 0 mm; move downward 242 mm; roll downward 0 degrees; pitch downward 13 degrees; yaw clockwise 4 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 305, + "segment_id": 405, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink with the corn inside, and the scene state shows no significant change across frames, indicating the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink with the corn inside, and the scene state shows no significant change across frames, indicating the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 208 mm; move right 0 mm; move downward 225 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 4 degrees; close gripper;\nSubtask Movement: move forward 94 mm; move right 0 mm; move downward 111 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,154], [118,158]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 115, + 154 + ], + "task_obj_bbox": [ + 110, + 154, + 118, + 158 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.013928571715950966, + 0.0, + -0.016785714775323868, + 0.0, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.2078571319580078, + 0.0, + -0.22535715997219086, + 0.0, + -0.25857141613960266, + -0.06857143342494965, + -1.0 + ], + "delta_full_state_norm": [ + 0.9999995625001088, + 0.13897262261232712, + -0.9260970599784931, + -1.0, + 0.8810407028929985, + 0.714284853817116, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 208 mm; move right 0 mm; move downward 225 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 4 degrees; close gripper;", + "subtask_movement_text": "move forward 94 mm; move right 0 mm; move downward 111 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 306, + "segment_id": 405, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink with the corn inside, and the scene state shows no significant change across frames, indicating the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink with the corn inside, and the scene state shows no significant change across frames, indicating the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 194 mm; move right 0 mm; move downward 209 mm; roll downward 0 degrees; pitch downward 17 degrees; yaw clockwise 4 degrees; close gripper;\nSubtask Movement: move forward 80 mm; move right 0 mm; move downward 95 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,154], [117,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 115, + 155 + ], + "task_obj_bbox": [ + 110, + 154, + 117, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.013571429066359997, + 0.0, + -0.016428573057055473, + 0.0, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.1939285844564438, + 0.0, + -0.2085714340209961, + 0.0, + -0.2971428334712982, + -0.0657142847776413, + -1.0 + ], + "delta_full_state_norm": [ + 0.9843745754677686, + 0.13897262261232712, + -0.9076213731523779, + -1.0, + 0.8810407028929985, + 0.714284853817116, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 194 mm; move right 0 mm; move downward 209 mm; roll downward 0 degrees; pitch downward 17 degrees; yaw clockwise 4 degrees; close gripper;", + "subtask_movement_text": "move forward 80 mm; move right 0 mm; move downward 95 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 307, + "segment_id": 405, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink with the corn inside, and the scene state shows no significant change across frames, indicating the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink with the corn inside, and the scene state shows no significant change across frames, indicating the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 180 mm; move right 0 mm; move downward 192 mm; roll downward 0 degrees; pitch downward 19 degrees; yaw clockwise 4 degrees; close gripper;\nSubtask Movement: move forward 66 mm; move right 0 mm; move downward 78 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,154], [117,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 114, + 155 + ], + "task_obj_bbox": [ + 110, + 154, + 117, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.013571429066359997, + 0.0, + -0.016428573057055473, + 0.0, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.1803571581840515, + 0.0, + -0.19214285910129547, + 0.0, + -0.3399999737739563, + -0.06285714358091354, + -1.0 + ], + "delta_full_state_norm": [ + 0.9843745754677686, + 0.13897262261232712, + -0.9076213731523779, + -1.0, + 0.8810407028929985, + 0.714284853817116, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 180 mm; move right 0 mm; move downward 192 mm; roll downward 0 degrees; pitch downward 19 degrees; yaw clockwise 4 degrees; close gripper;", + "subtask_movement_text": "move forward 66 mm; move right 0 mm; move downward 78 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 308, + "segment_id": 405, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink with the corn inside, and the scene state shows no significant change across frames, indicating the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink with the corn inside, and the scene state shows no significant change across frames, indicating the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 167 mm; move right 0 mm; move downward 176 mm; roll downward 0 degrees; pitch downward 22 degrees; yaw clockwise 3 degrees; close gripper;\nSubtask Movement: move forward 53 mm; move right 0 mm; move downward 62 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,154], [117,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 114, + 155 + ], + "task_obj_bbox": [ + 110, + 154, + 117, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + -0.015714285895228386, + 0.0, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.16678573191165924, + 0.0, + -0.17571429908275604, + 0.0, + -0.3885714113712311, + -0.05999999865889549, + -1.0 + ], + "delta_full_state_norm": [ + 0.968749547690076, + 0.13897262261232712, + -0.8706698067831016, + -1.0, + 0.8810407028929985, + 0.714284853817116, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 167 mm; move right 0 mm; move downward 176 mm; roll downward 0 degrees; pitch downward 22 degrees; yaw clockwise 3 degrees; close gripper;", + "subtask_movement_text": "move forward 53 mm; move right 0 mm; move downward 62 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 309, + "segment_id": 405, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink with the corn inside, and the scene state shows no significant change across frames, indicating the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink with the corn inside, and the scene state shows no significant change across frames, indicating the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 154 mm; move right 0 mm; move downward 159 mm; roll downward 0 degrees; pitch downward 26 degrees; yaw clockwise 3 degrees; close gripper;\nSubtask Movement: move forward 39 mm; move right 0 mm; move downward 46 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,155], [117,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 114, + 155 + ], + "task_obj_bbox": [ + 110, + 155, + 117, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + -0.015714285895228386, + 0.0, + -0.0028571428265422583, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.15357142686843872, + 0.0, + -0.15857142210006714, + 0.0, + -0.4457142651081085, + -0.05714285746216774, + -1.0 + ], + "delta_full_state_norm": [ + 0.968749547690076, + 0.13897262261232712, + -0.8706698067831016, + -1.0, + 0.8215611572169459, + 0.5714277923669617, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 154 mm; move right 0 mm; move downward 159 mm; roll downward 0 degrees; pitch downward 26 degrees; yaw clockwise 3 degrees; close gripper;", + "subtask_movement_text": "move forward 39 mm; move right 0 mm; move downward 46 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 310, + "segment_id": 405, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink with the corn inside, and the scene state shows no significant change across frames, indicating the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink with the corn inside, and the scene state shows no significant change across frames, indicating the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 140 mm; move right 0 mm; move downward 140 mm; roll downward 0 degrees; pitch downward 29 degrees; yaw clockwise 3 degrees; close gripper;\nSubtask Movement: move forward 26 mm; move right 0 mm; move downward 30 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,155], [117,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 114, + 155 + ], + "task_obj_bbox": [ + 110, + 155, + 117, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + -0.015357143245637417, + 0.0, + -0.0028571428265422583, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.1403571516275406, + 0.0, + -0.13999998569488525, + 0.0, + -0.5014286041259766, + -0.05285714566707611, + -1.0 + ], + "delta_full_state_norm": [ + 0.968749547690076, + 0.13897262261232712, + -0.8521940717777249, + -1.0, + 0.8215611572169459, + 0.5714277923669617, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 140 mm; move right 0 mm; move downward 140 mm; roll downward 0 degrees; pitch downward 29 degrees; yaw clockwise 3 degrees; close gripper;", + "subtask_movement_text": "move forward 26 mm; move right 0 mm; move downward 30 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 311, + "segment_id": 405, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink with the corn inside, and the scene state shows no significant change across frames, indicating the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink with the corn inside, and the scene state shows no significant change across frames, indicating the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 127 mm; move right 0 mm; move downward 119 mm; roll downward 0 degrees; pitch downward 32 degrees; yaw clockwise 3 degrees; close gripper;\nSubtask Movement: move forward 13 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,155], [117,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 114, + 155 + ], + "task_obj_bbox": [ + 110, + 155, + 117, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + -0.015000000596046448, + 0.0, + -0.0028571428265422583, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.12714287638664246, + 0.0, + -0.11892857402563095, + 0.0, + -0.5557143092155457, + -0.04857143014669418, + -1.0 + ], + "delta_full_state_norm": [ + 0.9531246014030885, + 0.13897262261232712, + -0.8337183367723482, + -1.0, + 0.8215611572169459, + 0.5714277923669617, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 127 mm; move right 0 mm; move downward 119 mm; roll downward 0 degrees; pitch downward 32 degrees; yaw clockwise 3 degrees; close gripper;", + "subtask_movement_text": "move forward 13 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 312, + "segment_id": 405, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink with the corn inside, and the scene state shows no significant change across frames, indicating the completion of the placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink with the corn inside, and the scene state shows no significant change across frames, indicating the completion of the placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 114 mm; move right 0 mm; move downward 96 mm; roll downward 0 degrees; pitch downward 35 degrees; yaw clockwise 3 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,155], [117,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 114, + 155 + ], + "task_obj_bbox": [ + 110, + 155, + 117, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + -0.015000000596046448, + 0.0, + -0.008571428246796131, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.11428572237491608, + 0.0, + -0.09571428596973419, + 0.0, + -0.6114286184310913, + -0.044285714626312256, + -1.0 + ], + "delta_full_state_norm": [ + 0.968749547690076, + 0.13897262261232712, + -0.8337183367723482, + -1.0, + 0.7026020707118719, + 0.5714277923669617, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 114 mm; move right 0 mm; move downward 96 mm; roll downward 0 degrees; pitch downward 35 degrees; yaw clockwise 3 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 313, + "segment_id": 413, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 101 mm; move right 0 mm; move downward 73 mm; roll downward 0 degrees; pitch downward 38 degrees; yaw clockwise 2 degrees; close gripper;\nSubtask Movement: move forward 101 mm; move right 0 mm; move downward 89 mm; roll downward 0 degrees; pitch downward 31 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,155], [117,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 114, + 155 + ], + "task_obj_bbox": [ + 110, + 155, + 117, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + -0.014642857015132904, + 0.0, + -0.009999999776482582, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.10107143223285675, + 0.0, + -0.07285714149475098, + 0.0, + -0.6671428084373474, + -0.03999999910593033, + -1.0 + ], + "delta_full_state_norm": [ + 0.9531246014030885, + 0.13897262261232712, + -0.81524255358771, + -1.0, + 0.6728622954503298, + 0.4285707076337544, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 15 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 101 mm; move right 0 mm; move downward 73 mm; roll downward 0 degrees; pitch downward 38 degrees; yaw clockwise 2 degrees; close gripper;", + "subtask_movement_text": "move forward 101 mm; move right 0 mm; move downward 89 mm; roll downward 0 degrees; pitch downward 31 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 314, + "segment_id": 413, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 88 mm; move right 0 mm; move downward 51 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw clockwise 2 degrees; close gripper;\nSubtask Movement: move forward 88 mm; move right 0 mm; move downward 74 mm; roll downward 0 degrees; pitch downward 31 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,155], [117,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 114, + 155 + ], + "task_obj_bbox": [ + 110, + 155, + 117, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + -0.01428571529686451, + 0.0, + -0.009999999776482582, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.08821427822113037, + 0.0, + -0.05071428418159485, + 0.0, + -0.7185713648796082, + -0.034285712987184525, + -1.0 + ], + "delta_full_state_norm": [ + 0.968749547690076, + 0.13897262261232712, + -0.7967668667615948, + -1.0, + 0.6728622954503298, + 0.4285707076337544, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 14 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 88 mm; move right 0 mm; move downward 51 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw clockwise 2 degrees; close gripper;", + "subtask_movement_text": "move forward 88 mm; move right 0 mm; move downward 74 mm; roll downward 0 degrees; pitch downward 31 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 315, + "segment_id": 413, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 75 mm; move right 0 mm; move downward 28 mm; roll downward 0 degrees; pitch downward 44 degrees; yaw clockwise 2 degrees; close gripper;\nSubtask Movement: move forward 75 mm; move right 0 mm; move downward 60 mm; roll downward 0 degrees; pitch downward 30 degrees; yaw clockwise 2 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,155], [117,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 114, + 155 + ], + "task_obj_bbox": [ + 110, + 155, + 117, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + -0.013214285485446453, + 0.0, + -0.009999999776482582, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.07499999552965164, + 0.0, + -0.02785714901983738, + 0.0, + -0.7714285254478455, + -0.02857142686843872, + -1.0 + ], + "delta_full_state_norm": [ + 0.9374995736253959, + 0.13897262261232712, + -0.7413395653869417, + -1.0, + 0.6728622954503298, + 0.4285707076337544, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 75 mm; move right 0 mm; move downward 28 mm; roll downward 0 degrees; pitch downward 44 degrees; yaw clockwise 2 degrees; close gripper;", + "subtask_movement_text": "move forward 75 mm; move right 0 mm; move downward 60 mm; roll downward 0 degrees; pitch downward 30 degrees; yaw clockwise 2 degrees; close gripper;" + }, + { + "frame_index": 316, + "segment_id": 413, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 62 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 47 degrees; yaw clockwise 1 degrees; close gripper;\nSubtask Movement: move forward 62 mm; move right 0 mm; move downward 47 mm; roll downward 0 degrees; pitch downward 29 degrees; yaw clockwise 1 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,155], [117,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 114, + 155 + ], + "task_obj_bbox": [ + 110, + 155, + 117, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + -0.012857143767178059, + 0.0, + -0.014285714365541935, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.0625, + 0.0, + -0.0057142809964716434, + 0.0, + -0.8285713791847229, + -0.022857140749692917, + -1.0 + ], + "delta_full_state_norm": [ + 0.890624571783023, + 0.13897262261232712, + -0.7228638785608265, + -1.0, + 0.583642969665704, + 0.4285707076337544, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 62 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 47 degrees; yaw clockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 62 mm; move right 0 mm; move downward 47 mm; roll downward 0 degrees; pitch downward 29 degrees; yaw clockwise 1 degrees; close gripper;" + }, + { + "frame_index": 317, + "segment_id": 413, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 51 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 51 degrees; yaw clockwise 1 degrees; close gripper;\nSubtask Movement: move forward 51 mm; move right 0 mm; move downward 34 mm; roll downward 0 degrees; pitch downward 29 degrees; yaw clockwise 1 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [109,155], [117,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 114, + 155 + ], + "task_obj_bbox": [ + 109, + 155, + 117, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + -0.012857143767178059, + 0.0, + -0.015714285895228386, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.05107143148779869, + 0.0, + 0.01607142947614193, + 0.0, + -0.8828571438789368, + -0.017142856493592262, + -1.0 + ], + "delta_full_state_norm": [ + 0.890624571783023, + 0.13897262261232712, + -0.7228638785608265, + -1.0, + 0.5539031944041619, + 0.4285707076337544, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 13 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 51 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 51 degrees; yaw clockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 51 mm; move right 0 mm; move downward 34 mm; roll downward 0 degrees; pitch downward 29 degrees; yaw clockwise 1 degrees; close gripper;" + }, + { + "frame_index": 318, + "segment_id": 413, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 39 mm; move right 0 mm; move upward 38 mm; roll downward 0 degrees; pitch downward 54 degrees; yaw clockwise 1 degrees; close gripper;\nSubtask Movement: move forward 40 mm; move right 0 mm; move downward 21 mm; roll downward 0 degrees; pitch downward 28 degrees; yaw clockwise 1 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [109,155], [116,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 114, + 155 + ], + "task_obj_bbox": [ + 109, + 155, + 116, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.010357143357396126, + 0.0, + -0.010714286006987095, + 0.0, + -0.014285714365541935, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.03928571939468384, + 0.0, + 0.03785714507102966, + 0.0, + -0.9357143044471741, + -0.011428571306169033, + -1.0 + ], + "delta_full_state_norm": [ + 0.8437496106860027, + 0.13897262261232712, + -0.6120093721700433, + -1.0, + 0.583642969665704, + 0.4285707076337544, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 39 mm; move right 0 mm; move upward 38 mm; roll downward 0 degrees; pitch downward 54 degrees; yaw clockwise 1 degrees; close gripper;", + "subtask_movement_text": "move forward 40 mm; move right 0 mm; move downward 21 mm; roll downward 0 degrees; pitch downward 28 degrees; yaw clockwise 1 degrees; close gripper;" + }, + { + "frame_index": 319, + "segment_id": 413, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 26 mm; move right 0 mm; move upward 58 mm; roll downward 0 degrees; pitch downward 57 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 29 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [109,155], [116,159]\ndistr_counter: [53,111], [113,157]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 114, + 155 + ], + "task_obj_bbox": [ + 109, + 155, + 116, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 113, + 157 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.009642857126891613, + 0.0, + -0.008928571827709675, + 0.0, + -0.017142856493592262, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.02607143297791481, + 0.0, + 0.05821428820490837, + 0.0, + -1.0028570890426636, + -0.0057142856530845165, + -1.0 + ], + "delta_full_state_norm": [ + 0.81249959587597, + 0.13897262261232712, + -0.5196306489638982, + -1.0, + 0.5241634385307454, + 0.5714277923669617, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 9 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 26 mm; move right 0 mm; move upward 58 mm; roll downward 0 degrees; pitch downward 57 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 29 mm; move right 0 mm; move downward 10 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 320, + "segment_id": 413, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move forward 12 mm; move right 0 mm; move upward 78 mm; roll downward 0 degrees; pitch downward 61 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 20 mm; move right 0 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 26 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [109,155], [116,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 114, + 155 + ], + "task_obj_bbox": [ + 109, + 155, + 116, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.008571429178118706, + 0.0, + -0.006785714533179998, + 0.0, + -0.018571428954601288, + -0.0014285714132711291, + -1.0 + ], + "delta_next_20": [ + 0.012499998323619366, + 0.0, + 0.07750000804662704, + 0.0, + -1.072857141494751, + -0.0014285714132711291, + -1.0 + ], + "delta_full_state_norm": [ + 0.7656246347789497, + 0.13897262261232712, + -0.40877616666274585, + -1.0, + 0.49442364388107785, + 0.8571419269087968, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 7 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move forward 12 mm; move right 0 mm; move upward 78 mm; roll downward 0 degrees; pitch downward 61 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 20 mm; move right 0 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 26 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 321, + "segment_id": 413, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 0 mm; move right 0 mm; move upward 94 mm; roll downward 0 degrees; pitch downward 66 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 11 mm; move right 0 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [109,155], [116,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 114, + 155 + ], + "task_obj_bbox": [ + 109, + 155, + 116, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.006785714533179998, + 0.0, + -0.0035714288242161274, + 0.0, + -0.019999999552965164, + 0.0, + -1.0 + ], + "delta_next_20": [ + 0.0, + 0.0, + 0.09428571909666061, + 0.0, + -1.144285798072815, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.6874996384992205, + 0.13897262261232712, + -0.24249445525583257, + -1.0, + 0.46468388800766136, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 0 mm; move right 0 mm; move upward 94 mm; roll downward 0 degrees; pitch downward 66 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 11 mm; move right 0 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 322, + "segment_id": 413, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 11 mm; move right 0 mm; move upward 108 mm; roll downward 0 degrees; pitch downward 70 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 4 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [109,155], [116,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 114, + 155 + ], + "task_obj_bbox": [ + 109, + 155, + 116, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.0035714288242161274, + 0.0, + -0.0010714286472648382, + 0.0, + -0.03285714238882065, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.011071428656578064, + 0.0, + 0.10785714536905289, + 0.0, + -1.2171428203582764, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.5468746737174544, + 0.13897262261232712, + -0.11316422590448805, + -1.0, + 0.19702593004190883, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 11 mm; move right 0 mm; move upward 108 mm; roll downward 0 degrees; pitch downward 70 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 4 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 323, + "segment_id": 413, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 20 mm; move right 0 mm; move upward 119 mm; roll downward 0 degrees; pitch downward 73 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move forward 1 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [109,155], [116,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 114, + 155 + ], + "task_obj_bbox": [ + 109, + 155, + 116, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.0007142857066355646, + 0.0, + 0.0, + 0.0, + -0.03857142850756645, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.020357143133878708, + 0.0, + 0.11857142299413681, + 0.0, + -1.2785714864730835, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.4218746934214439, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.07806682899574069, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 20 mm; move right 0 mm; move upward 119 mm; roll downward 0 degrees; pitch downward 73 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move forward 1 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 324, + "segment_id": 413, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 28 mm; move right 0 mm; move upward 129 mm; roll downward 0 degrees; pitch downward 76 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 20 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [109,155], [116,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 114, + 155 + ], + "task_obj_bbox": [ + 109, + 155, + 116, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + -0.03999999910593033, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.028214285150170326, + 0.0, + 0.12857143580913544, + 0.0, + -1.3314285278320312, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.048327073122324204, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 28 mm; move right 0 mm; move upward 129 mm; roll downward 0 degrees; pitch downward 76 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 20 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 325, + "segment_id": 413, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 37 mm; move right 0 mm; move upward 138 mm; roll downward 0 degrees; pitch downward 79 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [109,156], [116,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 114, + 155 + ], + "task_obj_bbox": [ + 109, + 156, + 116, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + -0.03857142850756645, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.03678571432828903, + 0.0, + 0.13785713911056519, + 0.0, + -1.382857084274292, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.07806682899574069, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 37 mm; move right 0 mm; move upward 138 mm; roll downward 0 degrees; pitch downward 79 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 326, + "segment_id": 413, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 47 mm; move right 0 mm; move upward 147 mm; roll downward 0 degrees; pitch downward 82 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [109,156], [116,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 114, + 155 + ], + "task_obj_bbox": [ + 109, + 156, + 116, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + -0.04285714402794838, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.04749999940395355, + 0.0, + 0.14749999344348907, + 0.0, + -1.4328571557998657, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + -0.01115251617701074, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 47 mm; move right 0 mm; move upward 147 mm; roll downward 0 degrees; pitch downward 82 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 327, + "segment_id": 413, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 59 mm; move right 0 mm; move upward 158 mm; roll downward 0 degrees; pitch downward 85 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,157], [115,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [131,137], [141,153]\n", + "gripper_2d": [ + 114, + 155 + ], + "task_obj_bbox": [ + 110, + 157, + 115, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 131, + 137, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + -0.04857143014669418, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.059285711497068405, + 0.0, + 0.15785713493824005, + 0.0, + -1.4757143259048462, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + -0.13011161722317877, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 59 mm; move right 0 mm; move upward 158 mm; roll downward 0 degrees; pitch downward 85 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 328, + "segment_id": 413, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 71 mm; move right 0 mm; move upward 169 mm; roll downward 0 degrees; pitch downward 87 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,158], [115,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [132,138], [141,153]\n", + "gripper_2d": [ + 114, + 155 + ], + "task_obj_bbox": [ + 110, + 158, + 115, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 132, + 138, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0014285714132711291, + 0.0, + -0.05714285746216774, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.0714285671710968, + 0.0, + 0.16857141256332397, + 0.0, + -1.5114285945892334, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + 0.016165997424448797, + -1.0, + -0.30855023001617976, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 71 mm; move right 0 mm; move upward 169 mm; roll downward 0 degrees; pitch downward 87 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 329, + "segment_id": 413, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 90 mm; move right 0 mm; move upward 179 mm; roll downward 0 degrees; pitch downward 88 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [112,159], [112,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [133,138], [141,153]\n", + "gripper_2d": [ + 114, + 155 + ], + "task_obj_bbox": [ + 112, + 159, + 112, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 133, + 138, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0028571428265422583, + 0.0, + -0.058571428060531616, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.08964285254478455, + 0.0, + 0.1785714328289032, + 0.0, + -1.540000081062317, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + 0.09006897960280935, + -1.0, + -0.33828998588959636, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 90 mm; move right 0 mm; move upward 179 mm; roll downward 0 degrees; pitch downward 88 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 330, + "segment_id": 413, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 115 mm; move right 0 mm; move upward 185 mm; roll downward 0 degrees; pitch downward 90 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [134,138], [141,153]\n", + "gripper_2d": [ + 114, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 134, + 138, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0057142856530845165, + 0.0, + -0.05714285746216774, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.11464285850524902, + 0.0, + 0.18535713851451874, + 0.0, + -1.5642857551574707, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + 0.23787494395953068, + -1.0, + -0.30855023001617976, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 115 mm; move right 0 mm; move upward 185 mm; roll downward 0 degrees; pitch downward 90 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 331, + "segment_id": 413, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is holding the corn cob directly over the sink basin. The arm maintains a static position relative to the sink while orienting the object, indicating the final placement action is occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 140 mm; move right 0 mm; move upward 188 mm; roll downward 0 degrees; pitch downward 91 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [135,139], [141,153]\n", + "gripper_2d": [ + 115, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 135, + 139, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.008214286528527737, + 0.0, + -0.058571428060531616, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.1403571516275406, + 0.0, + 0.1882142871618271, + 0.0, + -1.5900001525878906, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + 0.3672052094453213, + -1.0, + -0.33828998588959636, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 140 mm; move right 0 mm; move upward 188 mm; roll downward 0 degrees; pitch downward 91 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 332, + "segment_id": 513, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 168 mm; move right 0 mm; move upward 190 mm; roll downward 0 degrees; pitch downward 92 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 140 mm; move right 0 mm; move upward 180 mm; roll downward 0 degrees; pitch downward 88 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [136,140], [141,153]\n", + "gripper_2d": [ + 115, + 155 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 136, + 140, + 141, + 153 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.007857142947614193, + 0.0, + -0.06428571790456772, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.16785715520381927, + 0.0, + 0.18964286148548126, + 0.0, + -1.6142858266830444, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + 0.34872942626068304, + -1.0, + -0.45724916448826625, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 168 mm; move right 0 mm; move upward 190 mm; roll downward 0 degrees; pitch downward 92 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 140 mm; move right 0 mm; move upward 180 mm; roll downward 0 degrees; pitch downward 88 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 333, + "segment_id": 513, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 199 mm; move right 0 mm; move upward 193 mm; roll downward 0 degrees; pitch downward 93 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 140 mm; move right 0 mm; move upward 172 mm; roll downward 0 degrees; pitch downward 84 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [137,141], [141,152]\n", + "gripper_2d": [ + 115, + 154 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 137, + 141, + 141, + 152 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.007500000298023224, + 0.0, + -0.06142857298254967, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.19857142865657806, + 0.0, + 0.1925000101327896, + 0.0, + -1.631428599357605, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + 0.33025369125530646, + -1.0, + -0.3977695751889313, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 199 mm; move right 0 mm; move upward 193 mm; roll downward 0 degrees; pitch downward 93 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 140 mm; move right 0 mm; move upward 172 mm; roll downward 0 degrees; pitch downward 84 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 334, + "segment_id": 513, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 230 mm; move right 0 mm; move upward 196 mm; roll downward 0 degrees; pitch downward 94 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 140 mm; move right 0 mm; move upward 165 mm; roll downward 0 degrees; pitch downward 81 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [137,141], [141,152]\n", + "gripper_2d": [ + 115, + 153 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 137, + 141, + 141, + 152 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.008571429178118706, + 0.0, + -0.06285714358091354, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.23035715520381927, + 0.0, + 0.196428582072258, + 0.0, + -1.6471428871154785, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + 0.3856809444506979, + -1.0, + -0.4275093310623478, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 230 mm; move right 0 mm; move upward 196 mm; roll downward 0 degrees; pitch downward 94 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 140 mm; move right 0 mm; move upward 165 mm; roll downward 0 degrees; pitch downward 81 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 335, + "segment_id": 513, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 263 mm; move right 0 mm; move upward 200 mm; roll downward 0 degrees; pitch downward 95 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 140 mm; move right 0 mm; move upward 156 mm; roll downward 0 degrees; pitch downward 77 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [138,141], [141,151]\n", + "gripper_2d": [ + 115, + 153 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 138, + 141, + 141, + 151 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.008928571827709675, + 0.0, + -0.06714285910129547, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.2628571689128876, + 0.0, + 0.20035715401172638, + 0.0, + -1.659999966621399, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + 0.4041566794560747, + -1.0, + -0.5167286762350993, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 263 mm; move right 0 mm; move upward 200 mm; roll downward 0 degrees; pitch downward 95 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 140 mm; move right 0 mm; move upward 156 mm; roll downward 0 degrees; pitch downward 77 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 336, + "segment_id": 513, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 294 mm; move right 0 mm; move upward 205 mm; roll downward 0 degrees; pitch downward 95 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 140 mm; move right 0 mm; move upward 147 mm; roll downward 0 degrees; pitch downward 73 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [138,141], [141,151]\n", + "gripper_2d": [ + 115, + 152 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 138, + 141, + 141, + 151 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.008928571827709675, + 0.0, + -0.06857142597436905, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.29428574442863464, + 0.0, + 0.20500002801418304, + 0.0, + -1.661428451538086, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + 0.4041566794560747, + -1.0, + -0.546468354556014, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 294 mm; move right 0 mm; move upward 205 mm; roll downward 0 degrees; pitch downward 95 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 140 mm; move right 0 mm; move upward 147 mm; roll downward 0 degrees; pitch downward 73 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 337, + "segment_id": 513, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 326 mm; move right 0 mm; move upward 210 mm; roll downward 0 degrees; pitch downward 95 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 140 mm; move right 0 mm; move upward 138 mm; roll downward 0 degrees; pitch downward 69 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [138,141], [141,151]\n", + "gripper_2d": [ + 115, + 151 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 138, + 141, + 141, + 151 + ] + ], + "delta_full_state": [ + -0.0003571428533177823, + 0.0, + 0.008928571827709675, + 0.0, + -0.06857142597436905, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.3264285922050476, + 0.0, + 0.20964284241199493, + 0.0, + -1.6585713624954224, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.37499970558528606, + 0.13897262261232712, + 0.4041566794560747, + -1.0, + -0.546468354556014, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 326 mm; move right 0 mm; move upward 210 mm; roll downward 0 degrees; pitch downward 95 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 140 mm; move right 0 mm; move upward 138 mm; roll downward 0 degrees; pitch downward 69 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 338, + "segment_id": 513, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 358 mm; move right 0 mm; move upward 215 mm; roll downward 0 degrees; pitch downward 95 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 140 mm; move right 0 mm; move upward 129 mm; roll downward 0 degrees; pitch downward 65 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [138,141], [141,151]\n", + "gripper_2d": [ + 115, + 150 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 138, + 141, + 141, + 151 + ] + ], + "delta_full_state": [ + -0.0028571428265422583, + 0.0, + 0.009642857126891613, + 0.0, + -0.08142857253551483, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.3578571379184723, + 0.0, + 0.21500001847743988, + 0.0, + -1.6499998569488525, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.26562473396758435, + 0.13897262261232712, + 0.4411081494668281, + -1.0, + -0.8141263900742683, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 3 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 358 mm; move right 0 mm; move upward 215 mm; roll downward 0 degrees; pitch downward 95 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 140 mm; move right 0 mm; move upward 129 mm; roll downward 0 degrees; pitch downward 65 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 339, + "segment_id": 513, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 387 mm; move right 0 mm; move upward 220 mm; roll downward 0 degrees; pitch downward 93 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 137 mm; move right 0 mm; move upward 120 mm; roll downward 0 degrees; pitch downward 61 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [138,141], [141,151]\n", + "gripper_2d": [ + 114, + 149 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 138, + 141, + 141, + 151 + ] + ], + "delta_full_state": [ + -0.0039285714738070965, + 0.0, + 0.010357143357396126, + 0.0, + -0.08714285492897034, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.38678574562072754, + 0.0, + 0.22035716474056244, + 0.0, + -1.6228569746017456, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.21874974231154964, + 0.13897262261232712, + 0.47805966765684293, + -1.0, + -0.9330854135679345, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 4 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 387 mm; move right 0 mm; move upward 220 mm; roll downward 0 degrees; pitch downward 93 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 137 mm; move right 0 mm; move upward 120 mm; roll downward 0 degrees; pitch downward 61 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 340, + "segment_id": 513, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 413 mm; move right 0 mm; move upward 226 mm; roll downward 0 degrees; pitch downward 91 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 133 mm; move right 0 mm; move upward 109 mm; roll downward 0 degrees; pitch downward 56 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [138,140], [141,151]\n", + "gripper_2d": [ + 114, + 148 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 138, + 140, + 141, + 151 + ] + ], + "delta_full_state": [ + -0.0039285714738070965, + 0.0, + 0.010000000707805157, + 0.0, + -0.09000000357627869, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.4125000536441803, + 0.0, + 0.225714311003685, + 0.0, + -1.5857141017913818, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.21874974231154964, + 0.13897262261232712, + 0.45958393265146635, + -1.0, + -0.9925650804197713, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 4 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 413 mm; move right 0 mm; move upward 226 mm; roll downward 0 degrees; pitch downward 91 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 133 mm; move right 0 mm; move upward 109 mm; roll downward 0 degrees; pitch downward 56 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 341, + "segment_id": 513, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 438 mm; move right 0 mm; move upward 233 mm; roll downward 0 degrees; pitch downward 88 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 129 mm; move right 0 mm; move upward 99 mm; roll downward 0 degrees; pitch downward 50 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [138,140], [141,151]\n", + "gripper_2d": [ + 114, + 148 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 138, + 140, + 141, + 151 + ] + ], + "delta_full_state": [ + -0.004285714589059353, + 0.0, + 0.010000000707805157, + 0.0, + -0.09285714477300644, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.4378572106361389, + 0.0, + 0.23250000178813934, + 0.0, + -1.5371426343917847, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.20312473490653327, + 0.13897262261232712, + 0.45958393265146635, + -1.0, + -1.0, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 4 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 438 mm; move right 0 mm; move upward 233 mm; roll downward 0 degrees; pitch downward 88 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 129 mm; move right 0 mm; move upward 99 mm; roll downward 0 degrees; pitch downward 50 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 342, + "segment_id": 513, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 462 mm; move right 0 mm; move upward 239 mm; roll downward 0 degrees; pitch downward 85 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 125 mm; move right 0 mm; move upward 89 mm; roll downward 0 degrees; pitch downward 45 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [138,139], [141,151]\n", + "gripper_2d": [ + 114, + 147 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 138, + 139, + 141, + 151 + ] + ], + "delta_full_state": [ + -0.0057142856530845165, + 0.0, + 0.009642857126891613, + 0.0, + -0.09428571164608002, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.46178576350212097, + 0.0, + 0.23928570747375488, + 0.0, + -1.4871426820755005, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.14062476640449662, + 0.13897262261232712, + 0.4411081494668281, + -1.0, + -1.0, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 6 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 462 mm; move right 0 mm; move upward 239 mm; roll downward 0 degrees; pitch downward 85 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 125 mm; move right 0 mm; move upward 89 mm; roll downward 0 degrees; pitch downward 45 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 343, + "segment_id": 513, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 482 mm; move right 0 mm; move upward 247 mm; roll downward 0 degrees; pitch downward 82 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 119 mm; move right 0 mm; move upward 80 mm; roll downward 0 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [138,139], [141,152]\n", + "gripper_2d": [ + 114, + 146 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 138, + 139, + 141, + 152 + ] + ], + "delta_full_state": [ + -0.007142857648432255, + 0.0, + 0.010000000707805157, + 0.0, + -0.09142857044935226, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.48249998688697815, + 0.0, + 0.24714286625385284, + 0.0, + -1.4385713338851929, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.07812475715710732, + 0.13897262261232712, + 0.45958393265146635, + -1.0, + -1.0, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 7 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 482 mm; move right 0 mm; move upward 247 mm; roll downward 0 degrees; pitch downward 82 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 119 mm; move right 0 mm; move upward 80 mm; roll downward 0 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 344, + "segment_id": 513, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 500 mm; move right 0 mm; move upward 255 mm; roll downward 0 degrees; pitch downward 80 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 112 mm; move right 0 mm; move upward 70 mm; roll downward 0 degrees; pitch downward 34 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [138,139], [141,152]\n", + "gripper_2d": [ + 114, + 145 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 138, + 139, + 141, + 152 + ] + ], + "delta_full_state": [ + -0.008571429178118706, + 0.0, + 0.009285714477300644, + 0.0, + -0.09142857044935226, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.5, + 0.0, + 0.25535717606544495, + 0.0, + -1.3928570747375488, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.015624768282394452, + 0.13897262261232712, + 0.4226324144614515, + -1.0, + -1.0, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 9 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 500 mm; move right 0 mm; move upward 255 mm; roll downward 0 degrees; pitch downward 80 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 112 mm; move right 0 mm; move upward 70 mm; roll downward 0 degrees; pitch downward 34 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 345, + "segment_id": 513, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 514 mm; move right 0 mm; move upward 264 mm; roll downward 0 degrees; pitch downward 77 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 104 mm; move right 0 mm; move upward 60 mm; roll downward 0 degrees; pitch downward 29 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [138,139], [141,152]\n", + "gripper_2d": [ + 114, + 145 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 138, + 139, + 141, + 152 + ] + ], + "delta_full_state": [ + -0.010714286006987095, + 0.0, + 0.009642857126891613, + 0.0, + -0.08857142925262451, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.5139285922050476, + 0.0, + 0.26428571343421936, + 0.0, + -1.3442857265472412, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.07812519465699863, + 0.13897262261232712, + 0.4411081494668281, + -1.0, + -0.962825246993853, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 514 mm; move right 0 mm; move upward 264 mm; roll downward 0 degrees; pitch downward 77 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 104 mm; move right 0 mm; move upward 60 mm; roll downward 0 degrees; pitch downward 29 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 346, + "segment_id": 513, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 524 mm; move right 0 mm; move upward 272 mm; roll downward 0 degrees; pitch downward 74 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 93 mm; move right 0 mm; move upward 51 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [138,139], [141,152]\n", + "gripper_2d": [ + 114, + 144 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 138, + 139, + 141, + 152 + ] + ], + "delta_full_state": [ + -0.011785714887082577, + 0.0, + 0.010357143357396126, + 0.0, + -0.08571428805589676, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.5235714316368103, + 0.0, + 0.27214285731315613, + 0.0, + -1.2985714673995972, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.12500019649937144, + 0.13897262261232712, + 0.47805966765684293, + -1.0, + -0.9033457352470199, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 12 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 524 mm; move right 0 mm; move upward 272 mm; roll downward 0 degrees; pitch downward 74 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 93 mm; move right 0 mm; move upward 51 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 347, + "segment_id": 513, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 533 mm; move right 0 mm; move upward 280 mm; roll downward 0 degrees; pitch downward 72 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 81 mm; move right 0 mm; move upward 40 mm; roll downward 0 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [138,139], [141,152]\n", + "gripper_2d": [ + 114, + 143 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 138, + 139, + 141, + 152 + ] + ], + "delta_full_state": [ + -0.012142857536673546, + 0.0, + 0.010714286006987095, + 0.0, + -0.08428571373224258, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.5328571200370789, + 0.0, + 0.2800000309944153, + 0.0, + -1.2557142972946167, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.1406251835317116, + 0.13897262261232712, + 0.49653540266221974, + -1.0, + -0.8736059018211014, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 12 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 533 mm; move right 0 mm; move upward 280 mm; roll downward 0 degrees; pitch downward 72 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 81 mm; move right 0 mm; move upward 40 mm; roll downward 0 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 348, + "segment_id": 513, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 18 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 541 mm; move right 0 mm; move upward 287 mm; roll downward 0 degrees; pitch downward 70 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 69 mm; move right 0 mm; move upward 30 mm; roll downward 0 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [138,139], [141,152]\n", + "gripper_2d": [ + 114, + 143 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 138, + 139, + 141, + 152 + ] + ], + "delta_full_state": [ + -0.018214285373687744, + 0.0, + 0.011428571306169033, + 0.0, + -0.08571428805589676, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.541071355342865, + 0.0, + 0.2874999940395355, + 0.0, + -1.215714454650879, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.4062500853175509, + 0.13897262261232712, + 0.5334868726729731, + -1.0, + -0.9033457352470199, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 18 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 541 mm; move right 0 mm; move upward 287 mm; roll downward 0 degrees; pitch downward 70 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 69 mm; move right 0 mm; move upward 30 mm; roll downward 0 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 349, + "segment_id": 513, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 25 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 542 mm; move right 0 mm; move upward 295 mm; roll downward 0 degrees; pitch downward 67 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 51 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [138,139], [141,152]\n", + "gripper_2d": [ + 114, + 142 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 138, + 139, + 141, + 152 + ] + ], + "delta_full_state": [ + -0.02500000037252903, + 0.0, + 0.009642857126891613, + 0.0, + -0.08285713940858841, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.541785717010498, + 0.0, + 0.294642835855484, + 0.0, + -1.1728572845458984, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.7031250426587754, + 0.13897262261232712, + 0.4411081494668281, + -1.0, + -0.8438660683951831, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 25 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 542 mm; move right 0 mm; move upward 295 mm; roll downward 0 degrees; pitch downward 67 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 51 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 350, + "segment_id": 513, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 26 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 538 mm; move right 0 mm; move upward 305 mm; roll downward 0 degrees; pitch downward 65 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 26 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [138,139], [141,152]\n", + "gripper_2d": [ + 114, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 138, + 139, + 141, + 152 + ] + ], + "delta_full_state": [ + -0.025714287534356117, + 0.0, + 0.008571429178118706, + 0.0, + -0.08285713940858841, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.5375000238418579, + 0.0, + 0.30464285612106323, + 0.0, + -1.132857322692871, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.7343750982141607, + 0.13897262261232712, + 0.3856809444506979, + -1.0, + -0.8438660683951831, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 26 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 538 mm; move right 0 mm; move upward 305 mm; roll downward 0 degrees; pitch downward 65 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 26 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 351, + "segment_id": 513, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned over the sink basin with the corn held inside. The arm exhibits slight vertical adjustments and repositioning, consistent with the final placement maneuver after lifting the object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 28 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 534 mm; move right 0 mm; move upward 316 mm; roll downward 0 degrees; pitch downward 63 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [138,139], [141,152]\n", + "gripper_2d": [ + 114, + 141 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 138, + 139, + 141, + 152 + ] + ], + "delta_full_state": [ + -0.027500001713633537, + 0.0, + 0.009642857126891613, + 0.0, + -0.08285713940858841, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.5335714221000671, + 0.0, + 0.316428542137146, + 0.0, + -1.0957143306732178, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8125000741212137, + 0.13897262261232712, + 0.4411081494668281, + -1.0, + -0.8438660683951831, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 28 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 534 mm; move right 0 mm; move upward 316 mm; roll downward 0 degrees; pitch downward 63 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 352, + "segment_id": 313, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin and appears to be lowering an object (the corn) into the water, consistent with the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin and appears to be lowering an object (the corn) into the water, consistent with the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 31 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 529 mm; move right 0 mm; move upward 327 mm; roll downward 0 degrees; pitch downward 61 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 281 mm; move right 0 mm; move upward 124 mm; roll downward 0 degrees; pitch downward 33 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\ndistr_counter: [53,111], [66,125]\ndistr_sink: [138,139], [141,152]\n", + "gripper_2d": [ + 114, + 140 + ], + "task_obj_bbox": null, + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 138, + 139, + 141, + 152 + ] + ], + "delta_full_state": [ + -0.030714286491274834, + 0.0, + 0.010714286006987095, + 0.0, + -0.08142857253551483, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.5285714268684387, + 0.0, + 0.32749998569488525, + 0.0, + -1.0657143592834473, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.9531249981576272, + 0.13897262261232712, + 0.49653540266221974, + -1.0, + -0.8141263900742683, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 31 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 529 mm; move right 0 mm; move upward 327 mm; roll downward 0 degrees; pitch downward 61 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 281 mm; move right 0 mm; move upward 124 mm; roll downward 0 degrees; pitch downward 33 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 353, + "segment_id": 313, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin and appears to be lowering an object (the corn) into the water, consistent with the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin and appears to be lowering an object (the corn) into the water, consistent with the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 32 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 522 mm; move right 0 mm; move upward 339 mm; roll downward 0 degrees; pitch downward 60 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 250 mm; move right 0 mm; move upward 113 mm; roll downward 0 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,156], [110,156]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [138,139], [141,152]\n", + "gripper_2d": [ + 114, + 140 + ], + "task_obj_bbox": [ + 110, + 156, + 110, + 156 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 138, + 139, + 141, + 152 + ] + ], + "delta_full_state": [ + -0.031785715371370316, + 0.0, + 0.011428571306169033, + 0.0, + -0.0771428570151329, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.5217857360839844, + 0.0, + 0.3392857015132904, + -0.0028571428265422583, + -1.0414286851882935, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.13897262261232712, + 0.5334868726729731, + -1.0, + -0.7249070449015169, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 32 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 522 mm; move right 0 mm; move upward 339 mm; roll downward 0 degrees; pitch downward 60 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 250 mm; move right 0 mm; move upward 113 mm; roll downward 0 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 354, + "segment_id": 313, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin and appears to be lowering an object (the corn) into the water, consistent with the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin and appears to be lowering an object (the corn) into the water, consistent with the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 32 mm; move right 0 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 514 mm; move right 0 mm; move upward 351 mm; roll downward 0 degrees; pitch downward 59 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 219 mm; move right 0 mm; move upward 101 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,156], [113,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [138,139], [141,152]\n", + "gripper_2d": [ + 115, + 139 + ], + "task_obj_bbox": [ + 110, + 156, + 113, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 138, + 139, + 141, + 152 + ] + ], + "delta_full_state": [ + -0.032499998807907104, + 0.0, + 0.012500000186264515, + 0.0, + -0.07571428269147873, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.5139285326004028, + 0.0, + 0.3514285087585449, + -0.008571428246796131, + -1.02571439743042, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.13897262261232712, + 0.5889141258683648, + -1.0, + -0.6951672114755985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 32 mm; move right 0 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 514 mm; move right 0 mm; move upward 351 mm; roll downward 0 degrees; pitch downward 59 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 219 mm; move right 0 mm; move upward 101 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 355, + "segment_id": 313, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin and appears to be lowering an object (the corn) into the water, consistent with the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin and appears to be lowering an object (the corn) into the water, consistent with the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 31 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 505 mm; move right 0 mm; move upward 362 mm; roll downward 1 degrees; pitch downward 58 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 186 mm; move right 0 mm; move upward 89 mm; roll downward 0 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,155], [114,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [138,139], [141,152]\n", + "gripper_2d": [ + 115, + 138 + ], + "task_obj_bbox": [ + 110, + 155, + 114, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 138, + 139, + 141, + 152 + ] + ], + "delta_full_state": [ + -0.03142857179045677, + 0.0, + 0.013571429066359997, + 0.0, + -0.06857142597436905, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.5049999952316284, + 0.0, + 0.3624999523162842, + -0.015714285895228386, + -1.0171430110931396, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.9843749722223074, + 0.13897262261232712, + 0.6443413790637562, + -1.0, + -0.546468354556014, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 31 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 505 mm; move right 0 mm; move upward 362 mm; roll downward 1 degrees; pitch downward 58 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 186 mm; move right 0 mm; move upward 89 mm; roll downward 0 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 356, + "segment_id": 313, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin and appears to be lowering an object (the corn) into the water, consistent with the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin and appears to be lowering an object (the corn) into the water, consistent with the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 32 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 497 mm; move right 0 mm; move upward 374 mm; roll downward 1 degrees; pitch downward 59 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 155 mm; move right 0 mm; move upward 75 mm; roll downward 0 degrees; pitch downward 16 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,155], [115,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [137,139], [141,153]\n", + "gripper_2d": [ + 115, + 137 + ], + "task_obj_bbox": [ + 110, + 155, + 115, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 137, + 139, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.03214285895228386, + 0.0, + 0.013571429066359997, + 0.0, + -0.0657142847776413, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.4971427917480469, + 0.0, + 0.37357136607170105, + -0.02428571507334709, + -1.0228571891784668, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.13897262261232712, + 0.6443413790637562, + -1.0, + -0.48698884280918087, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 32 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 497 mm; move right 0 mm; move upward 374 mm; roll downward 1 degrees; pitch downward 59 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 155 mm; move right 0 mm; move upward 75 mm; roll downward 0 degrees; pitch downward 16 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 357, + "segment_id": 313, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin and appears to be lowering an object (the corn) into the water, consistent with the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin and appears to be lowering an object (the corn) into the water, consistent with the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 32 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 465 mm; move right 0 mm; move upward 360 mm; roll downward 1 degrees; pitch downward 55 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 123 mm; move right 0 mm; move upward 62 mm; roll downward 0 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,154], [115,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [137,139], [141,153]\n", + "gripper_2d": [ + 115, + 137 + ], + "task_obj_bbox": [ + 110, + 154, + 115, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 137, + 139, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.031785715371370316, + 0.0, + 0.01428571529686451, + 0.0, + -0.05999999865889549, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.4649999737739563, + 0.0, + 0.35999998450279236, + -0.02428571507334709, + -0.9571428298950195, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.13897262261232712, + 0.6812928972537711, + -1.0, + -0.36802974176301284, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 32 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 465 mm; move right 0 mm; move upward 360 mm; roll downward 1 degrees; pitch downward 55 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 123 mm; move right 0 mm; move upward 62 mm; roll downward 0 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 358, + "segment_id": 313, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin and appears to be lowering an object (the corn) into the water, consistent with the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin and appears to be lowering an object (the corn) into the water, consistent with the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 32 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 433 mm; move right 0 mm; move upward 346 mm; roll downward 1 degrees; pitch downward 51 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 91 mm; move right 0 mm; move upward 47 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,153], [115,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [136,139], [141,153]\n", + "gripper_2d": [ + 115, + 136 + ], + "task_obj_bbox": [ + 110, + 153, + 115, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 136, + 139, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.031785715371370316, + 0.0, + 0.015000000596046448, + 0.0, + -0.05428571254014969, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.4332142770290375, + 0.0, + 0.3457142412662506, + -0.02428571507334709, + -0.897142767906189, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.13897262261232712, + 0.7182443672645247, + -1.0, + -0.24907064071684482, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 32 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 433 mm; move right 0 mm; move upward 346 mm; roll downward 1 degrees; pitch downward 51 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 91 mm; move right 0 mm; move upward 47 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 359, + "segment_id": 313, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin and appears to be lowering an object (the corn) into the water, consistent with the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin and appears to be lowering an object (the corn) into the water, consistent with the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 30 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 401 mm; move right 0 mm; move upward 331 mm; roll downward 1 degrees; pitch downward 48 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 59 mm; move right 0 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,153], [115,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [136,139], [141,153]\n", + "gripper_2d": [ + 116, + 136 + ], + "task_obj_bbox": [ + 110, + 153, + 115, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 136, + 139, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.029642855748534203, + 0.0, + 0.015714285895228386, + 0.0, + -0.05000000074505806, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.40142855048179626, + 0.0, + 0.33071422576904297, + -0.02428571507334709, + -0.8428571224212646, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.9062499148245493, + 0.13897262261232712, + 0.7551958372752781, + -1.0, + -0.15985137309659525, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 30 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 401 mm; move right 0 mm; move upward 331 mm; roll downward 1 degrees; pitch downward 48 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 59 mm; move right 0 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 360, + "segment_id": 313, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin and appears to be lowering an object (the corn) into the water, consistent with the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin and appears to be lowering an object (the corn) into the water, consistent with the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 29 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 372 mm; move right 0 mm; move upward 315 mm; roll downward 1 degrees; pitch downward 45 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 29 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,153], [115,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [136,139], [141,153]\n", + "gripper_2d": [ + 116, + 135 + ], + "task_obj_bbox": [ + 110, + 153, + 115, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 136, + 139, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.029285714030265808, + 0.0, + 0.016785714775323868, + 0.0, + -0.041428569704294205, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.3717857003211975, + 0.0, + 0.3149999678134918, + -0.02428571507334709, + -0.7928570508956909, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8906249685375618, + 0.13897262261232712, + 0.8106230904706695, + -1.0, + 0.01858731724890772, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 29 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 372 mm; move right 0 mm; move upward 315 mm; roll downward 1 degrees; pitch downward 45 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 29 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 361, + "segment_id": 313, + "subtask": "place the corn in the sink", + "reason": "The robot's end-effector is positioned directly over the sink basin and appears to be lowering an object (the corn) into the water, consistent with the final placement action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot's end-effector is positioned directly over the sink basin and appears to be lowering an object (the corn) into the water, consistent with the final placement action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 28 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 342 mm; move right 0 mm; move upward 298 mm; roll downward 1 degrees; pitch downward 43 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,153], [115,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [136,139], [141,153]\n", + "gripper_2d": [ + 116, + 135 + ], + "task_obj_bbox": [ + 110, + 153, + 115, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 136, + 139, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.028214285150170326, + 0.0, + 0.016785714775323868, + 0.0, + -0.04285714402794838, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.3424999713897705, + 0.0, + 0.29821425676345825, + -0.02428571507334709, + -0.751428484916687, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.8437499666951889, + 0.13897262261232712, + 0.8106230904706695, + -1.0, + -0.01115251617701074, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 28 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 342 mm; move right 0 mm; move upward 298 mm; roll downward 1 degrees; pitch downward 43 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 362, + "segment_id": 10313, + "subtask": "place the corn in the sink", + "reason": "The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 26 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 314 mm; move right 0 mm; move upward 281 mm; roll downward 1 degrees; pitch downward 41 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 291 mm; move right 0 mm; move upward 257 mm; roll downward 1 degrees; pitch downward 36 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,153], [115,159]\ndistr_counter: [53,111], [66,125]\ndistr_sink: [137,140], [141,153]\n", + "gripper_2d": [ + 116, + 135 + ], + "task_obj_bbox": [ + 110, + 153, + 115, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ], + [ + 137, + 140, + 141, + 153 + ] + ], + "delta_full_state": [ + -0.026428570970892906, + 0.0, + 0.017500000074505806, + 0.0, + -0.04571428522467613, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.3142857253551483, + 0.0, + 0.2814285457134247, + -0.02428571507334709, + -0.7085714340209961, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.7656249907881358, + 0.13897262261232712, + 0.8475745604814231, + -1.0, + -0.07063202792384382, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 26 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 314 mm; move right 0 mm; move upward 281 mm; roll downward 1 degrees; pitch downward 41 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 291 mm; move right 0 mm; move upward 257 mm; roll downward 1 degrees; pitch downward 36 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 363, + "segment_id": 10313, + "subtask": "place the corn in the sink", + "reason": "The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 25 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 288 mm; move right 0 mm; move upward 264 mm; roll downward 1 degrees; pitch downward 38 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 264 mm; move right 0 mm; move upward 239 mm; roll downward 1 degrees; pitch downward 34 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,153], [115,159]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 116, + 135 + ], + "task_obj_bbox": [ + 110, + 153, + 115, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + -0.024642856791615486, + 0.0, + 0.018214285373687744, + 0.0, + -0.04571428522467613, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.28785714507102966, + 0.0, + 0.2639285624027252, + -0.02428571507334709, + -0.6628570556640625, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.6875000148810828, + 0.13897262261232712, + 0.8845260304921765, + -1.0, + -0.07063202792384382, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 25 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 288 mm; move right 0 mm; move upward 264 mm; roll downward 1 degrees; pitch downward 38 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 264 mm; move right 0 mm; move upward 239 mm; roll downward 1 degrees; pitch downward 34 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 364, + "segment_id": 10313, + "subtask": "place the corn in the sink", + "reason": "The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 263 mm; move right 0 mm; move upward 246 mm; roll downward 1 degrees; pitch downward 35 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 240 mm; move right 0 mm; move upward 221 mm; roll downward 1 degrees; pitch downward 31 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,153], [115,159]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 116, + 135 + ], + "task_obj_bbox": [ + 110, + 153, + 115, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + -0.022499999031424522, + 0.0, + 0.018214285373687744, + 0.0, + -0.04285714402794838, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.26321426033973694, + 0.0, + 0.24571429193019867, + -0.02428571507334709, + -0.617142915725708, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.5937500111963372, + 0.13897262261232712, + 0.8845260304921765, + -1.0, + -0.01115251617701074, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 263 mm; move right 0 mm; move upward 246 mm; roll downward 1 degrees; pitch downward 35 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 240 mm; move right 0 mm; move upward 221 mm; roll downward 1 degrees; pitch downward 31 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 365, + "segment_id": 10313, + "subtask": "place the corn in the sink", + "reason": "The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 241 mm; move right 0 mm; move upward 227 mm; roll downward 1 degrees; pitch downward 33 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 217 mm; move right 0 mm; move upward 203 mm; roll downward 1 degrees; pitch downward 29 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,141], [115,159]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 117, + 134 + ], + "task_obj_bbox": [ + 110, + 141, + 115, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + -0.020357143133878708, + 0.0, + 0.017500000074505806, + 0.0, + -0.04285714402794838, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.24071426689624786, + 0.0, + 0.22749999165534973, + -0.02428571507334709, + -0.5742857456207275, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.5000000890022965, + 0.13897262261232712, + 0.8475745604814231, + -1.0, + -0.01115251617701074, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 20 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 241 mm; move right 0 mm; move upward 227 mm; roll downward 1 degrees; pitch downward 33 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 217 mm; move right 0 mm; move upward 203 mm; roll downward 1 degrees; pitch downward 29 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 366, + "segment_id": 10313, + "subtask": "place the corn in the sink", + "reason": "The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 220 mm; move right 0 mm; move upward 210 mm; roll downward 1 degrees; pitch downward 30 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 197 mm; move right 0 mm; move upward 185 mm; roll downward 1 degrees; pitch downward 26 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,141], [115,159]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 117, + 134 + ], + "task_obj_bbox": [ + 110, + 141, + 115, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + -0.021071428433060646, + 0.0, + 0.018214285373687744, + 0.0, + -0.04285714402794838, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.22035713493824005, + 0.0, + 0.21000002324581146, + -0.02428571507334709, + -0.5314285755157471, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.5312500630669768, + 0.13897262261232712, + 0.8845260304921765, + -1.0, + -0.01115251617701074, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 21 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 220 mm; move right 0 mm; move upward 210 mm; roll downward 1 degrees; pitch downward 30 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 197 mm; move right 0 mm; move upward 185 mm; roll downward 1 degrees; pitch downward 26 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 367, + "segment_id": 10313, + "subtask": "place the corn in the sink", + "reason": "The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 199 mm; move right 0 mm; move upward 192 mm; roll downward 1 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 176 mm; move right 0 mm; move upward 167 mm; roll downward 1 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,141], [115,159]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 117, + 134 + ], + "task_obj_bbox": [ + 110, + 141, + 115, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + -0.020357143133878708, + 0.0, + 0.018214285373687744, + 0.0, + -0.044285714626312256, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.19928573071956635, + 0.0, + 0.19178573787212372, + -0.02428571507334709, + -0.488571435213089, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.5000000890022965, + 0.13897262261232712, + 0.8845260304921765, + -1.0, + -0.040892272050427225, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 20 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 199 mm; move right 0 mm; move upward 192 mm; roll downward 1 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 176 mm; move right 0 mm; move upward 167 mm; roll downward 1 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 368, + "segment_id": 10313, + "subtask": "place the corn in the sink", + "reason": "The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 19 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 179 mm; move right 0 mm; move upward 174 mm; roll downward 1 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 155 mm; move right 0 mm; move upward 149 mm; roll downward 1 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,141], [115,159]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 117, + 134 + ], + "task_obj_bbox": [ + 110, + 141, + 115, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + -0.018928570672869682, + 0.0, + 0.018571428954601288, + 0.0, + -0.04285714402794838, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.17892858386039734, + 0.0, + 0.17357145249843597, + -0.02428571507334709, + -0.44428572058677673, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.43750005938223113, + 0.13897262261232712, + 0.9030018136768145, + -1.0, + -0.01115251617701074, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 19 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 179 mm; move right 0 mm; move upward 174 mm; roll downward 1 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 155 mm; move right 0 mm; move upward 149 mm; roll downward 1 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 369, + "segment_id": 10313, + "subtask": "place the corn in the sink", + "reason": "The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 160 mm; move right 0 mm; move upward 155 mm; roll downward 1 degrees; pitch downward 23 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 136 mm; move right 0 mm; move upward 130 mm; roll downward 1 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,141], [115,159]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 117, + 134 + ], + "task_obj_bbox": [ + 110, + 141, + 115, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + -0.02071428671479225, + 0.0, + 0.01964285783469677, + 0.0, + -0.04285714402794838, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.1600000113248825, + 0.0, + 0.1550000160932541, + -0.02428571507334709, + -0.40142855048179626, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.5156251167799892, + 0.13897262261232712, + 0.9584290668722062, + -1.0, + -0.01115251617701074, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 21 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 160 mm; move right 0 mm; move upward 155 mm; roll downward 1 degrees; pitch downward 23 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 136 mm; move right 0 mm; move upward 130 mm; roll downward 1 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 370, + "segment_id": 10313, + "subtask": "place the corn in the sink", + "reason": "The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 139 mm; move right 0 mm; move upward 135 mm; roll downward 1 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 116 mm; move right 0 mm; move upward 111 mm; roll downward 1 degrees; pitch downward 16 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,141], [115,159]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 118, + 133 + ], + "task_obj_bbox": [ + 110, + 141, + 115, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + -0.021785713732242584, + 0.0, + 0.020357143133878708, + 0.0, + -0.04571428522467613, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.13928572833538055, + 0.0, + 0.13535715639591217, + -0.02428571507334709, + -0.35857143998146057, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.562500037131657, + 0.13897262261232712, + 0.9953805368829596, + -1.0, + -0.07063202792384382, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 139 mm; move right 0 mm; move upward 135 mm; roll downward 1 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 116 mm; move right 0 mm; move upward 111 mm; roll downward 1 degrees; pitch downward 16 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 371, + "segment_id": 10313, + "subtask": "place the corn in the sink", + "reason": "The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 0 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 118 mm; move right 0 mm; move upward 115 mm; roll downward 1 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 94 mm; move right 0 mm; move upward 90 mm; roll downward 1 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,141], [115,159]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 118, + 133 + ], + "task_obj_bbox": [ + 110, + 141, + 115, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + -0.022499999031424522, + 0.0, + 0.02071428671479225, + 0.0, + -0.05285714194178581, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.11750000715255737, + 0.0, + 0.11500000953674316, + -0.02428571507334709, + -0.31285715103149414, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.5937500111963372, + 0.13897262261232712, + 1.0, + -1.0, + -0.21933088484342833, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 0 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 118 mm; move right 0 mm; move upward 115 mm; roll downward 1 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 94 mm; move right 0 mm; move upward 90 mm; roll downward 1 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 372, + "segment_id": 10313, + "subtask": "place the corn in the sink", + "reason": "The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 24 mm; move right 0 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 95 mm; move right 0 mm; move upward 94 mm; roll downward 1 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 71 mm; move right 0 mm; move upward 70 mm; roll downward 1 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,141], [115,159]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 118, + 133 + ], + "task_obj_bbox": [ + 110, + 141, + 115, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + -0.023928571492433548, + 0.0, + 0.022499999031424522, + -0.0028571428265422583, + -0.05714285746216774, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.0950000062584877, + 0.0, + 0.09428571164608002, + -0.02428571507334709, + -0.25999999046325684, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.6562500408164027, + 0.13897262261232712, + 1.0, + -1.0, + -0.30855023001617976, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 24 mm; move right 0 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 95 mm; move right 0 mm; move upward 94 mm; roll downward 1 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 71 mm; move right 0 mm; move upward 70 mm; roll downward 1 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 373, + "segment_id": 10313, + "subtask": "place the corn in the sink", + "reason": "The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 24 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 71 mm; move right 0 mm; move upward 72 mm; roll downward 1 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 47 mm; move right 0 mm; move upward 47 mm; roll downward 1 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,141], [115,159]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 118, + 133 + ], + "task_obj_bbox": [ + 110, + 141, + 115, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + -0.023928571492433548, + 0.0, + 0.023571429774165154, + -0.0057142856530845165, + -0.06142857298254967, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.07107143104076385, + 0.0, + 0.07178571075201035, + -0.02142857015132904, + -0.2028571516275406, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.6562500408164027, + 0.13897262261232712, + 1.0, + -1.0, + -0.3977695751889313, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 24 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 71 mm; move right 0 mm; move upward 72 mm; roll downward 1 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 47 mm; move right 0 mm; move upward 47 mm; roll downward 1 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 374, + "segment_id": 10313, + "subtask": "place the corn in the sink", + "reason": "The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 24 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 47 mm; move right 0 mm; move upward 48 mm; roll downward 1 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 24 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,141], [117,159]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 119, + 133 + ], + "task_obj_bbox": [ + 110, + 141, + 117, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + -0.023571429774165154, + 0.0, + 0.023571429774165154, + -0.0071428571827709675, + -0.06714285910129547, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.04714285954833031, + 0.0, + 0.04821428656578064, + -0.015714285895228386, + -0.14142857491970062, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + -0.640625094529415, + 0.13897262261232712, + 1.0, + -1.0, + -0.5167286762350993, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 24 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 47 mm; move right 0 mm; move upward 48 mm; roll downward 1 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 24 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;" + }, + { + "frame_index": 375, + "segment_id": 10313, + "subtask": "place the corn in the sink", + "reason": "The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npick the corn from the counter and place it in the sink\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the corn\n2. grasp the corn\n3. lift the corn\n4. move to the sink\n5. place the corn in the sink\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: place the corn in the sink\nSubtask Reasoning: The robot arm is positioned over the sink basin with the green corn held firmly in the gripper, indicating the final placement action within the workspace.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 24 mm; move right 0 mm; move upward 25 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\nobj: [110,141], [117,159]\ndistr_counter: [53,111], [66,125]\n", + "gripper_2d": [ + 119, + 132 + ], + "task_obj_bbox": [ + 110, + 141, + 117, + 159 + ], + "distractor_bboxes": [ + [ + 53, + 111, + 66, + 125 + ] + ], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.023571429774165154, + 0.0, + 0.024642856791615486, + -0.008571428246796131, + -0.07428571581840515, + 0.0, + -1.0 + ], + "delta_full_state_norm": [ + 0.3906247015306721, + 0.13897262261232712, + -0.05773698475391176, + -1.0, + 0.8810407028929985, + 0.9999990000004775, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 24 mm; move right 0 mm; move upward 25 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; close gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;" + } + ], + "all_object_names": [ + "obj", + "distr_counter", + "distr_sink" + ], + "obj_cat": "obj", + "distr_cats": [ + "distr_counter", + "distr_sink" + ], + "grounding_camera": "robot0_agentview_left", + "grounding_method": "self_render_selfconsistent" +} \ No newline at end of file diff --git a/grounding_cot/TurnOffMicrowave/extras/episode_000001/cot_annotations.json b/grounding_cot/TurnOffMicrowave/extras/episode_000001/cot_annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..4e910ddde6b7ef613b1d2248e2b9c7af72c1a6fc --- /dev/null +++ b/grounding_cot/TurnOffMicrowave/extras/episode_000001/cot_annotations.json @@ -0,0 +1,10366 @@ +{ + "sample_key": "TurnOffMicrowave|1", + "subtask_list": [ + "approach the microwave", + "reach for the stop button", + "press the stop button", + "move away from the microwave" + ], + "segment_labels_raw": { + "1": [ + "reach for the stop button", + "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control." + ], + "2": [ + "press the stop button", + "The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action." + ], + "3": [ + "press the stop button", + "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption." + ], + "4": [ + "press the stop button", + "The robot's end-effector is in direct contact with the microwave interface and remains stationary at the control panel, indicating the execution of a press action." + ], + "5": [ + "press the stop button", + "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface." + ], + "6": [ + "press the stop button", + "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel." + ], + "7": [ + "press the stop button", + "The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed." + ], + "8": [ + "move away from the microwave", + "The robot's gripper is retracted and moving downwards, clearing the stop button area. The appliance remains stationary while the end-effector disengages from the interaction zone." + ] + }, + "instruction": "press the stop button on the microwave", + "suite": "TurnOffMicrowave", + "num_frames": 214, + "segment_count": 8, + "movement_statistics": { + "mean": [ + -4.5059995576695794e-05, + -0.00471962626251527, + 0.0038835114473585804, + -0.022383177731834597, + -0.02945927906265726, + -0.005761014693090257, + 1.0 + ], + "std": [ + 0.014659447263795743, + 0.0062977204312934295, + 0.005648486100740951, + 0.05475705762324198, + 0.05036414618251578, + 0.03119447528708711, + 0.0 + ], + "Q1": [ + -0.04602500014007092, + -0.022142857313156128, + 0.0, + -0.1398142859339714, + -0.12428571283817291, + -0.10838571138679981, + 1.0 + ], + "Q99": [ + 0.01852500028908253, + 0.007096429043449463, + 0.019285714253783226, + 0.1462142859399319, + 0.09428571164608002, + 0.04857143014669418, + 1.0 + ] + }, + "frames": [ + { + "frame_index": 0, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 106 mm; move right 0 mm; move upward 191 mm; roll upward 0 degrees; pitch downward 16 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 524 mm; move right 9 mm; move upward 475 mm; roll upward 0 degrees; pitch downward 112 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 151, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.10642857849597931, + 0.0, + 0.19142857193946838, + 0.0028571428265422583, + -0.27714285254478455, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + 0.5145957716013043, + -0.9629629825026952, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 106 mm; move right 0 mm; move upward 191 mm; roll upward 0 degrees; pitch downward 16 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 524 mm; move right 9 mm; move upward 475 mm; roll upward 0 degrees; pitch downward 112 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 1, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 122 mm; move right 0 mm; move upward 201 mm; roll upward 0 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 524 mm; move right 9 mm; move upward 475 mm; roll upward 0 degrees; pitch downward 112 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 151, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0021428572945296764, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.1217857152223587, + 0.0, + 0.20071430504322052, + 0.004285714123398066, + -0.3271428644657135, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + 0.5145957716013043, + -0.7777778769071306, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 122 mm; move right 0 mm; move upward 201 mm; roll upward 0 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 524 mm; move right 9 mm; move upward 475 mm; roll upward 0 degrees; pitch downward 112 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 2, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 138 mm; move right 0 mm; move upward 208 mm; roll upward 0 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 524 mm; move right 9 mm; move upward 473 mm; roll upward 0 degrees; pitch downward 112 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 151, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0032142859417945147, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.13750000298023224, + 0.0, + 0.2078571617603302, + 0.004285714123398066, + -0.37857145071029663, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + 0.5145957716013043, + -0.6666668153606959, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 138 mm; move right 0 mm; move upward 208 mm; roll upward 0 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 524 mm; move right 9 mm; move upward 473 mm; roll upward 0 degrees; pitch downward 112 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 3, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 156 mm; move right 0 mm; move upward 214 mm; roll upward 0 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 524 mm; move right 9 mm; move upward 469 mm; roll upward 0 degrees; pitch downward 112 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 151, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.004285714589059353, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.15607142448425293, + 0.0, + 0.2142857313156128, + 0.004285714123398066, + -0.43714287877082825, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + 0.5145957716013043, + -0.5555557538142613, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 156 mm; move right 0 mm; move upward 214 mm; roll upward 0 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 524 mm; move right 9 mm; move upward 469 mm; roll upward 0 degrees; pitch downward 112 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 4, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 175 mm; move right 0 mm; move upward 220 mm; roll upward 0 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 524 mm; move right 9 mm; move upward 465 mm; roll upward 0 degrees; pitch downward 112 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 151, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.005000000353902578, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.17464284598827362, + 0.0, + 0.21964287757873535, + 0.004285714123398066, + -0.49571430683135986, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + 0.5145957716013043, + -0.48148171278330476, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 175 mm; move right 0 mm; move upward 220 mm; roll upward 0 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 524 mm; move right 9 mm; move upward 465 mm; roll upward 0 degrees; pitch downward 112 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 5, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 194 mm; move right 0 mm; move upward 225 mm; roll upward 0 degrees; pitch downward 32 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 524 mm; move right 9 mm; move upward 460 mm; roll upward 0 degrees; pitch downward 112 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 151, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0053571430034935474, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.19357143342494965, + 0.0, + 0.22464287281036377, + 0.004285714123398066, + -0.558571457862854, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + 0.5145957716013043, + -0.44444471641321415, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 194 mm; move right 0 mm; move upward 225 mm; roll upward 0 degrees; pitch downward 32 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 524 mm; move right 9 mm; move upward 460 mm; roll upward 0 degrees; pitch downward 112 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 6, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 213 mm; move right 0 mm; move upward 230 mm; roll upward 0 degrees; pitch downward 36 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 524 mm; move right 9 mm; move upward 455 mm; roll upward 0 degrees; pitch downward 112 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 151, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.007500000298023224, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.21321427822113037, + 0.0, + 0.2296428680419922, + 0.004285714123398066, + -0.6228571534156799, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + 0.5145957716013043, + -0.22222259332034477, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 213 mm; move right 0 mm; move upward 230 mm; roll upward 0 degrees; pitch downward 36 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 524 mm; move right 9 mm; move upward 455 mm; roll upward 0 degrees; pitch downward 112 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 7, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 234 mm; move right 0 mm; move upward 233 mm; roll upward 0 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 524 mm; move right 9 mm; move upward 447 mm; roll upward 0 degrees; pitch downward 112 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0014285714132711291, + 0.0, + 0.009285714477300644, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.23392856121063232, + 0.0, + 0.23285715281963348, + 0.004285714123398066, + -0.6928571462631226, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.38176364125444673, + 0.5145957716013043, + -0.03703751488834128, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 1 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 234 mm; move right 0 mm; move upward 233 mm; roll upward 0 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 524 mm; move right 9 mm; move upward 447 mm; roll upward 0 degrees; pitch downward 112 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 8, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 254 mm; move right 0 mm; move upward 235 mm; roll upward 0 degrees; pitch downward 44 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 523 mm; move right 9 mm; move upward 438 mm; roll upward 0 degrees; pitch downward 112 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0028571428265422583, + 0.0, + 0.011071428656578064, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2539285719394684, + 0.0, + 0.23500001430511475, + 0.004285714123398066, + -0.7714285850524902, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.33750117239430466, + 0.5145957716013043, + 0.1481475635436622, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 3 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 254 mm; move right 0 mm; move upward 235 mm; roll upward 0 degrees; pitch downward 44 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 523 mm; move right 9 mm; move upward 438 mm; roll upward 0 degrees; pitch downward 112 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 9, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 0 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 273 mm; move right 0 mm; move upward 236 mm; roll upward 0 degrees; pitch downward 49 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 520 mm; move right 9 mm; move upward 427 mm; roll upward 0 degrees; pitch downward 112 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0035714288242161274, + 0.0, + 0.013214285485446453, + 0.0, + -0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.27321428060531616, + 0.0, + 0.2364286184310913, + 0.004285714123398066, + -0.8600000143051147, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.31536992894678173, + 0.5145957716013043, + 0.3703696383457564, + -0.022375421239482773, + 0.11111106808771054, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 4 mm; move right 0 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 273 mm; move right 0 mm; move upward 236 mm; roll upward 0 degrees; pitch downward 49 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 520 mm; move right 9 mm; move upward 427 mm; roll upward 0 degrees; pitch downward 112 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 10, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 292 mm; move right 0 mm; move upward 237 mm; roll upward 0 degrees; pitch downward 54 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 516 mm; move right 9 mm; move upward 414 mm; roll upward 0 degrees; pitch downward 112 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.004285714589059353, + 0.0, + 0.014642857015132904, + 0.0, + -0.0071428571827709675, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2921428382396698, + 0.0, + 0.237142875790596, + 0.004285714123398066, + -0.9471428394317627, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.29323869271322023, + 0.5145957716013043, + 0.5185177204076694, + -0.022375421239482773, + 0.07189538222883884, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 4 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 292 mm; move right 0 mm; move upward 237 mm; roll upward 0 degrees; pitch downward 54 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 516 mm; move right 9 mm; move upward 414 mm; roll upward 0 degrees; pitch downward 112 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 11, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 310 mm; move right 0 mm; move upward 237 mm; roll upward 0 degrees; pitch downward 59 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 512 mm; move right 9 mm; move upward 399 mm; roll upward 0 degrees; pitch downward 111 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0053571430034935474, + 0.0, + 0.015000000596046448, + 0.0, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.31035712361335754, + 0.0, + 0.23678575456142426, + 0.004285714123398066, + -1.031428575515747, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.2600418455768394, + 0.5145957716013043, + 0.5555548133593105, + -0.022375421239482773, + 0.04575159449689292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 5 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 310 mm; move right 0 mm; move upward 237 mm; roll upward 0 degrees; pitch downward 59 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 512 mm; move right 9 mm; move upward 399 mm; roll upward 0 degrees; pitch downward 111 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 12, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 328 mm; move right 0 mm; move upward 237 mm; roll upward 0 degrees; pitch downward 64 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 507 mm; move right 9 mm; move upward 384 mm; roll upward 0 degrees; pitch downward 111 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006428571883589029, + 0.0, + 0.015000000596046448, + 0.0, + -0.015714285895228386, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.32821425795555115, + 0.0, + 0.237142875790596, + 0.004285714123398066, + -1.1185712814331055, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.22684498401253594, + 0.5145957716013043, + 0.5555548133593105, + -0.022375421239482773, + -0.006535989488904548, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 6 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 328 mm; move right 0 mm; move upward 237 mm; roll upward 0 degrees; pitch downward 64 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 507 mm; move right 9 mm; move upward 384 mm; roll upward 0 degrees; pitch downward 111 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 13, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 345 mm; move right 0 mm; move upward 238 mm; roll upward 0 degrees; pitch downward 69 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 500 mm; move right 9 mm; move upward 369 mm; roll upward 0 degrees; pitch downward 110 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 98 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007857142947614193, + 0.0, + 0.014642857015132904, + 0.0, + -0.018571428954601288, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.34464284777641296, + 0.0, + 0.2378571480512619, + 0.004285714123398066, + -1.1985713243484497, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.1825825259733358, + 0.5145957716013043, + 0.5185177204076694, + -0.022375421239482773, + -0.03267978148180328, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 8 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 345 mm; move right 0 mm; move upward 238 mm; roll upward 0 degrees; pitch downward 69 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 500 mm; move right 9 mm; move upward 369 mm; roll upward 0 degrees; pitch downward 110 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 14, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 360 mm; move right 0 mm; move upward 240 mm; roll upward 0 degrees; pitch downward 73 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 492 mm; move right 9 mm; move upward 354 mm; roll upward 0 degrees; pitch downward 109 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 98 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.009285714477300644, + 0.0, + 0.015000000596046448, + 0.0, + -0.02428571507334709, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.35999998450279236, + 0.0, + 0.24000000953674316, + 0.004285714123398066, + -1.2785714864730835, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.13832005350621301, + 0.5145957716013043, + 0.5555548133593105, + -0.022375421239482773, + -0.08496736546760075, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 9 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 360 mm; move right 0 mm; move upward 240 mm; roll upward 0 degrees; pitch downward 73 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 492 mm; move right 9 mm; move upward 354 mm; roll upward 0 degrees; pitch downward 109 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 15, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 374 mm; move right 0 mm; move upward 244 mm; roll upward 0 degrees; pitch downward 78 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 483 mm; move right 9 mm; move upward 339 mm; roll upward 0 degrees; pitch downward 107 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 97 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.010714286006987095, + 0.0, + 0.013571429066359997, + 0.0, + -0.029999999329447746, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.37392857670783997, + 0.0, + 0.2435714304447174, + 0.004285714123398066, + -1.3542858362197876, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.09405758103909001, + 0.5145957716013043, + 0.40740673129739746, + -0.022375421239482773, + -0.13725493240958697, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 374 mm; move right 0 mm; move upward 244 mm; roll upward 0 degrees; pitch downward 78 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 483 mm; move right 9 mm; move upward 339 mm; roll upward 0 degrees; pitch downward 107 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 16, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 386 mm; move right 1 mm; move upward 249 mm; roll upward 0 degrees; pitch downward 82 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 472 mm; move right 9 mm; move upward 326 mm; roll upward 0 degrees; pitch downward 106 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 97 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011785714887082577, + 0.0, + 0.011428571306169033, + 0.0, + -0.034285712987184525, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.38571426272392273, + -0.0010714286472648382, + 0.24928569793701172, + 0.004285714123398066, + -1.427142858505249, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.06086071947478633, + 0.5145957716013043, + 0.18518455991375293, + -0.022375421239482773, + -0.1764706118770294, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 12 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 386 mm; move right 1 mm; move upward 249 mm; roll upward 0 degrees; pitch downward 82 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 472 mm; move right 9 mm; move upward 326 mm; roll upward 0 degrees; pitch downward 106 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 17, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 396 mm; move right 3 mm; move upward 258 mm; roll upward 0 degrees; pitch downward 86 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 461 mm; move right 9 mm; move upward 314 mm; roll upward 0 degrees; pitch downward 104 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 96 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013571429066359997, + 0.0, + 0.011071428656578064, + 0.0, + -0.04285714402794838, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3960714340209961, + -0.002500000176951289, + 0.257500022649765, + 0.004285714123398066, + -1.4957143068313599, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.005532636104844224, + 0.5145957716013043, + 0.1481475635436622, + -0.022375421239482773, + -0.25490200489953696, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 396 mm; move right 3 mm; move upward 258 mm; roll upward 0 degrees; pitch downward 86 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 461 mm; move right 9 mm; move upward 314 mm; roll upward 0 degrees; pitch downward 104 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 18, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 405 mm; move right 4 mm; move upward 266 mm; roll upward 0 degrees; pitch downward 89 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 447 mm; move right 9 mm; move upward 303 mm; roll upward 0 degrees; pitch downward 101 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 96 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01428571529686451, + 0.0, + 0.010000000707805157, + 0.0, + -0.044285714626312256, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4050000309944153, + -0.004285714589059353, + 0.26642856001853943, + 0.004285714123398066, + -1.557142972946167, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.016598614556640245, + 0.5145957716013043, + 0.03703657443339048, + -0.022375421239482773, + -0.26797389237408065, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 405 mm; move right 4 mm; move upward 266 mm; roll upward 0 degrees; pitch downward 89 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 447 mm; move right 9 mm; move upward 303 mm; roll upward 0 degrees; pitch downward 101 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 19, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 0 mm; move upward 10 mm; roll upward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 413 mm; move right 6 mm; move upward 276 mm; roll upward 0 degrees; pitch downward 93 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 433 mm; move right 9 mm; move upward 293 mm; roll upward 0 degrees; pitch downward 99 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 95 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.015000000596046448, + 0.0, + 0.009642857126891613, + 0.0028571428265422583, + -0.04714285582304001, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4128571152687073, + -0.0057142856530845165, + 0.27571430802345276, + 0.004285714123398066, + -1.617142915725708, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.03872983636227878, + 0.5145957716013043, + -5.185182505584862e-07, + -0.002397398009609586, + -0.294117667323168, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 15 mm; move right 0 mm; move upward 10 mm; roll upward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 413 mm; move right 6 mm; move upward 276 mm; roll upward 0 degrees; pitch downward 93 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 433 mm; move right 9 mm; move upward 293 mm; roll upward 0 degrees; pitch downward 99 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 20, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 0 mm; move upward 10 mm; roll upward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 418 mm; move right 9 mm; move upward 284 mm; roll upward 0 degrees; pitch downward 96 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 418 mm; move right 9 mm; move upward 284 mm; roll upward 0 degrees; pitch downward 96 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 155, + 95 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.015357143245637417, + 0.0, + 0.009642857126891613, + 0.0014285714132711291, + -0.05000000074505806, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.41785717010498047, + -0.009285714477300644, + 0.2835714519023895, + 0.0014285714132711291, + -1.6728571653366089, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0497954472650981, + 0.5145957716013043, + -5.185182505584862e-07, + -0.01238640962454618, + -0.3202614763598781, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 15 mm; move right 0 mm; move upward 10 mm; roll upward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 418 mm; move right 9 mm; move upward 284 mm; roll upward 0 degrees; pitch downward 96 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 418 mm; move right 9 mm; move upward 284 mm; roll upward 0 degrees; pitch downward 96 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 21, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 420 mm; move right 15 mm; move upward 290 mm; roll downward 0 degrees; pitch downward 99 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 403 mm; move right 9 mm; move upward 274 mm; roll downward 0 degrees; pitch downward 93 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 155, + 95 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.015714285895228386, + 0.0, + 0.009285714477300644, + 0.0, + -0.051428571343421936, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4196428954601288, + -0.014642857015132904, + 0.289642870426178, + 0.0, + -1.7228572368621826, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.060861058167917315, + 0.5145957716013043, + -0.03703751488834128, + -0.022375421239482773, + -0.3333333638344218, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 420 mm; move right 15 mm; move upward 290 mm; roll downward 0 degrees; pitch downward 99 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 403 mm; move right 9 mm; move upward 274 mm; roll downward 0 degrees; pitch downward 93 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 22, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 19 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 421 mm; move right 21 mm; move upward 296 mm; roll downward 0 degrees; pitch downward 101 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 387 mm; move right 9 mm; move upward 265 mm; roll downward 0 degrees; pitch downward 90 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 156, + 95 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.018571428954601288, + 0.0, + 0.009642857126891613, + 0.0, + -0.058571428060531616, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4207143485546112, + -0.02071428671479225, + 0.29607146978378296, + 0.0, + -1.7714285850524902, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.1493860031021632, + 0.5145957716013043, + -5.185182505584862e-07, + -0.022375421239482773, + -0.39869283529476296, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 19 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 421 mm; move right 21 mm; move upward 296 mm; roll downward 0 degrees; pitch downward 101 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 387 mm; move right 9 mm; move upward 265 mm; roll downward 0 degrees; pitch downward 90 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 23, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 19 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 419 mm; move right 28 mm; move upward 301 mm; roll downward 0 degrees; pitch downward 104 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 368 mm; move right 9 mm; move upward 255 mm; roll downward 0 degrees; pitch downward 87 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 156, + 94 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.018571428954601288, + 0.0, + 0.009642857126891613, + 0.0, + -0.058571428060531616, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4189285933971405, + -0.028214288875460625, + 0.301071435213089, + 0.0, + -1.8128572702407837, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.1493860031021632, + 0.5145957716013043, + -5.185182505584862e-07, + -0.022375421239482773, + -0.39869283529476296, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 19 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 419 mm; move right 28 mm; move upward 301 mm; roll downward 0 degrees; pitch downward 104 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 368 mm; move right 9 mm; move upward 255 mm; roll downward 0 degrees; pitch downward 87 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 24, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 19 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 416 mm; move right 38 mm; move upward 303 mm; roll downward 0 degrees; pitch downward 106 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 350 mm; move right 9 mm; move upward 245 mm; roll downward 0 degrees; pitch downward 83 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 94 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.018928570672869682, + 0.0, + 0.010000000707805157, + 0.0, + -0.06285714358091354, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4164285659790039, + -0.03785714507102966, + 0.3028571605682373, + 0.0, + -1.8457143306732178, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.1604515851491366, + 0.5145957716013043, + 0.03703657443339048, + -0.022375421239482773, + -0.43790853180601674, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 19 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 416 mm; move right 38 mm; move upward 303 mm; roll downward 0 degrees; pitch downward 106 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 350 mm; move right 9 mm; move upward 245 mm; roll downward 0 degrees; pitch downward 83 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 25, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 414 mm; move right 48 mm; move upward 302 mm; roll downward 0 degrees; pitch downward 107 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 331 mm; move right 9 mm; move upward 235 mm; roll downward 0 degrees; pitch downward 80 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 94 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01964285783469677, + 0.0, + 0.010357143357396126, + 0.0, + -0.06428571790456772, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.41428571939468384, + -0.04821428656578064, + 0.3017857074737549, + 0.0, + -1.8700000047683716, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.1825828646664669, + 0.5145957716013043, + 0.07407357080348098, + -0.022375421239482773, + -0.45098045336818315, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 20 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 414 mm; move right 48 mm; move upward 302 mm; roll downward 0 degrees; pitch downward 107 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 331 mm; move right 9 mm; move upward 235 mm; roll downward 0 degrees; pitch downward 80 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 26, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 411 mm; move right 60 mm; move upward 297 mm; roll downward 0 degrees; pitch downward 108 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 311 mm; move right 9 mm; move upward 225 mm; roll downward 0 degrees; pitch downward 76 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 158, + 94 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02071428671479225, + 0.0, + 0.010714286006987095, + 0.0, + -0.07000000029802322, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.41107144951820374, + -0.060357142239809036, + 0.29749998450279236, + 0.0, + -1.8885713815689087, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.21577972623077046, + 0.5145957716013043, + 0.1111105671735717, + -0.022375421239482773, + -0.5032680032663579, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 21 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 411 mm; move right 60 mm; move upward 297 mm; roll downward 0 degrees; pitch downward 108 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 311 mm; move right 9 mm; move upward 225 mm; roll downward 0 degrees; pitch downward 76 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 27, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 406 mm; move right 74 mm; move upward 292 mm; roll downward 0 degrees; pitch downward 109 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 290 mm; move right 9 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 72 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 158, + 94 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02142857201397419, + 0.0, + 0.011428571306169033, + 0.0, + -0.07857143133878708, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.40642857551574707, + -0.07428570836782455, + 0.29249998927116394, + 0.0, + -1.901428461074829, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.237910948036409, + 0.5145957716013043, + 0.18518455991375293, + -0.022375421239482773, + -0.5816993962888656, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 21 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 406 mm; move right 74 mm; move upward 292 mm; roll downward 0 degrees; pitch downward 109 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 290 mm; move right 9 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 72 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 28, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 0 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 400 mm; move right 89 mm; move upward 287 mm; roll downward 0 degrees; pitch downward 109 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 269 mm; move right 9 mm; move upward 203 mm; roll downward 0 degrees; pitch downward 68 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 159, + 94 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.022142857313156128, + 0.0, + 0.012500000186264515, + 0.0, + -0.08857142925262451, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4003572165966034, + -0.08892857283353806, + 0.2871428430080414, + 0.0, + -1.9057141542434692, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.26004216984204764, + 0.5145957716013043, + 0.2962956456055752, + -0.022375421239482773, + -0.6732026426982941, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 0 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 400 mm; move right 89 mm; move upward 287 mm; roll downward 0 degrees; pitch downward 109 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 269 mm; move right 9 mm; move upward 203 mm; roll downward 0 degrees; pitch downward 68 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 29, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 391 mm; move right 106 mm; move upward 280 mm; roll downward 0 degrees; pitch downward 109 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 247 mm; move right 9 mm; move upward 190 mm; roll downward 0 degrees; pitch downward 62 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 160, + 94 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.022499999031424522, + 0.0, + 0.013928571715950966, + 0.0, + -0.09000000357627869, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3914285898208618, + -0.10642856359481812, + 0.28035715222358704, + 0.0, + -1.897142767906189, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.27110775188902103, + 0.5145957716013043, + 0.4444437276674882, + -0.022375421239482773, + -0.6862745642604605, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 391 mm; move right 106 mm; move upward 280 mm; roll downward 0 degrees; pitch downward 109 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 247 mm; move right 9 mm; move upward 190 mm; roll downward 0 degrees; pitch downward 62 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 30, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 382 mm; move right 125 mm; move upward 273 mm; roll downward 0 degrees; pitch downward 108 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 224 mm; move right 9 mm; move upward 176 mm; roll downward 0 degrees; pitch downward 57 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 160, + 93 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.022499999031424522, + 0.0, + 0.01428571529686451, + 0.0, + -0.09142857044935226, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3821428716182709, + -0.12464284896850586, + 0.2728571593761444, + 0.0, + -1.8885713815689087, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.27110775188902103, + 0.5145957716013043, + 0.4814808206191292, + -0.022375421239482773, + -0.6993464176473815, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 382 mm; move right 125 mm; move upward 273 mm; roll downward 0 degrees; pitch downward 108 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 224 mm; move right 9 mm; move upward 176 mm; roll downward 0 degrees; pitch downward 57 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 31, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 23 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 373 mm; move right 144 mm; move upward 265 mm; roll downward 1 degrees; pitch downward 108 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move backward 202 mm; move right 9 mm; move upward 162 mm; roll downward 0 degrees; pitch downward 52 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 161, + 93 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02321428619325161, + 0.0, + 0.015357143245637417, + 0.0, + -0.09714286029338837, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3725000321865082, + -0.14392857253551483, + 0.2646428644657135, + -0.011428571306169033, + -1.8799998760223389, + 0.008571428246796131, + 1.0 + ], + "delta_full_state_norm": [ + -0.2932390314063512, + 0.5145957716013043, + 0.5925918097294012, + -0.022375421239482773, + -0.7516340357208017, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 23 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 373 mm; move right 144 mm; move upward 265 mm; roll downward 1 degrees; pitch downward 108 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 202 mm; move right 9 mm; move upward 162 mm; roll downward 0 degrees; pitch downward 52 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 32, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 23 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 363 mm; move right 165 mm; move upward 255 mm; roll downward 1 degrees; pitch downward 107 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 179 mm; move right 9 mm; move upward 147 mm; roll downward 0 degrees; pitch downward 46 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 162, + 93 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.022857142612338066, + 0.0, + 0.015714285895228386, + 0.0, + -0.09571428596973419, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.36250001192092896, + -0.16499999165534973, + 0.2550000250339508, + -0.025714285671710968, + -1.869999885559082, + 0.02428571507334709, + 1.0 + ], + "delta_full_state_norm": [ + -0.2821733916476862, + 0.5145957716013043, + 0.6296288060994917, + -0.022375421239482773, + -0.7385621141586354, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 23 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 363 mm; move right 165 mm; move upward 255 mm; roll downward 1 degrees; pitch downward 107 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 179 mm; move right 9 mm; move upward 147 mm; roll downward 0 degrees; pitch downward 46 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 33, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 23 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 353 mm; move right 186 mm; move upward 245 mm; roll downward 3 degrees; pitch downward 107 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move backward 156 mm; move right 9 mm; move upward 131 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 163, + 93 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02321428619325161, + 0.0, + 0.016785714775323868, + 0.0, + -0.09857142716646194, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.35285714268684387, + -0.18642856180667877, + 0.2453571856021881, + -0.04857143014669418, + -1.8628569841384888, + 0.044285714626312256, + 1.0 + ], + "delta_full_state_norm": [ + -0.2932390314063512, + 0.5145957716013043, + 0.7407398917913139, + -0.022375421239482773, + -0.7647058891077226, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 23 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 353 mm; move right 186 mm; move upward 245 mm; roll downward 3 degrees; pitch downward 107 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move backward 156 mm; move right 9 mm; move upward 131 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 34, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 23 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 343 mm; move right 208 mm; move upward 235 mm; roll downward 5 degrees; pitch downward 106 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move backward 133 mm; move right 9 mm; move upward 114 mm; roll downward 0 degrees; pitch downward 35 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 163, + 92 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02321428619325161, + 0.0, + 0.018571428954601288, + 0.0, + -0.10000000149011612, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.34285712242126465, + -0.20821428298950195, + 0.23500001430511475, + -0.082857146859169, + -1.8557140827178955, + 0.0657142847776413, + 1.0 + ], + "delta_full_state_norm": [ + -0.2932390314063512, + 0.5145957716013043, + 0.9259249702233174, + -0.022375421239482773, + -0.777777810669889, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 23 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 343 mm; move right 208 mm; move upward 235 mm; roll downward 5 degrees; pitch downward 106 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 133 mm; move right 9 mm; move upward 114 mm; roll downward 0 degrees; pitch downward 35 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 35, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 1 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 332 mm; move right 231 mm; move upward 224 mm; roll downward 8 degrees; pitch downward 106 degrees; yaw counterclockwise 5 degrees; open gripper;\nSubtask Movement: move backward 109 mm; move right 9 mm; move upward 96 mm; roll downward 0 degrees; pitch downward 30 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 164, + 92 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.022499999031424522, + -0.0010714286472648382, + 0.019285714253783226, + 0.0, + -0.10285714268684387, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3317856788635254, + -0.23071427643299103, + 0.22357141971588135, + -0.1314285695552826, + -1.854285717010498, + 0.08714285492897034, + 1.0 + ], + "delta_full_state_norm": [ + -0.27110775188902103, + 0.4413088748034075, + 0.9999989629634989, + -0.022375421239482773, + -0.8039215856189765, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 1 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 332 mm; move right 231 mm; move upward 224 mm; roll downward 8 degrees; pitch downward 106 degrees; yaw counterclockwise 5 degrees; open gripper;", + "subtask_movement_text": "move backward 109 mm; move right 9 mm; move upward 96 mm; roll downward 0 degrees; pitch downward 30 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 36, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 1 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 321 mm; move right 252 mm; move upward 212 mm; roll downward 11 degrees; pitch downward 106 degrees; yaw counterclockwise 6 degrees; open gripper;\nSubtask Movement: move backward 87 mm; move right 8 mm; move upward 76 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 165, + 92 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.022142857313156128, + -0.0014285714132711291, + 0.01964285783469677, + 0.0, + -0.10285714268684387, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3207142651081085, + -0.25214284658432007, + 0.21214285492897034, + -0.18714284896850586, + -1.851428508758545, + 0.10999999940395355, + 1.0 + ], + "delta_full_state_norm": [ + -0.26004216984204764, + 0.41687991716704453, + 1.0, + -0.022375421239482773, + -0.8039215856189765, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 1 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 321 mm; move right 252 mm; move upward 212 mm; roll downward 11 degrees; pitch downward 106 degrees; yaw counterclockwise 6 degrees; open gripper;", + "subtask_movement_text": "move backward 87 mm; move right 8 mm; move upward 76 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 37, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 2 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 308 mm; move right 273 mm; move upward 200 mm; roll downward 15 degrees; pitch downward 106 degrees; yaw counterclockwise 8 degrees; open gripper;\nSubtask Movement: move backward 65 mm; move right 7 mm; move upward 57 mm; roll downward 0 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 166, + 91 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.022499999031424522, + -0.0017857144121080637, + 0.020000001415610313, + 0.0, + -0.10428571701049805, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3082142770290375, + -0.2728571593761444, + 0.200357124209404, + -0.25428569316864014, + -1.851428508758545, + 0.13571429252624512, + 1.0 + ], + "delta_full_state_norm": [ + -0.27110775188902103, + 0.3924509436048096, + 1.0, + -0.022375421239482773, + -0.8169935071811429, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 2 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 308 mm; move right 273 mm; move upward 200 mm; roll downward 15 degrees; pitch downward 106 degrees; yaw counterclockwise 8 degrees; open gripper;", + "subtask_movement_text": "move backward 65 mm; move right 7 mm; move upward 57 mm; roll downward 0 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 38, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 1 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 295 mm; move right 293 mm; move upward 188 mm; roll downward 19 degrees; pitch downward 106 degrees; yaw counterclockwise 9 degrees; open gripper;\nSubtask Movement: move backward 42 mm; move right 5 mm; move upward 37 mm; roll downward 0 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 167, + 91 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.022142857313156128, + -0.0014285714132711291, + 0.019285714253783226, + 0.0, + -0.10428571701049805, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.29500001668930054, + -0.2932142913341522, + 0.1882142871618271, + -0.3271428346633911, + -1.852856993675232, + 0.16285714507102966, + 1.0 + ], + "delta_full_state_norm": [ + -0.26004216984204764, + 0.41687991716704453, + 0.9999989629634989, + -0.022375421239482773, + -0.8169935071811429, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 1 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 295 mm; move right 293 mm; move upward 188 mm; roll downward 19 degrees; pitch downward 106 degrees; yaw counterclockwise 9 degrees; open gripper;", + "subtask_movement_text": "move backward 42 mm; move right 5 mm; move upward 37 mm; roll downward 0 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 39, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 4 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 281 mm; move right 313 mm; move upward 178 mm; roll downward 23 degrees; pitch downward 106 degrees; yaw counterclockwise 11 degrees; open gripper;\nSubtask Movement: move backward 20 mm; move right 4 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 168, + 91 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.020000001415610313, + -0.0035714288242161274, + 0.017500000074505806, + 0.0, + -0.10285714268684387, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2807142734527588, + -0.31285715103149414, + 0.1778571456670761, + -0.4057142734527588, + -1.8542855978012085, + 0.19285714626312256, + 1.0 + ], + "delta_full_state_norm": [ + -0.19364850442513193, + 0.27030611560831463, + 0.8148138845314952, + -0.022375421239482773, + -0.8039215856189765, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 20 mm; move right 4 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 281 mm; move right 313 mm; move upward 178 mm; roll downward 23 degrees; pitch downward 106 degrees; yaw counterclockwise 11 degrees; open gripper;", + "subtask_movement_text": "move backward 20 mm; move right 4 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 40, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the digital display area where a stop button would typically be located. The arm is held steady in this proximity without making contact or showing motion indicative of pressing, suggesting the action of reaching for the specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 5 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 268 mm; move right 329 mm; move upward 171 mm; roll downward 28 degrees; pitch downward 107 degrees; yaw counterclockwise 13 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 169, + 90 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01714285835623741, + -0.0053571430034935474, + 0.015714285895228386, + 0.0, + -0.10000000149011612, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.26821431517601013, + -0.3285714089870453, + 0.17071428894996643, + -0.4885714054107666, + -1.8657143115997314, + 0.22428572177886963, + 1.0 + ], + "delta_full_state_norm": [ + -0.10512355949088614, + 0.14816130353769186, + 0.6296288060994917, + -0.022375421239482773, + -0.777777810669889, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 17 mm; move right 5 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 268 mm; move right 329 mm; move upward 171 mm; roll downward 28 degrees; pitch downward 107 degrees; yaw counterclockwise 13 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 41, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 6 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 259 mm; move right 342 mm; move upward 166 mm; roll downward 33 degrees; pitch downward 108 degrees; yaw counterclockwise 15 degrees; open gripper;\nSubtask Movement: move backward 193 mm; move right 194 mm; move upward 105 mm; roll downward 5 degrees; pitch downward 65 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 170, + 90 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.016785714775323868, + -0.006071428768336773, + 0.015714285895228386, + 0.0, + -0.10000000149011612, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.25857144594192505, + -0.341785728931427, + 0.165714293718338, + -0.5814285278320312, + -1.881428599357605, + 0.2571428716182709, + 1.0 + ], + "delta_full_state_norm": [ + -0.094057919732221, + 0.09930337233909392, + 0.6296288060994917, + -0.022375421239482773, + -0.777777810669889, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 17 mm; move right 6 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 259 mm; move right 342 mm; move upward 166 mm; roll downward 33 degrees; pitch downward 108 degrees; yaw counterclockwise 15 degrees; open gripper;", + "subtask_movement_text": "move backward 193 mm; move right 194 mm; move upward 105 mm; roll downward 5 degrees; pitch downward 65 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 42, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 8 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 249 mm; move right 354 mm; move upward 162 mm; roll downward 39 degrees; pitch downward 109 degrees; yaw counterclockwise 17 degrees; open gripper;\nSubtask Movement: move backward 176 mm; move right 187 mm; move upward 89 mm; roll downward 5 degrees; pitch downward 60 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 171, + 89 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.016785714775323868, + -0.007500000298023224, + 0.014642857015132904, + 0.0, + -0.10000000149011612, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.24857144057750702, + -0.3539285659790039, + 0.16214285790920258, + -0.6842856407165527, + -1.9014285802841187, + 0.29285717010498047, + 1.0 + ], + "delta_full_state_norm": [ + -0.094057919732221, + 0.0015875099418980465, + 0.5185177204076694, + -0.022375421239482773, + -0.777777810669889, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 17 mm; move right 8 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 249 mm; move right 354 mm; move upward 162 mm; roll downward 39 degrees; pitch downward 109 degrees; yaw counterclockwise 17 degrees; open gripper;", + "subtask_movement_text": "move backward 176 mm; move right 187 mm; move upward 89 mm; roll downward 5 degrees; pitch downward 60 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 43, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 10 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 238 mm; move right 364 mm; move upward 161 mm; roll downward 46 degrees; pitch downward 110 degrees; yaw counterclockwise 19 degrees; open gripper;\nSubtask Movement: move backward 160 mm; move right 180 mm; move upward 75 mm; roll downward 5 degrees; pitch downward 54 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 172, + 89 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01607142947614193, + -0.009642857126891613, + 0.011428571306169033, + 0.0, + -0.09142857044935226, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.23750002682209015, + -0.3635714650154114, + 0.1607142984867096, + -0.7942856550216675, + -1.9242857694625854, + 0.331428587436676, + 1.0 + ], + "delta_full_state_norm": [ + -0.07192669792658246, + -0.14498625180215197, + 0.18518455991375293, + -0.022375421239482773, + -0.6993464176473815, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 10 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 238 mm; move right 364 mm; move upward 161 mm; roll downward 46 degrees; pitch downward 110 degrees; yaw counterclockwise 19 degrees; open gripper;", + "subtask_movement_text": "move backward 160 mm; move right 180 mm; move upward 75 mm; roll downward 5 degrees; pitch downward 54 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 44, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 10 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 226 mm; move right 369 mm; move upward 161 mm; roll downward 52 degrees; pitch downward 112 degrees; yaw counterclockwise 22 degrees; open gripper;\nSubtask Movement: move backward 144 mm; move right 170 mm; move upward 63 mm; roll downward 5 degrees; pitch downward 49 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 173, + 88 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.016785714775323868, + -0.010357143357396126, + 0.008928571827709675, + 0.0, + -0.08714285492897034, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.22607147693634033, + -0.36892858147621155, + 0.16142858564853668, + -0.9085713624954224, + -1.954285740852356, + 0.37714287638664246, + 1.0 + ], + "delta_full_state_norm": [ + -0.094057919732221, + -0.1938442148524937, + -0.0740745112584319, + -0.022375421239482773, + -0.6601307211361277, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 17 mm; move right 10 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 226 mm; move right 369 mm; move upward 161 mm; roll downward 52 degrees; pitch downward 112 degrees; yaw counterclockwise 22 degrees; open gripper;", + "subtask_movement_text": "move backward 144 mm; move right 170 mm; move upward 63 mm; roll downward 5 degrees; pitch downward 49 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 45, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 12 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 213 mm; move right 372 mm; move upward 164 mm; roll downward 59 degrees; pitch downward 114 degrees; yaw counterclockwise 24 degrees; open gripper;\nSubtask Movement: move backward 127 mm; move right 160 mm; move upward 54 mm; roll downward 5 degrees; pitch downward 44 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 175, + 88 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.016428573057055473, + -0.012142857536673546, + 0.006071428768336773, + 0.0, + -0.08285713940858841, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.21321432292461395, + -0.37214288115501404, + 0.16428571939468384, + -1.0228570699691772, + -1.9900001287460327, + 0.42571431398391724, + 1.0 + ], + "delta_full_state_norm": [ + -0.0829923376852475, + -0.3159890269231166, + -0.37037067538225765, + -0.022375421239482773, + -0.6209150246248739, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 12 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 213 mm; move right 372 mm; move upward 164 mm; roll downward 59 degrees; pitch downward 114 degrees; yaw counterclockwise 24 degrees; open gripper;", + "subtask_movement_text": "move backward 127 mm; move right 160 mm; move upward 54 mm; roll downward 5 degrees; pitch downward 44 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 46, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 14 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 199 mm; move right 373 mm; move upward 169 mm; roll downward 65 degrees; pitch downward 116 degrees; yaw counterclockwise 27 degrees; open gripper;\nSubtask Movement: move backward 110 mm; move right 148 mm; move upward 48 mm; roll downward 5 degrees; pitch downward 39 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 176, + 88 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01607142947614193, + -0.013928571715950966, + 0.0057142856530845165, + 0.0, + -0.08285713940858841, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.19928571581840515, + -0.3728571832180023, + 0.16857144236564636, + -1.1414284706115723, + -2.0299999713897705, + 0.474285751581192, + 1.0 + ], + "delta_full_state_norm": [ + -0.07192669792658246, + -0.4381338389937395, + -0.40740772004312353, + -0.022375421239482773, + -0.6209150246248739, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 14 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 199 mm; move right 373 mm; move upward 169 mm; roll downward 65 degrees; pitch downward 116 degrees; yaw counterclockwise 27 degrees; open gripper;", + "subtask_movement_text": "move backward 110 mm; move right 148 mm; move upward 48 mm; roll downward 5 degrees; pitch downward 39 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 47, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 15 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 185 mm; move right 372 mm; move upward 173 mm; roll downward 72 degrees; pitch downward 119 degrees; yaw counterclockwise 30 degrees; open gripper;\nSubtask Movement: move backward 94 mm; move right 134 mm; move upward 43 mm; roll downward 5 degrees; pitch downward 34 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 177, + 88 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.015357143245637417, + -0.014642857015132904, + 0.006071428768336773, + 0.0, + -0.08285713940858841, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.1849999874830246, + -0.3717857599258423, + 0.1728571504354477, + -1.2628570795059204, + -2.069999933242798, + 0.5242857336997986, + 1.0 + ], + "delta_full_state_norm": [ + -0.0497954472650981, + -0.4869917383405937, + -0.37037067538225765, + -0.022375421239482773, + -0.6209150246248739, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 15 mm; move right 15 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 185 mm; move right 372 mm; move upward 173 mm; roll downward 72 degrees; pitch downward 119 degrees; yaw counterclockwise 30 degrees; open gripper;", + "subtask_movement_text": "move backward 94 mm; move right 134 mm; move upward 43 mm; roll downward 5 degrees; pitch downward 34 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 48, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 18 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 170 mm; move right 369 mm; move upward 176 mm; roll downward 79 degrees; pitch downward 121 degrees; yaw counterclockwise 33 degrees; open gripper;\nSubtask Movement: move backward 79 mm; move right 119 mm; move upward 36 mm; roll downward 5 degrees; pitch downward 29 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 179, + 88 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013214285485446453, + -0.017500000074505806, + 0.0057142856530845165, + 0.0, + -0.07999999821186066, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.17035715281963348, + -0.3689286410808563, + 0.17607145011425018, + -1.3871427774429321, + -2.1114284992218018, + 0.572857141494751, + 1.0 + ], + "delta_full_state_norm": [ + 0.01659827586350926, + -0.6824234631349854, + -0.40740772004312353, + -0.022375421239482773, + -0.5947712496757865, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 18 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 170 mm; move right 369 mm; move upward 176 mm; roll downward 79 degrees; pitch downward 121 degrees; yaw counterclockwise 33 degrees; open gripper;", + "subtask_movement_text": "move backward 79 mm; move right 119 mm; move upward 36 mm; roll downward 5 degrees; pitch downward 29 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 49, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 18 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 157 mm; move right 363 mm; move upward 180 mm; roll downward 87 degrees; pitch downward 124 degrees; yaw counterclockwise 36 degrees; open gripper;\nSubtask Movement: move backward 66 mm; move right 102 mm; move upward 31 mm; roll downward 5 degrees; pitch downward 25 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 181, + 88 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013214285485446453, + -0.018214285373687744, + 0.006428571883589029, + 0.0, + -0.08142857253551483, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.15714286267757416, + -0.3628571927547455, + 0.17964285612106323, + -1.5099998712539673, + -2.155714273452759, + 0.6214285492897034, + 1.0 + ], + "delta_full_state_norm": [ + 0.01659827586350926, + -0.7312813624818395, + -0.3333336307213919, + -0.022375421239482773, + -0.607843171237953, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 18 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 157 mm; move right 363 mm; move upward 180 mm; roll downward 87 degrees; pitch downward 124 degrees; yaw counterclockwise 36 degrees; open gripper;", + "subtask_movement_text": "move backward 66 mm; move right 102 mm; move upward 31 mm; roll downward 5 degrees; pitch downward 25 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 50, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 19 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 144 mm; move right 356 mm; move upward 183 mm; roll downward 94 degrees; pitch downward 126 degrees; yaw counterclockwise 38 degrees; open gripper;\nSubtask Movement: move backward 52 mm; move right 84 mm; move upward 24 mm; roll downward 5 degrees; pitch downward 20 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 183, + 88 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012857143767178059, + -0.019285714253783226, + 0.006071428768336773, + -0.011428571306169033, + -0.08285713940858841, + 0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + -0.14392857253551483, + -0.35607147216796875, + 0.18285714089870453, + -1.6371427774429321, + -2.19857120513916, + 0.6699999570846558, + 1.0 + ], + "delta_full_state_norm": [ + 0.027663857910482648, + -0.8045682752056083, + -0.37037067538225765, + -0.10228751415897541, + -0.6209150246248739, + 0.49030660267350457, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 19 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 144 mm; move right 356 mm; move upward 183 mm; roll downward 94 degrees; pitch downward 126 degrees; yaw counterclockwise 38 degrees; open gripper;", + "subtask_movement_text": "move backward 52 mm; move right 84 mm; move upward 24 mm; roll downward 5 degrees; pitch downward 20 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 51, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 21 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 131 mm; move right 348 mm; move upward 186 mm; roll downward 101 degrees; pitch downward 128 degrees; yaw counterclockwise 41 degrees; open gripper;\nSubtask Movement: move backward 40 mm; move right 64 mm; move upward 18 mm; roll downward 4 degrees; pitch downward 15 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 184, + 88 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013214285485446453, + -0.021071428433060646, + 0.0057142856530845165, + -0.014285714365541935, + -0.08714285492897034, + 0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + -0.13107143342494965, + -0.34821435809135437, + 0.18607142567634583, + -1.7585713863372803, + -2.239999771118164, + 0.7099999189376831, + 1.0 + ], + "delta_full_state_norm": [ + 0.01659827586350926, + -0.9267130872762313, + -0.40740772004312353, + -0.1222655390168722, + -0.6601307211361277, + 0.5813232601325053, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 21 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 131 mm; move right 348 mm; move upward 186 mm; roll downward 101 degrees; pitch downward 128 degrees; yaw counterclockwise 41 degrees; open gripper;", + "subtask_movement_text": "move backward 40 mm; move right 64 mm; move upward 18 mm; roll downward 4 degrees; pitch downward 15 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 52, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 21 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 118 mm; move right 339 mm; move upward 190 mm; roll downward 108 degrees; pitch downward 130 degrees; yaw counterclockwise 43 degrees; open gripper;\nSubtask Movement: move backward 26 mm; move right 43 mm; move upward 13 mm; roll downward 3 degrees; pitch downward 10 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 186, + 88 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013214285485446453, + -0.02142857201397419, + 0.006071428768336773, + -0.022857142612338066, + -0.08857142925262451, + 0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + -0.11785715073347092, + -0.3389286398887634, + 0.18964283168315887, + -1.8814284801483154, + -2.2771425247192383, + 0.742857038974762, + 1.0 + ], + "delta_full_state_norm": [ + 0.01659827586350926, + -0.9511421006531459, + -0.37037067538225765, + -0.18219960707846805, + -0.6732026426982941, + 0.6359332427406854, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 21 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 118 mm; move right 339 mm; move upward 190 mm; roll downward 108 degrees; pitch downward 130 degrees; yaw counterclockwise 43 degrees; open gripper;", + "subtask_movement_text": "move backward 26 mm; move right 43 mm; move upward 13 mm; roll downward 3 degrees; pitch downward 10 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 53, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 22 mm; move upward 6 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 105 mm; move right 329 mm; move upward 193 mm; roll downward 115 degrees; pitch downward 132 degrees; yaw counterclockwise 44 degrees; open gripper;\nSubtask Movement: move backward 13 mm; move right 22 mm; move upward 6 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 188, + 87 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013214285485446453, + -0.021785713732242584, + 0.006428571883589029, + -0.034285712987184525, + -0.09142857044935226, + 0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + -0.10464286804199219, + -0.3289286196231842, + 0.19285713136196136, + -1.998571515083313, + -2.309999704360962, + 0.7699999809265137, + 1.0 + ], + "delta_full_state_norm": [ + 0.01659827586350926, + -0.9755709866230854, + -0.3333336307213919, + -0.26211169348586616, + -0.6993464176473815, + 0.6541365860997062, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 22 mm; move upward 6 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 105 mm; move right 329 mm; move upward 193 mm; roll downward 115 degrees; pitch downward 132 degrees; yaw counterclockwise 44 degrees; open gripper;", + "subtask_movement_text": "move backward 13 mm; move right 22 mm; move upward 6 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 54, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button. The visual sequence shows the gripper applying pressure to the interface, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 22 mm; move upward 7 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 91 mm; move right 318 mm; move upward 195 mm; roll downward 120 degrees; pitch downward 134 degrees; yaw counterclockwise 46 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 190, + 87 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012142857536673546, + -0.022499999031424522, + 0.007142857648432255, + -0.04857143014669418, + -0.09857142716646194, + 0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + -0.09142857044935226, + -0.31785717606544495, + 0.1946428269147873, + -2.1028571128845215, + -2.338571071624756, + 0.795714259147644, + 1.0 + ], + "delta_full_state_norm": [ + 0.049795108571967006, + -1.0, + -0.2592595896904354, + -0.36200183079953907, + -0.7647058891077226, + 0.6541365860997062, + -1.0 + ], + "movement_text": "move backward 12 mm; move right 22 mm; move upward 7 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 91 mm; move right 318 mm; move upward 195 mm; roll downward 120 degrees; pitch downward 134 degrees; yaw counterclockwise 46 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 55, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 22 mm; move upward 8 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 79 mm; move right 305 mm; move upward 196 mm; roll downward 125 degrees; pitch downward 135 degrees; yaw counterclockwise 47 degrees; open gripper;\nSubtask Movement: move backward 79 mm; move right 344 mm; move upward 227 mm; roll downward 159 degrees; pitch downward 165 degrees; yaw counterclockwise 60 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 87 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011428571306169033, + -0.022499999031424522, + 0.007857142947614193, + -0.055714286863803864, + -0.10000000149011612, + 0.022857142612338066, + 1.0 + ], + "delta_next_20": [ + -0.07928571105003357, + -0.30500003695487976, + 0.19607141613960266, + -2.187142848968506, + -2.357142686843872, + 0.8214285969734192, + 1.0 + ], + "delta_full_state_norm": [ + 0.07192635923345136, + -1.0, + -0.18518559695025416, + -0.41194688643218647, + -0.777777810669889, + 0.6723399057242856, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 22 mm; move upward 8 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 79 mm; move right 305 mm; move upward 196 mm; roll downward 125 degrees; pitch downward 135 degrees; yaw counterclockwise 47 degrees; open gripper;", + "subtask_movement_text": "move backward 79 mm; move right 344 mm; move upward 227 mm; roll downward 159 degrees; pitch downward 165 degrees; yaw counterclockwise 60 degrees; open gripper;" + }, + { + "frame_index": 56, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 22 mm; move upward 8 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 68 mm; move right 291 mm; move upward 196 mm; roll downward 129 degrees; pitch downward 136 degrees; yaw counterclockwise 48 degrees; open gripper;\nSubtask Movement: move backward 68 mm; move right 322 mm; move upward 220 mm; roll downward 156 degrees; pitch downward 159 degrees; yaw counterclockwise 58 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 195, + 87 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.009642857126891613, + -0.022142857313156128, + 0.007857142947614193, + -0.06714285910129547, + -0.10285714268684387, + 0.025714285671710968, + 1.0 + ], + "delta_next_20": [ + -0.06785713881254196, + -0.2914285659790039, + 0.1964285671710968, + -2.2585713863372803, + -2.372856855392456, + 0.845714271068573, + 1.0 + ], + "delta_full_state_norm": [ + 0.1272544426033937, + -1.0, + -0.18518559695025416, + -0.49185898586377363, + -0.8039215856189765, + 0.708746568707886, + -1.0 + ], + "movement_text": "move backward 10 mm; move right 22 mm; move upward 8 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 68 mm; move right 291 mm; move upward 196 mm; roll downward 129 degrees; pitch downward 136 degrees; yaw counterclockwise 48 degrees; open gripper;", + "subtask_movement_text": "move backward 68 mm; move right 322 mm; move upward 220 mm; roll downward 156 degrees; pitch downward 159 degrees; yaw counterclockwise 58 degrees; open gripper;" + }, + { + "frame_index": 57, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 22 mm; move upward 8 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 58 mm; move right 277 mm; move upward 196 mm; roll downward 133 degrees; pitch downward 136 degrees; yaw counterclockwise 50 degrees; open gripper;\nSubtask Movement: move backward 58 mm; move right 300 mm; move upward 212 mm; roll downward 152 degrees; pitch downward 153 degrees; yaw counterclockwise 57 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 86 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.009285714477300644, + -0.022142857313156128, + 0.007857142947614193, + -0.07285714149475098, + -0.10571428388357162, + 0.027142856270074844, + 1.0 + ], + "delta_next_20": [ + -0.05821428447961807, + -0.27714285254478455, + 0.19571426510810852, + -2.312857151031494, + -2.3785715103149414, + 0.867142915725708, + 1.0 + ], + "delta_full_state_norm": [ + 0.13832005350621301, + -1.0, + -0.18518559695025416, + -0.5318150095311893, + -0.8300653605680639, + 0.7269498883324654, + -1.0 + ], + "movement_text": "move backward 9 mm; move right 22 mm; move upward 8 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 58 mm; move right 277 mm; move upward 196 mm; roll downward 133 degrees; pitch downward 136 degrees; yaw counterclockwise 50 degrees; open gripper;", + "subtask_movement_text": "move backward 58 mm; move right 300 mm; move upward 212 mm; roll downward 152 degrees; pitch downward 153 degrees; yaw counterclockwise 57 degrees; open gripper;" + }, + { + "frame_index": 58, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 21 mm; move upward 9 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 49 mm; move right 263 mm; move upward 195 mm; roll downward 135 degrees; pitch downward 136 degrees; yaw counterclockwise 51 degrees; open gripper;\nSubtask Movement: move backward 49 mm; move right 277 mm; move upward 204 mm; roll downward 148 degrees; pitch downward 147 degrees; yaw counterclockwise 55 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 199, + 86 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007857142947614193, + -0.021071428433060646, + 0.008928571827709675, + -0.07857143133878708, + -0.10571428388357162, + 0.029999999329447746, + 1.0 + ], + "delta_next_20": [ + -0.04892857000231743, + -0.2628571093082428, + 0.1946428418159485, + -2.3557143211364746, + -2.3785715103149414, + 0.8857142925262451, + 1.0 + ], + "delta_full_state_norm": [ + 0.1825825259733358, + -0.9267130872762313, + -0.0740745112584319, + -0.5717710852953607, + -0.8300653605680639, + 0.7633565513160658, + -1.0 + ], + "movement_text": "move backward 8 mm; move right 21 mm; move upward 9 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 49 mm; move right 263 mm; move upward 195 mm; roll downward 135 degrees; pitch downward 136 degrees; yaw counterclockwise 51 degrees; open gripper;", + "subtask_movement_text": "move backward 49 mm; move right 277 mm; move upward 204 mm; roll downward 148 degrees; pitch downward 147 degrees; yaw counterclockwise 55 degrees; open gripper;" + }, + { + "frame_index": 59, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 19 mm; move upward 10 mm; roll downward 5 degrees; pitch downward 7 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 41 mm; move right 249 mm; move upward 191 mm; roll downward 137 degrees; pitch downward 136 degrees; yaw counterclockwise 51 degrees; open gripper;\nSubtask Movement: move backward 41 mm; move right 256 mm; move upward 195 mm; roll downward 143 degrees; pitch downward 141 degrees; yaw counterclockwise 54 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 86 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007500000298023224, + -0.019285714253783226, + 0.010357143357396126, + -0.08285713940858841, + -0.11428571492433548, + 0.03142857179045677, + 1.0 + ], + "delta_next_20": [ + -0.04107142984867096, + -0.24892853200435638, + 0.19107143580913544, + -2.3914284706115723, + -2.371428966522217, + 0.8985714912414551, + 1.0 + ], + "delta_full_state_norm": [ + 0.19364813687615512, + -0.8045682752056083, + 0.07407357080348098, + -0.6017380769975444, + -0.9084967535905715, + 0.7815598946750866, + -1.0 + ], + "movement_text": "move backward 8 mm; move right 19 mm; move upward 10 mm; roll downward 5 degrees; pitch downward 7 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 41 mm; move right 249 mm; move upward 191 mm; roll downward 137 degrees; pitch downward 136 degrees; yaw counterclockwise 51 degrees; open gripper;", + "subtask_movement_text": "move backward 41 mm; move right 256 mm; move upward 195 mm; roll downward 143 degrees; pitch downward 141 degrees; yaw counterclockwise 54 degrees; open gripper;" + }, + { + "frame_index": 60, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 19 mm; move upward 11 mm; roll downward 5 degrees; pitch downward 7 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 34 mm; move right 237 mm; move upward 185 mm; roll downward 139 degrees; pitch downward 135 degrees; yaw counterclockwise 52 degrees; open gripper;\nSubtask Movement: move backward 34 mm; move right 237 mm; move upward 185 mm; roll downward 139 degrees; pitch downward 135 degrees; yaw counterclockwise 52 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 85 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007500000298023224, + -0.018571428954601288, + 0.010714286006987095, + -0.09285714477300644, + -0.11571428924798965, + 0.03285714238882065, + 1.0 + ], + "delta_next_20": [ + -0.033571433275938034, + -0.23714283108711243, + 0.18464285135269165, + -2.4214284420013428, + -2.34857177734375, + 0.9057143926620483, + 1.0 + ], + "delta_full_state_norm": [ + 0.19364813687615512, + -0.7557103758587541, + 0.1111105671735717, + -0.6716611965606556, + -0.9215686751527379, + 0.7997632142996662, + -1.0 + ], + "movement_text": "move backward 8 mm; move right 19 mm; move upward 11 mm; roll downward 5 degrees; pitch downward 7 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 34 mm; move right 237 mm; move upward 185 mm; roll downward 139 degrees; pitch downward 135 degrees; yaw counterclockwise 52 degrees; open gripper;", + "subtask_movement_text": "move backward 34 mm; move right 237 mm; move upward 185 mm; roll downward 139 degrees; pitch downward 135 degrees; yaw counterclockwise 52 degrees; open gripper;" + }, + { + "frame_index": 61, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 18 mm; move upward 12 mm; roll downward 6 degrees; pitch downward 7 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 26 mm; move right 229 mm; move upward 175 mm; roll downward 140 degrees; pitch downward 133 degrees; yaw counterclockwise 52 degrees; open gripper;\nSubtask Movement: move backward 26 mm; move right 219 mm; move upward 174 mm; roll downward 133 degrees; pitch downward 128 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 84 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006785714533179998, + -0.018214285373687744, + 0.012142857536673546, + -0.10285714268684387, + -0.11999999731779099, + 0.0357142873108387, + 1.0 + ], + "delta_next_20": [ + -0.02607143297791481, + -0.2289285510778427, + 0.17464284598827362, + -2.4385712146759033, + -2.312857151031494, + 0.9042857885360718, + 1.0 + ], + "delta_full_state_norm": [ + 0.21577937310971662, + -0.7312813624818395, + 0.2592586492354847, + -0.7415842640270109, + -0.9607843034887462, + 0.8361699010177077, + -1.0 + ], + "movement_text": "move backward 7 mm; move right 18 mm; move upward 12 mm; roll downward 6 degrees; pitch downward 7 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 26 mm; move right 229 mm; move upward 175 mm; roll downward 140 degrees; pitch downward 133 degrees; yaw counterclockwise 52 degrees; open gripper;", + "subtask_movement_text": "move backward 26 mm; move right 219 mm; move upward 174 mm; roll downward 133 degrees; pitch downward 128 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 62, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 17 mm; move upward 13 mm; roll downward 6 degrees; pitch downward 7 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 19 mm; move right 224 mm; move upward 162 mm; roll downward 141 degrees; pitch downward 130 degrees; yaw counterclockwise 51 degrees; open gripper;\nSubtask Movement: move backward 19 mm; move right 200 mm; move upward 162 mm; roll downward 128 degrees; pitch downward 121 degrees; yaw counterclockwise 48 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 84 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0057142856530845165, + -0.01714285835623741, + 0.013214285485446453, + -0.10999999940395355, + -0.12285714596509933, + 0.03857142850756645, + 1.0 + ], + "delta_next_20": [ + -0.019285716116428375, + -0.22428570687770844, + 0.16249999403953552, + -2.4571428298950195, + -2.2642855644226074, + 0.8942857384681702, + 1.0 + ], + "delta_full_state_norm": [ + 0.2489762346740203, + -0.6579945771650457, + 0.3703696383457564, + -0.7915293196596584, + -0.986928146613079, + 0.8725765402668668, + -1.0 + ], + "movement_text": "move backward 6 mm; move right 17 mm; move upward 13 mm; roll downward 6 degrees; pitch downward 7 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 19 mm; move right 224 mm; move upward 162 mm; roll downward 141 degrees; pitch downward 130 degrees; yaw counterclockwise 51 degrees; open gripper;", + "subtask_movement_text": "move backward 19 mm; move right 200 mm; move upward 162 mm; roll downward 128 degrees; pitch downward 121 degrees; yaw counterclockwise 48 degrees; open gripper;" + }, + { + "frame_index": 63, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 15 mm; move upward 12 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 14 mm; move right 221 mm; move upward 149 mm; roll downward 143 degrees; pitch downward 127 degrees; yaw counterclockwise 50 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 183 mm; move upward 149 mm; roll downward 121 degrees; pitch downward 114 degrees; yaw counterclockwise 46 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 83 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.004642857238650322, + -0.015000000596046448, + 0.012142857536673546, + -0.11428571492433548, + -0.12142857164144516, + 0.04571428522467613, + 1.0 + ], + "delta_next_20": [ + -0.013571429066359997, + -0.22107146680355072, + 0.1492857187986374, + -2.4914286136627197, + -2.208571434020996, + 0.8685714602470398, + 1.0 + ], + "delta_full_state_norm": [ + 0.2821730818104009, + -0.5114207517175082, + 0.2592586492354847, + -0.8214963634585981, + -0.9738562250509126, + 0.9635931858586471, + -1.0 + ], + "movement_text": "move backward 5 mm; move right 15 mm; move upward 12 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 14 mm; move right 221 mm; move upward 149 mm; roll downward 143 degrees; pitch downward 127 degrees; yaw counterclockwise 50 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 183 mm; move upward 149 mm; roll downward 121 degrees; pitch downward 114 degrees; yaw counterclockwise 46 degrees; open gripper;" + }, + { + "frame_index": 64, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 14 mm; move upward 12 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 9 mm; move right 219 mm; move upward 137 mm; roll downward 144 degrees; pitch downward 123 degrees; yaw counterclockwise 47 degrees; open gripper;\nSubtask Movement: move backward 9 mm; move right 168 mm; move upward 136 mm; roll downward 115 degrees; pitch downward 107 degrees; yaw counterclockwise 43 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 82 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0039285714738070965, + -0.013571429066359997, + 0.011785714887082577, + -0.11428571492433548, + -0.12285714596509933, + 0.04857143014669418, + 1.0 + ], + "delta_next_20": [ + -0.008928571827709675, + -0.21928571164608002, + 0.1371428519487381, + -2.518571138381958, + -2.148571491241455, + 0.8242857456207275, + 1.0 + ], + "delta_full_state_norm": [ + 0.3043043180439624, + -0.41370488932031246, + 0.22222165286539397, + -0.8214963634585981, + -0.986928146613079, + 0.9999998725766885, + -1.0 + ], + "movement_text": "move backward 4 mm; move right 14 mm; move upward 12 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 9 mm; move right 219 mm; move upward 137 mm; roll downward 144 degrees; pitch downward 123 degrees; yaw counterclockwise 47 degrees; open gripper;", + "subtask_movement_text": "move backward 9 mm; move right 168 mm; move upward 136 mm; roll downward 115 degrees; pitch downward 107 degrees; yaw counterclockwise 43 degrees; open gripper;" + }, + { + "frame_index": 65, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 13 mm; move upward 10 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 5 mm; move right 219 mm; move upward 125 mm; roll downward 145 degrees; pitch downward 119 degrees; yaw counterclockwise 44 degrees; open gripper;\nSubtask Movement: move backward 5 mm; move right 155 mm; move upward 125 mm; roll downward 108 degrees; pitch downward 100 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 81 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.002500000176951289, + -0.012857143767178059, + 0.010357143357396126, + -0.11857143044471741, + -0.12285714596509933, + 0.04857143014669418, + 1.0 + ], + "delta_next_20": [ + -0.005000000353902578, + -0.21892856061458588, + 0.12535713613033295, + -2.531428337097168, + -2.0814285278320312, + 0.7757142782211304, + 1.0 + ], + "delta_full_state_norm": [ + 0.348566783297124, + -0.3648469899734582, + 0.07407357080348098, + -0.8514634072575377, + -0.986928146613079, + 0.9999998725766885, + -1.0 + ], + "movement_text": "move backward 3 mm; move right 13 mm; move upward 10 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 5 mm; move right 219 mm; move upward 125 mm; roll downward 145 degrees; pitch downward 119 degrees; yaw counterclockwise 44 degrees; open gripper;", + "subtask_movement_text": "move backward 5 mm; move right 155 mm; move upward 125 mm; roll downward 108 degrees; pitch downward 100 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 66, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 2 mm; move right 13 mm; move upward 10 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 3 mm; move right 219 mm; move upward 115 mm; roll downward 145 degrees; pitch downward 115 degrees; yaw counterclockwise 42 degrees; open gripper;\nSubtask Movement: move backward 3 mm; move right 142 mm; move upward 114 mm; roll downward 101 degrees; pitch downward 93 degrees; yaw counterclockwise 38 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 80 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0017857144121080637, + -0.012857143767178059, + 0.010000000707805157, + -0.12142857164144516, + -0.12285714596509933, + 0.05000000074505806, + 1.0 + ], + "delta_next_20": [ + -0.002500000176951289, + -0.2192857265472412, + 0.11500000208616257, + -2.537142753601074, + -2.0114283561706543, + 0.727142870426178, + 1.0 + ], + "delta_full_state_norm": [ + 0.37069801953068526, + -0.3648469899734582, + 0.03703657443339048, + -0.8714414190912455, + -0.986928146613079, + 1.0, + -1.0 + ], + "movement_text": "move backward 2 mm; move right 13 mm; move upward 10 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 3 mm; move right 219 mm; move upward 115 mm; roll downward 145 degrees; pitch downward 115 degrees; yaw counterclockwise 42 degrees; open gripper;", + "subtask_movement_text": "move backward 3 mm; move right 142 mm; move upward 114 mm; roll downward 101 degrees; pitch downward 93 degrees; yaw counterclockwise 38 degrees; open gripper;" + }, + { + "frame_index": 67, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move right 12 mm; move upward 9 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 1 mm; move right 219 mm; move upward 105 mm; roll downward 145 degrees; pitch downward 111 degrees; yaw counterclockwise 39 degrees; open gripper;\nSubtask Movement: move backward 1 mm; move right 129 mm; move upward 104 mm; roll downward 94 degrees; pitch downward 86 degrees; yaw counterclockwise 35 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 80 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0007142857066355646, + -0.011785714887082577, + 0.009285714477300644, + -0.12428571283817291, + -0.12428571283817291, + 0.04857143014669418, + 1.0 + ], + "delta_next_20": [ + -0.0007142857066355646, + -0.2192857265472412, + 0.10500001162290573, + -2.5357141494750977, + -1.9371427297592163, + 0.677142858505249, + 1.0 + ], + "delta_full_state_norm": [ + 0.403894875684518, + -0.29156007724968946, + -0.03703751488834128, + -0.8914194309249533, + -1.0, + 0.9999998725766885, + -1.0 + ], + "movement_text": "move backward 1 mm; move right 12 mm; move upward 9 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 1 mm; move right 219 mm; move upward 105 mm; roll downward 145 degrees; pitch downward 111 degrees; yaw counterclockwise 39 degrees; open gripper;", + "subtask_movement_text": "move backward 1 mm; move right 129 mm; move upward 104 mm; roll downward 94 degrees; pitch downward 86 degrees; yaw counterclockwise 35 degrees; open gripper;" + }, + { + "frame_index": 68, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 11 mm; move upward 9 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 218 mm; move upward 96 mm; roll downward 145 degrees; pitch downward 106 degrees; yaw counterclockwise 36 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 117 mm; move upward 95 mm; roll downward 87 degrees; pitch downward 79 degrees; yaw counterclockwise 32 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.011428571306169033, + 0.009285714477300644, + -0.12285714596509933, + -0.12428571283817291, + 0.04857143014669418, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.21821430325508118, + 0.09571429342031479, + -2.5271427631378174, + -1.8557143211364746, + 0.6285714507102966, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + -0.26713106387277497, + -0.03703751488834128, + -0.8814304510564773, + -1.0, + 0.9999998725766885, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 11 mm; move upward 9 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 218 mm; move upward 96 mm; roll downward 145 degrees; pitch downward 106 degrees; yaw counterclockwise 36 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 117 mm; move upward 95 mm; roll downward 87 degrees; pitch downward 79 degrees; yaw counterclockwise 32 degrees; open gripper;" + }, + { + "frame_index": 69, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 11 mm; move upward 10 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 218 mm; move upward 86 mm; roll downward 143 degrees; pitch downward 101 degrees; yaw counterclockwise 32 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 106 mm; move upward 86 mm; roll downward 80 degrees; pitch downward 72 degrees; yaw counterclockwise 29 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.011428571306169033, + 0.009642857126891613, + -0.12714286148548126, + -0.12428571283817291, + 0.04857143014669418, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.2175000160932541, + 0.08642857521772385, + -2.5042855739593506, + -1.7671427726745605, + 0.5600000023841858, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + -0.26713106387277497, + -5.185182505584862e-07, + -0.911397494855417, + -1.0, + 0.9999998725766885, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 11 mm; move upward 10 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 218 mm; move upward 86 mm; roll downward 143 degrees; pitch downward 101 degrees; yaw counterclockwise 32 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 106 mm; move upward 86 mm; roll downward 80 degrees; pitch downward 72 degrees; yaw counterclockwise 29 degrees; open gripper;" + }, + { + "frame_index": 70, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 11 mm; move upward 9 mm; roll downward 8 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 215 mm; move upward 77 mm; roll downward 142 degrees; pitch downward 96 degrees; yaw counterclockwise 28 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 94 mm; move upward 76 mm; roll downward 73 degrees; pitch downward 65 degrees; yaw counterclockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.011428571306169033, + 0.009285714477300644, + -0.13285714387893677, + -0.12428571283817291, + 0.04857143014669418, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.21464288234710693, + 0.07678571343421936, + -2.47428560256958, + -1.6757142543792725, + 0.4828571677207947, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + -0.26713106387277497, + -0.03703751488834128, + -0.9513535185228327, + -1.0, + 0.9999998725766885, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 11 mm; move upward 9 mm; roll downward 8 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 215 mm; move upward 77 mm; roll downward 142 degrees; pitch downward 96 degrees; yaw counterclockwise 28 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 94 mm; move upward 76 mm; roll downward 73 degrees; pitch downward 65 degrees; yaw counterclockwise 26 degrees; open gripper;" + }, + { + "frame_index": 71, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 12 mm; move upward 9 mm; roll downward 8 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 211 mm; move upward 67 mm; roll downward 139 degrees; pitch downward 90 degrees; yaw counterclockwise 23 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 83 mm; move upward 67 mm; roll downward 65 degrees; pitch downward 57 degrees; yaw counterclockwise 24 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.011785714887082577, + 0.009285714477300644, + -0.1371428519487381, + -0.12428571283817291, + 0.04857143014669418, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.21071429550647736, + 0.06749999523162842, + -2.432857036590576, + -1.5785714387893677, + 0.3928571343421936, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + -0.29156007724968946, + -0.03703751488834128, + -0.9813205102250164, + -1.0, + 0.9999998725766885, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 12 mm; move upward 9 mm; roll downward 8 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 211 mm; move upward 67 mm; roll downward 139 degrees; pitch downward 90 degrees; yaw counterclockwise 23 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 83 mm; move upward 67 mm; roll downward 65 degrees; pitch downward 57 degrees; yaw counterclockwise 24 degrees; open gripper;" + }, + { + "frame_index": 72, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 11 mm; move upward 9 mm; roll downward 8 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 205 mm; move upward 58 mm; roll downward 136 degrees; pitch downward 85 degrees; yaw counterclockwise 17 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 71 mm; move upward 58 mm; roll downward 57 degrees; pitch downward 50 degrees; yaw counterclockwise 21 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.011428571306169033, + 0.009285714477300644, + -0.14000000059604645, + -0.12142857164144516, + 0.04714285582304001, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.2053571492433548, + 0.05821428447961807, + -2.372857093811035, + -1.4757143259048462, + 0.2914285659790039, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + -0.26713106387277497, + -0.03703751488834128, + -1.0, + -0.9738562250509126, + 0.9817965054832265, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 11 mm; move upward 9 mm; roll downward 8 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 205 mm; move upward 58 mm; roll downward 136 degrees; pitch downward 85 degrees; yaw counterclockwise 17 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 71 mm; move upward 58 mm; roll downward 57 degrees; pitch downward 50 degrees; yaw counterclockwise 21 degrees; open gripper;" + }, + { + "frame_index": 73, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 11 mm; move upward 8 mm; roll downward 8 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 200 mm; move upward 49 mm; roll downward 132 degrees; pitch downward 79 degrees; yaw counterclockwise 11 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 60 mm; move upward 48 mm; roll downward 49 degrees; pitch downward 43 degrees; yaw counterclockwise 18 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 75 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.010714286006987095, + 0.008214286528527737, + -0.13857142627239227, + -0.11999999731779099, + 0.04714285582304001, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.20000003278255463, + 0.04892857372760773, + -2.3057143688201904, + -1.3728572130203247, + 0.18428568542003632, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + -0.21827316452592072, + -0.14814850399861312, + -0.9913095421902482, + -0.9607843034887462, + 0.9817965054832265, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 11 mm; move upward 8 mm; roll downward 8 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 200 mm; move upward 49 mm; roll downward 132 degrees; pitch downward 79 degrees; yaw counterclockwise 11 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 60 mm; move upward 48 mm; roll downward 49 degrees; pitch downward 43 degrees; yaw counterclockwise 18 degrees; open gripper;" + }, + { + "frame_index": 74, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 10 mm; move upward 9 mm; roll downward 8 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 194 mm; move upward 41 mm; roll downward 128 degrees; pitch downward 72 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 49 mm; move upward 40 mm; roll downward 41 degrees; pitch downward 37 degrees; yaw counterclockwise 15 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 74 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.009642857126891613, + 0.008571429178118706, + -0.13285714387893677, + -0.11714285612106323, + 0.04714285582304001, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.19428570568561554, + 0.040714289993047714, + -2.237143039703369, + -1.2642858028411865, + 0.06999996304512024, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + -0.14498625180215197, + -0.11111150762852251, + -0.9513535185228327, + -0.9346405285396588, + 0.9817965054832265, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 10 mm; move upward 9 mm; roll downward 8 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 194 mm; move upward 41 mm; roll downward 128 degrees; pitch downward 72 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 49 mm; move upward 40 mm; roll downward 41 degrees; pitch downward 37 degrees; yaw counterclockwise 15 degrees; open gripper;" + }, + { + "frame_index": 75, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 9 mm; move upward 8 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 0 mm; move right 191 mm; move upward 32 mm; roll downward 124 degrees; pitch downward 66 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 39 mm; move upward 31 mm; roll downward 34 degrees; pitch downward 30 degrees; yaw counterclockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 74 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.008928571827709675, + 0.008214286528527737, + -0.12714286148548126, + -0.11571428924798965, + 0.04714285582304001, + 1.0 + ], + "delta_next_20": [ + 0.0003571428533177823, + -0.1907142847776413, + 0.03214285895228386, + -2.167142629623413, + -1.1557142734527588, + -0.05428572744131088, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + -0.09612835245529783, + -0.14814850399861312, + -0.911397494855417, + -0.9215686751527379, + 0.9817965054832265, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 9 mm; move upward 8 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 0 mm; move right 191 mm; move upward 32 mm; roll downward 124 degrees; pitch downward 66 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 39 mm; move upward 31 mm; roll downward 34 degrees; pitch downward 30 degrees; yaw counterclockwise 13 degrees; open gripper;" + }, + { + "frame_index": 76, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 8 mm; move upward 7 mm; roll downward 7 degrees; pitch downward 6 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 2 mm; move right 188 mm; move upward 24 mm; roll downward 120 degrees; pitch downward 60 degrees; yaw clockwise 11 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 30 mm; move upward 23 mm; roll downward 27 degrees; pitch downward 23 degrees; yaw counterclockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.007857142947614193, + 0.007142857648432255, + -0.12142857164144516, + -0.10857142508029938, + 0.04714285582304001, + 1.0 + ], + "delta_next_20": [ + 0.0021428572945296764, + -0.18785713613033295, + 0.023928573355078697, + -2.1028571128845215, + -1.0399999618530273, + -0.19428572058677673, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + -0.02284143973152908, + -0.2592595896904354, + -0.8714414190912455, + -0.8562091355171513, + 0.9817965054832265, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 8 mm; move upward 7 mm; roll downward 7 degrees; pitch downward 6 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 2 mm; move right 188 mm; move upward 24 mm; roll downward 120 degrees; pitch downward 60 degrees; yaw clockwise 11 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 30 mm; move upward 23 mm; roll downward 27 degrees; pitch downward 23 degrees; yaw counterclockwise 10 degrees; open gripper;" + }, + { + "frame_index": 77, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 8 mm; move upward 7 mm; roll downward 7 degrees; pitch downward 6 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 4 mm; move right 187 mm; move upward 17 mm; roll downward 117 degrees; pitch downward 53 degrees; yaw clockwise 20 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 23 mm; move upward 16 mm; roll downward 20 degrees; pitch downward 17 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.007857142947614193, + 0.006785714533179998, + -0.11571428924798965, + -0.10571428388357162, + 0.04571428522467613, + 1.0 + ], + "delta_next_20": [ + 0.0039285714738070965, + -0.18678569793701172, + 0.016785716637969017, + -2.044285774230957, + -0.9314286708831787, + -0.3414285480976105, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + -0.02284143973152908, + -0.29629663435130127, + -0.8314853954238299, + -0.8300653605680639, + 0.9635931858586471, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 8 mm; move upward 7 mm; roll downward 7 degrees; pitch downward 6 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 4 mm; move right 187 mm; move upward 17 mm; roll downward 117 degrees; pitch downward 53 degrees; yaw clockwise 20 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 23 mm; move upward 16 mm; roll downward 20 degrees; pitch downward 17 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 78, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 7 mm; move upward 5 mm; roll downward 7 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 7 mm; move right 186 mm; move upward 10 mm; roll downward 114 degrees; pitch downward 47 degrees; yaw clockwise 28 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 15 mm; move upward 9 mm; roll downward 13 degrees; pitch downward 11 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.007142857648432255, + 0.0053571430034935474, + -0.11428571492433548, + -0.09857142716646194, + 0.04285714402794838, + 1.0 + ], + "delta_next_20": [ + 0.006785714533179998, + -0.18571427464485168, + 0.010000000707805157, + -1.988571286201477, + -0.8257143497467041, + -0.49142855405807495, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + 0.02601645961532517, + -0.44444471641321415, + -0.8214963634585981, + -0.7647058891077226, + 0.927186546609488, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 7 mm; move upward 5 mm; roll downward 7 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 7 mm; move right 186 mm; move upward 10 mm; roll downward 114 degrees; pitch downward 47 degrees; yaw clockwise 28 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 15 mm; move upward 9 mm; roll downward 13 degrees; pitch downward 11 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 79, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 8 mm; move upward 4 mm; roll downward 6 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 10 mm; move right 185 mm; move upward 5 mm; roll downward 111 degrees; pitch downward 42 degrees; yaw clockwise 37 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 8 mm; move upward 4 mm; roll downward 6 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.007500000298023224, + 0.0039285714738070965, + -0.1128571406006813, + -0.09142857044935226, + 0.03857142850756645, + 1.0 + ], + "delta_next_20": [ + 0.009642857126891613, + -0.18535713851451874, + 0.004642857238650322, + -1.9357141256332397, + -0.7271429300308228, + -0.6414285898208618, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + 0.0015875099418980465, + -0.5925927984751271, + -0.8115073314933663, + -0.6993464176473815, + 0.8725765402668668, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 8 mm; move upward 4 mm; roll downward 6 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 10 mm; move right 185 mm; move upward 5 mm; roll downward 111 degrees; pitch downward 42 degrees; yaw clockwise 37 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 8 mm; move upward 4 mm; roll downward 6 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 80, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the red indicator light (stop button). The appliance display remains illuminated, indicating an active state that requires interruption.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 10 mm; move upward 1 mm; roll downward 6 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 13 mm; move right 186 mm; move upward 1 mm; roll downward 108 degrees; pitch downward 36 degrees; yaw clockwise 45 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.010357143357396126, + 0.0007142857066355646, + -0.10999999940395355, + -0.07999999821186066, + 0.03142857179045677, + 1.0 + ], + "delta_next_20": [ + 0.012857143767178059, + -0.18571428954601288, + 0.0007142857066355646, + -1.8857141733169556, + -0.6357143521308899, + -0.7900000214576721, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + -0.1938442148524937, + -0.9259259650053905, + -0.7915293196596584, + -0.5947712496757865, + 0.7815598946750866, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 10 mm; move upward 1 mm; roll downward 6 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 13 mm; move right 186 mm; move upward 1 mm; roll downward 108 degrees; pitch downward 36 degrees; yaw clockwise 45 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 81, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave interface and remains stationary at the control panel, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave interface and remains stationary at the control panel, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 17 mm; move right 184 mm; move downward 0 mm; roll downward 105 degrees; pitch downward 32 degrees; yaw clockwise 53 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 80 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 20 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.013571429066359997, + 0.0, + -0.12142857164144516, + -0.0714285746216774, + 0.025714285671710968, + 1.0 + ], + "delta_next_20": [ + 0.016785716637969017, + -0.1842857152223587, + 0.0, + -1.837142825126648, + -0.5557143688201904, + -0.9314286112785339, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + -0.41370488932031246, + -1.0, + -0.8714414190912455, + -0.5163399248285243, + 0.708746568707886, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 17 mm; move right 184 mm; move downward 0 mm; roll downward 105 degrees; pitch downward 32 degrees; yaw clockwise 53 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 80 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 20 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 82, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave interface and remains stationary at the control panel, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave interface and remains stationary at the control panel, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 21 mm; move right 180 mm; move downward 0 mm; roll downward 102 degrees; pitch downward 28 degrees; yaw clockwise 61 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 66 mm; move downward 0 mm; roll downward 38 degrees; pitch downward 16 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 227, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.013928571715950966, + 0.0, + -0.14428570866584778, + -0.06714285910129547, + 0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + 0.02142857387661934, + -0.17964285612106323, + 0.0, + -1.7799999713897705, + -0.48428574204444885, + -1.0657143592834473, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + -0.4381338389937395, + -1.0, + -1.0, + -0.47712422831727064, + 0.5449165971489052, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 21 mm; move right 180 mm; move downward 0 mm; roll downward 102 degrees; pitch downward 28 degrees; yaw clockwise 61 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 66 mm; move downward 0 mm; roll downward 38 degrees; pitch downward 16 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 83, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave interface and remains stationary at the control panel, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave interface and remains stationary at the control panel, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 27 mm; move right 173 mm; move downward 0 mm; roll downward 98 degrees; pitch downward 24 degrees; yaw clockwise 68 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 53 mm; move downward 0 mm; roll downward 29 degrees; pitch downward 13 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 227, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.013214285485446453, + 0.0, + -0.14142857491970062, + -0.06142857298254967, + 0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.027142858132719994, + -0.1728571355342865, + 0.0, + -1.7042858600616455, + -0.4171428680419922, + -1.1814286708831787, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + -0.38927587594339785, + -1.0, + -1.0, + -0.42483664433147306, + 0.3992899555983218, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 27 mm; move right 173 mm; move downward 0 mm; roll downward 98 degrees; pitch downward 24 degrees; yaw clockwise 68 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 53 mm; move downward 0 mm; roll downward 29 degrees; pitch downward 13 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 84, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave interface and remains stationary at the control panel, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave interface and remains stationary at the control panel, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 34 mm; move right 165 mm; move downward 0 mm; roll downward 94 degrees; pitch downward 20 degrees; yaw clockwise 73 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 39 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 228, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.013214285485446453, + 0.0, + -0.12714286148548126, + -0.055714286863803864, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.033571433275938034, + -0.16500000655651093, + 0.0, + -1.6342856884002686, + -0.357142835855484, + -1.2799999713897705, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + -0.38927587594339785, + -1.0, + -0.911397494855417, + -0.3725490603456756, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 34 mm; move right 165 mm; move downward 0 mm; roll downward 94 degrees; pitch downward 20 degrees; yaw clockwise 73 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 39 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 85, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave interface and remains stationary at the control panel, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave interface and remains stationary at the control panel, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 41 mm; move right 156 mm; move downward 0 mm; roll downward 91 degrees; pitch downward 18 degrees; yaw clockwise 78 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 26 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 229, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.013214285485446453, + 0.0, + -0.12428571283817291, + -0.05285714194178581, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0414285771548748, + -0.15607143938541412, + 0.0, + -1.5828570127487183, + -0.3085714280605316, + -1.3700000047683716, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + -0.38927587594339785, + -1.0, + -0.8914194309249533, + -0.3464052513089655, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 41 mm; move right 156 mm; move downward 0 mm; roll downward 91 degrees; pitch downward 18 degrees; yaw clockwise 78 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 26 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 86, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave interface and remains stationary at the control panel, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave interface and remains stationary at the control panel, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 50 mm; move right 146 mm; move downward 0 mm; roll downward 88 degrees; pitch downward 15 degrees; yaw clockwise 83 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 229, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.012857143767178059, + 0.0, + -0.11999999731779099, + -0.04857143014669418, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.049642860889434814, + -0.14642858505249023, + 0.0, + -1.5342856645584106, + -0.26999998092651367, + -1.454285740852356, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + -0.3648469899734582, + -1.0, + -0.8614523871260137, + -0.30718958888533443, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 50 mm; move right 146 mm; move downward 0 mm; roll downward 88 degrees; pitch downward 15 degrees; yaw clockwise 83 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 87, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave interface and remains stationary at the control panel, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave interface and remains stationary at the control panel, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 11 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 58 mm; move right 134 mm; move downward 0 mm; roll downward 85 degrees; pitch downward 14 degrees; yaw clockwise 88 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 230, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.010714286006987095, + 0.0, + -0.11571428924798965, + -0.04285714402794838, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05821428820490837, + -0.13428573310375214, + 0.0, + -1.4885714054107666, + -0.24000000953674316, + -1.531428575515747, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + -0.21827316452592072, + -1.0, + -0.8314853954238299, + -0.25490200489953696, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 11 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 58 mm; move right 134 mm; move downward 0 mm; roll downward 85 degrees; pitch downward 14 degrees; yaw clockwise 88 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 88, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 11 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 68 mm; move right 124 mm; move downward 0 mm; roll downward 83 degrees; pitch downward 13 degrees; yaw clockwise 92 degrees; open gripper;\nSubtask Movement: move forward 13 mm; move right 85 mm; move downward 0 mm; roll downward 51 degrees; pitch downward 9 degrees; yaw clockwise 49 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 231, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.010714286006987095, + 0.0, + -0.10000000149011612, + -0.0357142873108387, + -0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + 0.06750000268220901, + -0.12357144802808762, + 0.0, + -1.4442856311798096, + -0.2200000137090683, + -1.5971428155899048, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + -0.21827316452592072, + -1.0, + -0.7216062521933031, + -0.1895425334391958, + 0.12624000843916328, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 11 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 68 mm; move right 124 mm; move downward 0 mm; roll downward 83 degrees; pitch downward 13 degrees; yaw clockwise 92 degrees; open gripper;", + "subtask_movement_text": "move forward 13 mm; move right 85 mm; move downward 0 mm; roll downward 51 degrees; pitch downward 9 degrees; yaw clockwise 49 degrees; open gripper;" + }, + { + "frame_index": 89, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 9 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 78 mm; move right 113 mm; move downward 0 mm; roll downward 81 degrees; pitch downward 12 degrees; yaw clockwise 94 degrees; open gripper;\nSubtask Movement: move forward 13 mm; move right 74 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 7 degrees; yaw clockwise 48 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 231, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.008571429178118706, + 0.0, + -0.09714286029338837, + -0.03285714238882065, + -0.02857142873108387, + 1.0 + ], + "delta_next_20": [ + 0.07750000804662704, + -0.1128571555018425, + 0.0, + -1.411428451538086, + -0.21000000834465027, + -1.6342856884002686, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + -0.0716994027818707, + -1.0, + -0.7016282403595953, + -0.1633987244024857, + 0.017020019488362292, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 9 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 78 mm; move right 113 mm; move downward 0 mm; roll downward 81 degrees; pitch downward 12 degrees; yaw clockwise 94 degrees; open gripper;", + "subtask_movement_text": "move forward 13 mm; move right 74 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 7 degrees; yaw clockwise 48 degrees; open gripper;" + }, + { + "frame_index": 90, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 8 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 88 mm; move right 104 mm; move upward 1 mm; roll downward 79 degrees; pitch downward 12 degrees; yaw clockwise 95 degrees; open gripper;\nSubtask Movement: move forward 13 mm; move right 65 mm; move downward 0 mm; roll downward 39 degrees; pitch downward 5 degrees; yaw clockwise 47 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 232, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.007500000298023224, + 0.0, + -0.09142857044935226, + -0.027142856270074844, + -0.041428569704294205, + 1.0 + ], + "delta_next_20": [ + 0.08785714954137802, + -0.10428571701049805, + 0.0007142857066355646, + -1.3785713911056519, + -0.2085714340209961, + -1.6514285802841187, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + 0.0015875099418980465, + -1.0, + -0.6616721645954238, + -0.11111114041668813, + -0.14680992833617734, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 8 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 88 mm; move right 104 mm; move upward 1 mm; roll downward 79 degrees; pitch downward 12 degrees; yaw clockwise 95 degrees; open gripper;", + "subtask_movement_text": "move forward 13 mm; move right 65 mm; move downward 0 mm; roll downward 39 degrees; pitch downward 5 degrees; yaw clockwise 47 degrees; open gripper;" + }, + { + "frame_index": 91, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 6 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 99 mm; move right 97 mm; move upward 1 mm; roll downward 77 degrees; pitch downward 12 degrees; yaw clockwise 95 degrees; open gripper;\nSubtask Movement: move forward 13 mm; move right 58 mm; move downward 0 mm; roll downward 34 degrees; pitch downward 3 degrees; yaw clockwise 44 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 233, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.006428571883589029, + 0.0, + -0.0771428570151329, + -0.02142857201397419, + -0.05285714194178581, + 1.0 + ], + "delta_next_20": [ + 0.09857143461704254, + -0.09678571671247482, + 0.0010714286472648382, + -1.3514286279678345, + -0.21571429073810577, + -1.6514285802841187, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + 0.07487439081392311, + -1.0, + -0.5617820533301289, + -0.05882357347470202, + -0.2924365802705786, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 6 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 99 mm; move right 97 mm; move upward 1 mm; roll downward 77 degrees; pitch downward 12 degrees; yaw clockwise 95 degrees; open gripper;", + "subtask_movement_text": "move forward 13 mm; move right 58 mm; move downward 0 mm; roll downward 34 degrees; pitch downward 3 degrees; yaw clockwise 44 degrees; open gripper;" + }, + { + "frame_index": 92, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 6 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 110 mm; move right 90 mm; move upward 1 mm; roll downward 77 degrees; pitch downward 13 degrees; yaw clockwise 94 degrees; open gripper;\nSubtask Movement: move forward 13 mm; move right 51 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 2 degrees; yaw clockwise 41 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 233, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.006071428768336773, + 0.0, + -0.07285714149475098, + -0.018571428954601288, + -0.05999999865889549, + 1.0 + ], + "delta_next_20": [ + 0.1096428632736206, + -0.09035714715719223, + 0.0010714286472648382, + -1.3371429443359375, + -0.22999998927116394, + -1.6357142925262451, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + 0.09930337233909392, + -1.0, + -0.5318150095311893, + -0.03267978148180328, + -0.38345322586235886, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 6 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 110 mm; move right 90 mm; move upward 1 mm; roll downward 77 degrees; pitch downward 13 degrees; yaw clockwise 94 degrees; open gripper;", + "subtask_movement_text": "move forward 13 mm; move right 51 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 2 degrees; yaw clockwise 41 degrees; open gripper;" + }, + { + "frame_index": 93, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 5 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 121 mm; move right 84 mm; move upward 1 mm; roll downward 76 degrees; pitch downward 14 degrees; yaw clockwise 92 degrees; open gripper;\nSubtask Movement: move forward 13 mm; move right 45 mm; move downward 0 mm; roll downward 25 degrees; pitch downward 1 degrees; yaw clockwise 38 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 234, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.005000000353902578, + 0.0, + -0.07000000029802322, + -0.011428571306169033, + -0.06714285910129547, + 1.0 + ], + "delta_next_20": [ + 0.12071429938077927, + -0.08428572118282318, + 0.0014285714132711291, + -1.3228572607040405, + -0.24857142567634583, + -1.6085714101791382, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + 0.17259025321111898, + -1.0, + -0.5118369976974815, + 0.03267969850044361, + -0.4744699189230216, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 5 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 121 mm; move right 84 mm; move upward 1 mm; roll downward 76 degrees; pitch downward 14 degrees; yaw clockwise 92 degrees; open gripper;", + "subtask_movement_text": "move forward 13 mm; move right 45 mm; move downward 0 mm; roll downward 25 degrees; pitch downward 1 degrees; yaw clockwise 38 degrees; open gripper;" + }, + { + "frame_index": 94, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 0 mm; move right 6 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 133 mm; move right 79 mm; move upward 1 mm; roll downward 75 degrees; pitch downward 16 degrees; yaw clockwise 90 degrees; open gripper;\nSubtask Movement: move forward 13 mm; move right 40 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 0 degrees; yaw clockwise 34 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 234, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0003571428533177823, + -0.006071428768336773, + 0.0, + -0.06285714358091354, + -0.008571428246796131, + -0.0771428570151329, + 1.0 + ], + "delta_next_20": [ + 0.13285715878009796, + -0.07928571850061417, + 0.0014285714132711291, + -1.308571696281433, + -0.27142855525016785, + -1.5700000524520874, + 1.0 + ], + "delta_full_state_norm": [ + 0.43709172732962465, + 0.09930337233909392, + -1.0, + -0.46189194206483397, + 0.058823490493342234, + -0.6018932037639608, + -1.0 + ], + "movement_text": "move forward 0 mm; move right 6 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 133 mm; move right 79 mm; move upward 1 mm; roll downward 75 degrees; pitch downward 16 degrees; yaw clockwise 90 degrees; open gripper;", + "subtask_movement_text": "move forward 13 mm; move right 40 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 0 degrees; yaw clockwise 34 degrees; open gripper;" + }, + { + "frame_index": 95, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 6 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 145 mm; move right 73 mm; move upward 1 mm; roll downward 74 degrees; pitch downward 17 degrees; yaw clockwise 87 degrees; open gripper;\nSubtask Movement: move forward 13 mm; move right 34 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 0 degrees; yaw clockwise 29 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 235, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0017857144121080637, + -0.006071428768336773, + 0.0, + -0.06285714358091354, + 0.0, + -0.09285714477300644, + 1.0 + ], + "delta_next_20": [ + 0.1453571617603302, + -0.07321429252624512, + 0.0014285714132711291, + -1.2985715866088867, + -0.29428571462631226, + -1.5200001001358032, + 1.0 + ], + "delta_full_state_norm": [ + 0.4813542006984928, + 0.09930337233909392, + -1.0, + -0.46189194206483397, + 0.13725485795013292, + -0.8021298620409834, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 6 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 145 mm; move right 73 mm; move upward 1 mm; roll downward 74 degrees; pitch downward 17 degrees; yaw clockwise 87 degrees; open gripper;", + "subtask_movement_text": "move forward 13 mm; move right 34 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 0 degrees; yaw clockwise 29 degrees; open gripper;" + }, + { + "frame_index": 96, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 7 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 157 mm; move right 67 mm; move upward 1 mm; roll downward 73 degrees; pitch downward 19 degrees; yaw clockwise 83 degrees; open gripper;\nSubtask Movement: move forward 11 mm; move right 28 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 0 degrees; yaw clockwise 24 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 235, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0017857144121080637, + -0.006785714533179998, + 0.0, + -0.06285714358091354, + 0.0, + -0.10000000149011612, + 1.0 + ], + "delta_next_20": [ + 0.15714286267757416, + -0.06714286655187607, + 0.0014285714132711291, + -1.281428575515747, + -0.32428571581840515, + -1.4514285326004028, + 1.0 + ], + "delta_full_state_norm": [ + 0.4813542006984928, + 0.050445441140495983, + -1.0, + -0.46189194206483397, + 0.13725485795013292, + -0.8931465076327635, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 7 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 157 mm; move right 67 mm; move upward 1 mm; roll downward 73 degrees; pitch downward 19 degrees; yaw clockwise 83 degrees; open gripper;", + "subtask_movement_text": "move forward 11 mm; move right 28 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 0 degrees; yaw clockwise 24 degrees; open gripper;" + }, + { + "frame_index": 97, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 7 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 170 mm; move right 61 mm; move upward 1 mm; roll downward 72 degrees; pitch downward 20 degrees; yaw clockwise 79 degrees; open gripper;\nSubtask Movement: move forward 9 mm; move right 21 mm; move downward 0 mm; roll downward 11 degrees; pitch downward 0 degrees; yaw clockwise 18 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 236, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0028571428265422583, + -0.006785714533179998, + 0.0, + -0.05999999865889549, + 0.0, + -0.10428571701049805, + 1.0 + ], + "delta_next_20": [ + 0.1696428656578064, + -0.061428576707839966, + 0.0014285714132711291, + -1.2599998712539673, + -0.34857141971588135, + -1.3757143020629883, + 1.0 + ], + "delta_full_state_norm": [ + 0.5145510478348734, + 0.050445441140495983, + -1.0, + -0.44191390418274823, + 0.13725485795013292, + -0.9477565139753846, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 7 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 170 mm; move right 61 mm; move upward 1 mm; roll downward 72 degrees; pitch downward 20 degrees; yaw clockwise 79 degrees; open gripper;", + "subtask_movement_text": "move forward 9 mm; move right 21 mm; move downward 0 mm; roll downward 11 degrees; pitch downward 0 degrees; yaw clockwise 18 degrees; open gripper;" + }, + { + "frame_index": 98, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 7 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 182 mm; move right 56 mm; move upward 1 mm; roll downward 71 degrees; pitch downward 21 degrees; yaw clockwise 74 degrees; open gripper;\nSubtask Movement: move forward 6 mm; move right 15 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 236, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0028571428265422583, + -0.006785714533179998, + 0.0, + -0.06142857298254967, + 0.0, + -0.1071428582072258, + 1.0 + ], + "delta_next_20": [ + 0.1817857325077057, + -0.055714286863803864, + 0.0014285714132711291, + -1.2357141971588135, + -0.36571428179740906, + -1.295714259147644, + 1.0 + ], + "delta_full_state_norm": [ + 0.5145510478348734, + 0.050445441140495983, + -1.0, + -0.45190293614798005, + 0.13725485795013292, + -0.9841631532245437, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 7 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 182 mm; move right 56 mm; move upward 1 mm; roll downward 71 degrees; pitch downward 21 degrees; yaw clockwise 74 degrees; open gripper;", + "subtask_movement_text": "move forward 6 mm; move right 15 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 99, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 8 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 195 mm; move right 51 mm; move upward 1 mm; roll downward 69 degrees; pitch downward 22 degrees; yaw clockwise 69 degrees; open gripper;\nSubtask Movement: move forward 3 mm; move right 8 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 237, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0032142859417945147, + -0.007857142947614193, + 0.0, + -0.06285714358091354, + 0.0, + -0.10999999940395355, + 1.0 + ], + "delta_next_20": [ + 0.19464287161827087, + -0.051428575068712234, + 0.0014285714132711291, + -1.205714225769043, + -0.37714284658432007, + -1.2128570079803467, + 1.0 + ], + "delta_full_state_norm": [ + 0.5256166731656156, + -0.02284143973152908, + -1.0, + -0.46189194206483397, + 0.13725485795013292, + -1.0, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 8 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 195 mm; move right 51 mm; move upward 1 mm; roll downward 69 degrees; pitch downward 22 degrees; yaw clockwise 69 degrees; open gripper;", + "subtask_movement_text": "move forward 3 mm; move right 8 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 100, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 9 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 207 mm; move right 46 mm; move upward 1 mm; roll downward 67 degrees; pitch downward 22 degrees; yaw clockwise 65 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 237, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0039285714738070965, + -0.008928571827709675, + 0.0, + -0.06142857298254967, + 0.0, + -0.10999999940395355, + 1.0 + ], + "delta_next_20": [ + 0.20714285969734192, + -0.04642857611179352, + 0.0014285714132711291, + -1.1685714721679688, + -0.3814285695552826, + -1.1271425485610962, + 1.0 + ], + "delta_full_state_norm": [ + 0.5477479021852156, + -0.09612835245529783, + -1.0, + -0.45190293614798005, + 0.13725485795013292, + -1.0, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 9 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 207 mm; move right 46 mm; move upward 1 mm; roll downward 67 degrees; pitch downward 22 degrees; yaw clockwise 65 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 101, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 9 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 219 mm; move right 41 mm; move upward 1 mm; roll downward 65 degrees; pitch downward 22 degrees; yaw clockwise 60 degrees; open gripper;\nSubtask Movement: move forward 1011 mm; move right 273 mm; move upward 1 mm; roll downward 70 degrees; pitch downward 22 degrees; yaw clockwise 74 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 238, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004642857238650322, + -0.008928571827709675, + 0.0, + -0.06428571790456772, + 0.0, + -0.10857142508029938, + 1.0 + ], + "delta_next_20": [ + 0.21892857551574707, + -0.040714289993047714, + 0.0014285714132711291, + -1.1271429061889648, + -0.38428571820259094, + -1.041428565979004, + 1.0 + ], + "delta_full_state_norm": [ + 0.5698791384187771, + -0.09612835245529783, + -1.0, + -0.4718809740300658, + 0.13725485795013292, + -1.0, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 9 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 219 mm; move right 41 mm; move upward 1 mm; roll downward 65 degrees; pitch downward 22 degrees; yaw clockwise 60 degrees; open gripper;", + "subtask_movement_text": "move forward 1011 mm; move right 273 mm; move upward 1 mm; roll downward 70 degrees; pitch downward 22 degrees; yaw clockwise 74 degrees; open gripper;" + }, + { + "frame_index": 102, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 7 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 230 mm; move right 36 mm; move upward 1 mm; roll downward 62 degrees; pitch downward 22 degrees; yaw clockwise 55 degrees; open gripper;\nSubtask Movement: move forward 1006 mm; move right 264 mm; move upward 1 mm; roll downward 67 degrees; pitch downward 22 degrees; yaw clockwise 67 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 238, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0057142856530845165, + -0.007142857648432255, + 0.0, + -0.06857142597436905, + 0.0, + -0.10285714268684387, + 1.0 + ], + "delta_next_20": [ + 0.23000001907348633, + -0.0357142873108387, + 0.0014285714132711291, + -1.0814284086227417, + -0.38428571820259094, + -0.9557144045829773, + 1.0 + ], + "delta_full_state_norm": [ + 0.6030759855551577, + 0.02601645961532517, + -1.0, + -0.5018479657322497, + 0.13725485795013292, + -0.9295531468819226, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 7 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 230 mm; move right 36 mm; move upward 1 mm; roll downward 62 degrees; pitch downward 22 degrees; yaw clockwise 55 degrees; open gripper;", + "subtask_movement_text": "move forward 1006 mm; move right 264 mm; move upward 1 mm; roll downward 67 degrees; pitch downward 22 degrees; yaw clockwise 67 degrees; open gripper;" + }, + { + "frame_index": 103, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 5 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 240 mm; move right 33 mm; move upward 1 mm; roll downward 59 degrees; pitch downward 22 degrees; yaw clockwise 50 degrees; open gripper;\nSubtask Movement: move forward 1001 mm; move right 257 mm; move upward 1 mm; roll downward 63 degrees; pitch downward 22 degrees; yaw clockwise 61 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 239, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006428571883589029, + -0.0053571430034935474, + 0.0, + -0.0714285746216774, + -0.0014285714132711291, + -0.09714286029338837, + 1.0 + ], + "delta_next_20": [ + 0.24000000953674316, + -0.0325000025331974, + 0.0014285714132711291, + -1.0314284563064575, + -0.38428571820259094, + -0.8757143616676331, + 1.0 + ], + "delta_full_state_norm": [ + 0.6252072362166421, + 0.14816130353769186, + -1.0, + -0.5218260296627133, + 0.12418296301892173, + -0.8567398683836045, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 5 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 240 mm; move right 33 mm; move upward 1 mm; roll downward 59 degrees; pitch downward 22 degrees; yaw clockwise 50 degrees; open gripper;", + "subtask_movement_text": "move forward 1001 mm; move right 257 mm; move upward 1 mm; roll downward 63 degrees; pitch downward 22 degrees; yaw clockwise 61 degrees; open gripper;" + }, + { + "frame_index": 104, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 4 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 249 mm; move right 31 mm; move upward 1 mm; roll downward 56 degrees; pitch downward 22 degrees; yaw clockwise 46 degrees; open gripper;\nSubtask Movement: move forward 994 mm; move right 251 mm; move upward 1 mm; roll downward 59 degrees; pitch downward 22 degrees; yaw clockwise 56 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 239, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007857142947614193, + -0.004285714589059353, + 0.0, + -0.07571428269147873, + -0.0071428571827709675, + -0.09000000357627869, + 1.0 + ], + "delta_next_20": [ + 0.24892857670783997, + -0.03142857179045677, + 0.0014285714132711291, + -0.9742857217788696, + -0.38285714387893677, + -0.8028572201728821, + 1.0 + ], + "delta_full_state_norm": [ + 0.6694696942558422, + 0.22144818440971692, + -1.0, + -0.551793021364897, + 0.07189538222883884, + -0.7657232227918243, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 4 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 249 mm; move right 31 mm; move upward 1 mm; roll downward 56 degrees; pitch downward 22 degrees; yaw clockwise 46 degrees; open gripper;", + "subtask_movement_text": "move forward 994 mm; move right 251 mm; move upward 1 mm; roll downward 59 degrees; pitch downward 22 degrees; yaw clockwise 56 degrees; open gripper;" + }, + { + "frame_index": 105, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 4 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 256 mm; move right 33 mm; move upward 1 mm; roll downward 52 degrees; pitch downward 22 degrees; yaw clockwise 42 degrees; open gripper;\nSubtask Movement: move forward 986 mm; move right 247 mm; move upward 1 mm; roll downward 54 degrees; pitch downward 22 degrees; yaw clockwise 51 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 239, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008214286528527737, + -0.0035714288242161274, + 0.0, + -0.07571428269147873, + -0.014285714365541935, + -0.08428571373224258, + 1.0 + ], + "delta_next_20": [ + 0.25607144832611084, + -0.0325000025331974, + 0.0014285714132711291, + -0.9114286303520203, + -0.3757143020629883, + -0.7371429800987244, + 1.0 + ], + "delta_full_state_norm": [ + 0.6805353340145073, + 0.27030611560831463, + -1.0, + -0.551793021364897, + 0.006535906507544764, + -0.6929098493557411, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 4 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 256 mm; move right 33 mm; move upward 1 mm; roll downward 52 degrees; pitch downward 22 degrees; yaw clockwise 42 degrees; open gripper;", + "subtask_movement_text": "move forward 986 mm; move right 247 mm; move upward 1 mm; roll downward 54 degrees; pitch downward 22 degrees; yaw clockwise 51 degrees; open gripper;" + }, + { + "frame_index": 106, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 1 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 263 mm; move right 35 mm; move upward 1 mm; roll downward 48 degrees; pitch downward 21 degrees; yaw clockwise 39 degrees; open gripper;\nSubtask Movement: move forward 978 mm; move right 244 mm; move upward 1 mm; roll downward 50 degrees; pitch downward 21 degrees; yaw clockwise 46 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 239, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008571429178118706, + -0.0007142857066355646, + 0.0, + -0.07428571581840515, + -0.018571428954601288, + -0.0771428570151329, + 1.0 + ], + "delta_next_20": [ + 0.26250001788139343, + -0.03464285656809807, + 0.0014285714132711291, + -0.8442857265472412, + -0.36142855882644653, + -0.6785714030265808, + 1.0 + ], + "delta_full_state_norm": [ + 0.6916009449173266, + 0.4657378443841744, + -1.0, + -0.5418040414964211, + -0.03267978148180328, + -0.6018932037639608, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 1 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 263 mm; move right 35 mm; move upward 1 mm; roll downward 48 degrees; pitch downward 21 degrees; yaw clockwise 39 degrees; open gripper;", + "subtask_movement_text": "move forward 978 mm; move right 244 mm; move upward 1 mm; roll downward 50 degrees; pitch downward 21 degrees; yaw clockwise 46 degrees; open gripper;" + }, + { + "frame_index": 107, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 269 mm; move right 41 mm; move upward 1 mm; roll downward 44 degrees; pitch downward 20 degrees; yaw clockwise 36 degrees; open gripper;\nSubtask Movement: move forward 970 mm; move right 243 mm; move upward 1 mm; roll downward 46 degrees; pitch downward 20 degrees; yaw clockwise 41 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 239, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + 0.0, + 0.0, + -0.0714285746216774, + -0.022857142612338066, + -0.0657142847776413, + 1.0 + ], + "delta_next_20": [ + 0.2685714662075043, + -0.040714289993047714, + 0.0014285714132711291, + -0.7757143378257751, + -0.34285712242126465, + -0.6285713911056519, + 1.0 + ], + "delta_full_state_norm": [ + 0.7137321667229652, + 0.5145957716013043, + -1.0, + -0.5218260296627133, + -0.0718954609492457, + -0.45626655182955955, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 269 mm; move right 41 mm; move upward 1 mm; roll downward 44 degrees; pitch downward 20 degrees; yaw clockwise 36 degrees; open gripper;", + "subtask_movement_text": "move forward 970 mm; move right 243 mm; move upward 1 mm; roll downward 46 degrees; pitch downward 20 degrees; yaw clockwise 41 degrees; open gripper;" + }, + { + "frame_index": 108, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 273 mm; move right 47 mm; move upward 1 mm; roll downward 41 degrees; pitch downward 18 degrees; yaw clockwise 34 degrees; open gripper;\nSubtask Movement: move forward 960 mm; move right 243 mm; move upward 1 mm; roll downward 41 degrees; pitch downward 18 degrees; yaw clockwise 38 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 238, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + 0.0, + 0.0, + -0.06714285910129547, + -0.025714285671710968, + -0.05714285746216774, + 1.0 + ], + "delta_next_20": [ + 0.27321431040763855, + -0.04678571596741676, + 0.0014285714132711291, + -0.7100000381469727, + -0.3199999928474426, + -0.5899999141693115, + 1.0 + ], + "delta_full_state_norm": [ + 0.7358634173844496, + 0.5145957716013043, + -1.0, + -0.49185898586377363, + -0.09803925294214444, + -0.34704658661319976, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 273 mm; move right 47 mm; move upward 1 mm; roll downward 41 degrees; pitch downward 18 degrees; yaw clockwise 34 degrees; open gripper;", + "subtask_movement_text": "move forward 960 mm; move right 243 mm; move upward 1 mm; roll downward 41 degrees; pitch downward 18 degrees; yaw clockwise 38 degrees; open gripper;" + }, + { + "frame_index": 109, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move upward 1 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 277 mm; move right 53 mm; move upward 1 mm; roll downward 37 degrees; pitch downward 17 degrees; yaw clockwise 32 degrees; open gripper;\nSubtask Movement: move forward 950 mm; move right 243 mm; move upward 1 mm; roll downward 38 degrees; pitch downward 17 degrees; yaw clockwise 34 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 238, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + 0.0, + 0.0007142857066355646, + -0.06428571790456772, + -0.03142857179045677, + -0.04571428522467613, + 1.0 + ], + "delta_next_20": [ + 0.2771429121494293, + -0.052500005811452866, + 0.0014285714132711291, + -0.6442857384681702, + -0.29428571462631226, + -0.5542856454849243, + 1.0 + ], + "delta_full_state_norm": [ + 0.7469290282872687, + 0.5145957716013043, + -0.9259259650053905, + -0.4718809740300658, + -0.15032683692794202, + -0.20141993467879848, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move upward 1 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 277 mm; move right 53 mm; move upward 1 mm; roll downward 37 degrees; pitch downward 17 degrees; yaw clockwise 32 degrees; open gripper;", + "subtask_movement_text": "move forward 950 mm; move right 243 mm; move upward 1 mm; roll downward 38 degrees; pitch downward 17 degrees; yaw clockwise 34 degrees; open gripper;" + }, + { + "frame_index": 110, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move upward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 280 mm; move right 58 mm; move upward 1 mm; roll downward 34 degrees; pitch downward 15 degrees; yaw clockwise 30 degrees; open gripper;\nSubtask Movement: move forward 940 mm; move right 243 mm; move upward 1 mm; roll downward 34 degrees; pitch downward 15 degrees; yaw clockwise 32 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 238, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + 0.0, + 0.0003571428533177823, + -0.06428571790456772, + -0.034285712987184525, + -0.041428569704294205, + 1.0 + ], + "delta_next_20": [ + 0.2803572118282318, + -0.05785714462399483, + 0.0007142857066355646, + -0.5857143402099609, + -0.2628571689128876, + -0.5285713076591492, + 1.0 + ], + "delta_full_state_norm": [ + 0.757994639190088, + 0.5145957716013043, + -0.9629629825026952, + -0.4718809740300658, + -0.1764706118770294, + -0.14680992833617734, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move upward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 280 mm; move right 58 mm; move upward 1 mm; roll downward 34 degrees; pitch downward 15 degrees; yaw clockwise 30 degrees; open gripper;", + "subtask_movement_text": "move forward 940 mm; move right 243 mm; move upward 1 mm; roll downward 34 degrees; pitch downward 15 degrees; yaw clockwise 32 degrees; open gripper;" + }, + { + "frame_index": 111, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 283 mm; move right 62 mm; move upward 0 mm; roll downward 30 degrees; pitch downward 13 degrees; yaw clockwise 29 degrees; open gripper;\nSubtask Movement: move forward 929 mm; move right 243 mm; move upward 0 mm; roll downward 30 degrees; pitch downward 13 degrees; yaw clockwise 29 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 237, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + -0.06285714358091354, + -0.0357142873108387, + -0.037142857909202576, + 1.0 + ], + "delta_next_20": [ + 0.28285714983940125, + -0.06178571656346321, + 0.0003571428533177823, + -0.5271428823471069, + -0.22857142984867096, + -0.5028570890426636, + 1.0 + ], + "delta_full_state_norm": [ + 0.7690602500929073, + 0.5145957716013043, + -1.0, + -0.46189194206483397, + -0.1895425334391958, + -0.0921999694624388, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 283 mm; move right 62 mm; move upward 0 mm; roll downward 30 degrees; pitch downward 13 degrees; yaw clockwise 29 degrees; open gripper;", + "subtask_movement_text": "move forward 929 mm; move right 243 mm; move upward 0 mm; roll downward 30 degrees; pitch downward 13 degrees; yaw clockwise 29 degrees; open gripper;" + }, + { + "frame_index": 112, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move upward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 286 mm; move right 64 mm; move upward 0 mm; roll downward 27 degrees; pitch downward 11 degrees; yaw clockwise 27 degrees; open gripper;\nSubtask Movement: move forward 918 mm; move right 243 mm; move upward 0 mm; roll downward 27 degrees; pitch downward 11 degrees; yaw clockwise 27 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 236, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0003571428533177823, + -0.058571428060531616, + -0.037142857909202576, + -0.03285714238882065, + 1.0 + ], + "delta_next_20": [ + 0.285714328289032, + -0.06428571790456772, + 0.0003571428533177823, + -0.46428579092025757, + -0.19285714626312256, + -0.4757142663002014, + 1.0 + ], + "delta_full_state_norm": [ + 0.7690602500929073, + 0.5145957716013043, + -0.9629629825026952, + -0.4319248982658943, + -0.2026144209137395, + -0.03758996311981766, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move upward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 286 mm; move right 64 mm; move upward 0 mm; roll downward 27 degrees; pitch downward 11 degrees; yaw clockwise 27 degrees; open gripper;", + "subtask_movement_text": "move forward 918 mm; move right 243 mm; move upward 0 mm; roll downward 27 degrees; pitch downward 11 degrees; yaw clockwise 27 degrees; open gripper;" + }, + { + "frame_index": 113, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 289 mm; move right 64 mm; move downward 0 mm; roll downward 23 degrees; pitch downward 9 degrees; yaw clockwise 25 degrees; open gripper;\nSubtask Movement: move forward 907 mm; move right 243 mm; move downward 0 mm; roll downward 23 degrees; pitch downward 9 degrees; yaw clockwise 25 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 236, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + 0.0, + 0.0, + -0.055714286863803864, + -0.034285712987184525, + -0.02857142873108387, + 1.0 + ], + "delta_next_20": [ + 0.28857144713401794, + -0.06428571790456772, + 0.0, + -0.40571433305740356, + -0.15571428835391998, + -0.44285714626312256, + 1.0 + ], + "delta_full_state_norm": [ + 0.802257111657211, + 0.5145957716013043, + -1.0, + -0.41194688643218647, + -0.1764706118770294, + 0.017020019488362292, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 289 mm; move right 64 mm; move downward 0 mm; roll downward 23 degrees; pitch downward 9 degrees; yaw clockwise 25 degrees; open gripper;", + "subtask_movement_text": "move forward 907 mm; move right 243 mm; move downward 0 mm; roll downward 23 degrees; pitch downward 9 degrees; yaw clockwise 25 degrees; open gripper;" + }, + { + "frame_index": 114, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 290 mm; move right 64 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 7 degrees; yaw clockwise 24 degrees; open gripper;\nSubtask Movement: move forward 895 mm; move right 243 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 7 degrees; yaw clockwise 24 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 235, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + 0.0, + -0.05285714194178581, + -0.03142857179045677, + -0.027142856270074844, + 1.0 + ], + "delta_next_20": [ + 0.29035720229148865, + -0.06428571790456772, + 0.0, + -0.3514286279678345, + -0.12142856419086456, + -0.4142857491970062, + 1.0 + ], + "delta_full_state_norm": [ + 0.8243883623186954, + 0.5145957716013043, + -1.0, + -0.3919688485501007, + -0.15032683692794202, + 0.03522336284738303, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 290 mm; move right 64 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 7 degrees; yaw clockwise 24 degrees; open gripper;", + "subtask_movement_text": "move forward 895 mm; move right 243 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 7 degrees; yaw clockwise 24 degrees; open gripper;" + }, + { + "frame_index": 115, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 291 mm; move right 64 mm; move downward 0 mm; roll downward 17 degrees; pitch downward 5 degrees; yaw clockwise 22 degrees; open gripper;\nSubtask Movement: move forward 882 mm; move right 243 mm; move downward 0 mm; roll downward 17 degrees; pitch downward 5 degrees; yaw clockwise 22 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 235, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013571429066359997, + 0.0, + 0.0, + -0.04571428522467613, + -0.029999999329447746, + -0.02428571507334709, + 1.0 + ], + "delta_next_20": [ + 0.2914286255836487, + -0.06428571790456772, + 0.0, + -0.29857146739959717, + -0.08999999612569809, + -0.3871428966522217, + 1.0 + ], + "delta_full_state_norm": [ + 0.8465195841243338, + 0.5145957716013043, + -1.0, + -0.34202379291745333, + -0.13725493240958697, + 0.07163000209654213, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 291 mm; move right 64 mm; move downward 0 mm; roll downward 17 degrees; pitch downward 5 degrees; yaw clockwise 22 degrees; open gripper;", + "subtask_movement_text": "move forward 882 mm; move right 243 mm; move downward 0 mm; roll downward 17 degrees; pitch downward 5 degrees; yaw clockwise 22 degrees; open gripper;" + }, + { + "frame_index": 116, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 293 mm; move right 64 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 3 degrees; yaw clockwise 21 degrees; open gripper;\nSubtask Movement: move forward 869 mm; move right 243 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 3 degrees; yaw clockwise 21 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 234, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.0010714286472648382, + 0.0, + -0.041428569704294205, + -0.02428571507334709, + -0.02428571507334709, + 1.0 + ], + "delta_next_20": [ + 0.2925000488758087, + -0.06428571790456772, + 0.0, + -0.25285714864730835, + -0.06000000238418579, + -0.3628571629524231, + 1.0 + ], + "delta_full_state_norm": [ + 0.8686508347858184, + 0.4413088748034075, + -1.0, + -0.31205674911851367, + -0.08496736546760075, + 0.07163000209654213, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 293 mm; move right 64 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 3 degrees; yaw clockwise 21 degrees; open gripper;", + "subtask_movement_text": "move forward 869 mm; move right 243 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 3 degrees; yaw clockwise 21 degrees; open gripper;" + }, + { + "frame_index": 117, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 294 mm; move right 63 mm; move downward 0 mm; roll downward 12 degrees; pitch downward 2 degrees; yaw clockwise 19 degrees; open gripper;\nSubtask Movement: move forward 854 mm; move right 242 mm; move downward 0 mm; roll downward 12 degrees; pitch downward 2 degrees; yaw clockwise 19 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 233, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + -0.0010714286472648382, + 0.0, + -0.0357142873108387, + -0.017142856493592262, + -0.02428571507334709, + 1.0 + ], + "delta_next_20": [ + 0.29357147216796875, + -0.06321428716182709, + 0.0, + -0.21142856776714325, + -0.0357142835855484, + -0.3385714590549469, + 1.0 + ], + "delta_full_state_norm": [ + 0.8907820565914568, + 0.4413088748034075, + -1.0, + -0.272100725451098, + -0.019607876963448234, + 0.07163000209654213, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 294 mm; move right 63 mm; move downward 0 mm; roll downward 12 degrees; pitch downward 2 degrees; yaw clockwise 19 degrees; open gripper;", + "subtask_movement_text": "move forward 854 mm; move right 242 mm; move downward 0 mm; roll downward 12 degrees; pitch downward 2 degrees; yaw clockwise 19 degrees; open gripper;" + }, + { + "frame_index": 118, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 3 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 295 mm; move right 62 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 1 degrees; yaw clockwise 18 degrees; open gripper;\nSubtask Movement: move forward 839 mm; move right 241 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 1 degrees; yaw clockwise 18 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 232, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015714285895228386, + -0.002500000176951289, + 0.0, + -0.03142857179045677, + -0.011428571306169033, + -0.02428571507334709, + 1.0 + ], + "delta_next_20": [ + 0.2946428954601288, + -0.062142856419086456, + 0.0, + -0.17571428418159485, + -0.018571428954601288, + -0.3142857253551483, + 1.0 + ], + "delta_full_state_norm": [ + 0.9129132783970955, + 0.34359301240621165, + -1.0, + -0.24213368165215832, + 0.03267969850044361, + 0.07163000209654213, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 3 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 295 mm; move right 62 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 1 degrees; yaw clockwise 18 degrees; open gripper;", + "subtask_movement_text": "move forward 839 mm; move right 241 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 1 degrees; yaw clockwise 18 degrees; open gripper;" + }, + { + "frame_index": 119, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 295 mm; move right 60 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw clockwise 17 degrees; open gripper;\nSubtask Movement: move forward 824 mm; move right 238 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw clockwise 17 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 232, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015714285895228386, + -0.0028571428265422583, + 0.0, + -0.025714285671710968, + -0.004285714123398066, + -0.02428571507334709, + 1.0 + ], + "delta_next_20": [ + 0.2950000464916229, + -0.05964285880327225, + 0.0, + -0.14428570866584778, + -0.00714285671710968, + -0.28999999165534973, + 1.0 + ], + "delta_full_state_norm": [ + 0.9129132783970955, + 0.3191640627327845, + -1.0, + -0.20217763193636484, + 0.09803917422173747, + 0.07163000209654213, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 295 mm; move right 60 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw clockwise 17 degrees; open gripper;", + "subtask_movement_text": "move forward 824 mm; move right 238 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw clockwise 17 degrees; open gripper;" + }, + { + "frame_index": 120, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 296 mm; move right 57 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 0 degrees; yaw clockwise 15 degrees; open gripper;\nSubtask Movement: move forward 808 mm; move right 235 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 0 degrees; yaw clockwise 15 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 231, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015714285895228386, + -0.0032142859417945147, + 0.0, + -0.019999999552965164, + -0.0028571428265422583, + -0.02428571507334709, + 1.0 + ], + "delta_next_20": [ + 0.2957143187522888, + -0.0567857101559639, + 0.0, + -0.11857143044471741, + -0.0028571428265422583, + -0.26571425795555115, + 1.0 + ], + "delta_full_state_norm": [ + 0.9129132783970955, + 0.2947350812076137, + -1.0, + -0.16222158222057126, + 0.11111106808771054, + 0.07163000209654213, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 296 mm; move right 57 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 0 degrees; yaw clockwise 15 degrees; open gripper;", + "subtask_movement_text": "move forward 808 mm; move right 235 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 0 degrees; yaw clockwise 15 degrees; open gripper;" + }, + { + "frame_index": 121, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 296 mm; move right 54 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 14 degrees; open gripper;\nSubtask Movement: move forward 792 mm; move right 232 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 14 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 230, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015714285895228386, + -0.0039285714738070965, + 0.0, + -0.018571428954601288, + 0.0, + -0.022857142612338066, + 1.0 + ], + "delta_next_20": [ + 0.2964285910129547, + -0.0535714291036129, + 0.0, + -0.09857141971588135, + 0.0, + -0.24142856895923615, + 1.0 + ], + "delta_full_state_norm": [ + 0.9129132783970955, + 0.24587716593488773, + -1.0, + -0.15223257630371734, + 0.13725485795013292, + 0.08983334545556287, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 296 mm; move right 54 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 14 degrees; open gripper;", + "subtask_movement_text": "move forward 792 mm; move right 232 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 14 degrees; open gripper;" + }, + { + "frame_index": 122, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 296 mm; move right 50 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 13 degrees; open gripper;\nSubtask Movement: move forward 776 mm; move right 228 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 229, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015714285895228386, + -0.0039285714738070965, + 0.0, + -0.018571428954601288, + 0.0, + -0.022857142612338066, + 1.0 + ], + "delta_next_20": [ + 0.2964285612106323, + -0.049642857164144516, + 0.0, + -0.07999999821186066, + 0.0, + -0.21857142448425293, + 1.0 + ], + "delta_full_state_norm": [ + 0.9129132783970955, + 0.24587716593488773, + -1.0, + -0.15223257630371734, + 0.13725485795013292, + 0.08983334545556287, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 296 mm; move right 50 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 13 degrees; open gripper;", + "subtask_movement_text": "move forward 776 mm; move right 228 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 123, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 295 mm; move right 46 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 11 degrees; open gripper;\nSubtask Movement: move forward 761 mm; move right 224 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 229, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + -0.004285714589059353, + 0.0, + -0.014285714365541935, + 0.0, + -0.02428571507334709, + 1.0 + ], + "delta_next_20": [ + 0.2946428954601288, + -0.04571428522467613, + 0.0, + -0.06142856925725937, + 0.0, + -0.19571428000926971, + 1.0 + ], + "delta_full_state_norm": [ + 0.9018476674942761, + 0.22144818440971692, + -1.0, + -0.1222655390168722, + 0.13725485795013292, + 0.07163000209654213, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 295 mm; move right 46 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 11 degrees; open gripper;", + "subtask_movement_text": "move forward 761 mm; move right 224 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 11 degrees; open gripper;" + }, + { + "frame_index": 124, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 292 mm; move right 41 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move forward 745 mm; move right 220 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 228, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + -0.0053571430034935474, + 0.0, + -0.012857142835855484, + 0.0, + -0.02428571507334709, + 1.0 + ], + "delta_next_20": [ + 0.29249998927116394, + -0.0414285771548748, + 0.0, + -0.04714285582304001, + 0.0, + -0.17142857611179352, + 1.0 + ], + "delta_full_state_norm": [ + 0.8907820565914568, + 0.14816130353769186, + -1.0, + -0.11227652658792375, + 0.13725485795013292, + 0.07163000209654213, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 292 mm; move right 41 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 745 mm; move right 220 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 125, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 291 mm; move right 36 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move forward 730 mm; move right 215 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 228, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.0057142856530845165, + 0.0, + -0.008571428246796131, + 0.0, + -0.025714285671710968, + 1.0 + ], + "delta_next_20": [ + 0.2907142639160156, + -0.03607143089175224, + 0.0, + -0.034285712987184525, + 0.0, + -0.14714285731315613, + 1.0 + ], + "delta_full_state_norm": [ + 0.8797164168327918, + 0.12373235386426473, + -1.0, + -0.08230948930107862, + 0.13725485795013292, + 0.05342668247196247, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 291 mm; move right 36 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move forward 730 mm; move right 215 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; open gripper;" + }, + { + "frame_index": 126, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 7 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 289 mm; move right 30 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move forward 716 mm; move right 209 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 227, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.006785714533179998, + 0.0, + -0.0057142856530845165, + 0.0, + -0.027142856270074844, + 1.0 + ], + "delta_next_20": [ + 0.28928568959236145, + -0.03035714291036129, + 0.0, + -0.025714285671710968, + 0.0, + -0.12142857164144516, + 1.0 + ], + "delta_full_state_norm": [ + 0.8797164168327918, + 0.050445441140495983, + -1.0, + -0.06233146769922904, + 0.13725485795013292, + 0.03522336284738303, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 7 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 289 mm; move right 30 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 716 mm; move right 209 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; open gripper;" + }, + { + "frame_index": 127, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 288 mm; move right 24 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 701 mm; move right 202 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 227, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.006071428768336773, + 0.0, + -0.0057142856530845165, + 0.0, + -0.027142856270074844, + 1.0 + ], + "delta_next_20": [ + 0.2882142663002014, + -0.023571429774165154, + 0.0, + -0.019999999552965164, + 0.0, + -0.09428571909666061, + 1.0 + ], + "delta_full_state_norm": [ + 0.8575851950271531, + 0.09930337233909392, + -1.0, + -0.06233146769922904, + 0.13725485795013292, + 0.03522336284738303, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 288 mm; move right 24 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 701 mm; move right 202 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 128, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 287 mm; move right 18 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 687 mm; move right 196 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 227, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.0057142856530845165, + 0.0, + -0.0014285714132711291, + 0.0, + -0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + 0.28749996423721313, + -0.0178571455180645, + 0.0, + -0.014285714365541935, + 0.0, + -0.06714285910129547, + 1.0 + ], + "delta_full_state_norm": [ + 0.8575851950271531, + 0.12373235386426473, + -1.0, + -0.03236443285441937, + 0.13725485795013292, + 0.10803666508014231, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 287 mm; move right 18 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 687 mm; move right 196 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 129, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 286 mm; move right 12 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 673 mm; move right 190 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013571429066359997, + -0.0053571430034935474, + 0.0, + -0.0057142856530845165, + 0.0, + -0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + 0.2864285409450531, + -0.012142857536673546, + 0.0, + -0.012857142835855484, + 0.0, + -0.045714281499385834, + 1.0 + ], + "delta_full_state_norm": [ + 0.8465195841243338, + 0.14816130353769186, + -1.0, + -0.06233146769922904, + 0.13725485795013292, + 0.12624000843916328, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 286 mm; move right 12 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 673 mm; move right 190 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 130, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 285 mm; move right 7 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 660 mm; move right 185 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + -0.0039285714738070965, + 0.0, + -0.0057142856530845165, + 0.0, + -0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + 0.28535714745521545, + -0.007142857648432255, + 0.0, + -0.0071428571827709675, + 0.0, + -0.025714285671710968, + 1.0 + ], + "delta_full_state_norm": [ + 0.8354539443656688, + 0.24587716593488773, + -1.0, + -0.06233146769922904, + 0.13725485795013292, + 0.18084999104734312, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 285 mm; move right 7 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 660 mm; move right 185 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 131, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 284 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 646 mm; move right 181 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.002500000176951289, + 0.0, + 0.0, + 0.0, + -0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + 0.28428569436073303, + -0.004642857238650322, + 0.0, + -0.0014285714132711291, + 0.0, + -0.009999999776482582, + 1.0 + ], + "delta_full_state_norm": [ + 0.8575851950271531, + 0.34359301240621165, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.2536633170145437, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 284 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 646 mm; move right 181 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 132, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 282 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 632 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28214284777641296, + -0.004285714589059353, + 0.0, + -0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8575851950271531, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 282 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 632 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 133, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 279 mm; move right 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 619 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + 0.0, + 0.0, + -0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.27892860770225525, + -0.007500000298023224, + 0.0, + -0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8575851950271531, + 0.5145957716013043, + -1.0, + -0.03236443285441937, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 279 mm; move right 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 619 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 134, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 275 mm; move right 11 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 605 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2753571569919586, + -0.01071428693830967, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8575851950271531, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 275 mm; move right 11 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 605 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 135, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 270 mm; move right 15 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 591 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2703571617603302, + -0.015357144176959991, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8797164168327918, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 270 mm; move right 15 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 591 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 136, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 263 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 576 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2628571689128876, + -0.021071430295705795, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9018476674942761, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 263 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 576 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 137, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 253 mm; move right 29 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 561 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01607142947614193, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2532143294811249, + -0.02857143059372902, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9239789181557605, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 253 mm; move right 29 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 561 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 138, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 242 mm; move right 38 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 545 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01607142947614193, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.24178571999073029, + -0.03750000149011612, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9239789181557605, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 242 mm; move right 38 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 545 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 139, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 229 mm; move right 47 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 529 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.016428573057055473, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22928574681282043, + -0.04714285954833031, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9350445579144255, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 229 mm; move right 47 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 529 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 140, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 217 mm; move right 58 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 512 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.016428573057055473, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2167857140302658, + -0.05785714462399483, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9350445579144255, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 217 mm; move right 58 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 512 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 141, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 204 mm; move right 69 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 496 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015714285895228386, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20392857491970062, + -0.06857143342494965, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9129132783970955, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 204 mm; move right 69 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 496 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 142, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 192 mm; move right 79 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 480 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.19214282929897308, + -0.07928571850061417, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8575851950271531, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 192 mm; move right 79 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 480 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 143, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 183 mm; move right 90 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 466 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18321426212787628, + -0.08964285999536514, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8354539443656688, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 183 mm; move right 90 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 466 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 144, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 176 mm; move right 100 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 453 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17571425437927246, + -0.09964286535978317, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8354539443656688, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 176 mm; move right 100 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 453 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 145, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 170 mm; move right 108 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 440 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.169642835855484, + -0.10750000923871994, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8354539443656688, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 170 mm; move right 108 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 440 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 146, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 164 mm; move right 115 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 426 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013571429066359997, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.16428568959236145, + -0.11500000953674316, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8465195841243338, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 164 mm; move right 115 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 426 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 147, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 159 mm; move right 121 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 413 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.15928570926189423, + -0.12107143551111221, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8354539443656688, + 0.49016680799273926, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 159 mm; move right 121 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 413 mm; move right 179 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 148, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 155 mm; move right 126 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 400 mm; move right 178 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.15535713732242584, + -0.12642858922481537, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8243883623186954, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 155 mm; move right 126 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 400 mm; move right 178 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 149, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 153 mm; move right 134 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 387 mm; move right 178 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1525000035762787, + -0.13357143104076385, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8133227225600304, + 0.49016680799273926, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 153 mm; move right 134 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 387 mm; move right 178 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 150, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 150 mm; move right 140 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 374 mm; move right 178 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + -0.0014285714132711291, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.15000002086162567, + -0.14000000059604645, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.802257111657211, + 0.41687991716704453, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 150 mm; move right 140 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 374 mm; move right 178 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 151, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 148 mm; move right 145 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 362 mm; move right 176 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + -0.0021428572945296764, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1478571593761444, + -0.145357146859169, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7911915007543917, + 0.3680219780055105, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 148 mm; move right 145 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 362 mm; move right 176 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 152, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 146 mm; move right 150 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 350 mm; move right 174 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + -0.0032142859417945147, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1460714489221573, + -0.15000000596046448, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.757994639190088, + 0.2947350812076137, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 146 mm; move right 150 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 350 mm; move right 174 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 153, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 146 mm; move right 153 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 340 mm; move right 171 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + -0.0032142859417945147, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.14571429789066315, + -0.15321429073810577, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7469290282872687, + 0.2947350812076137, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 146 mm; move right 153 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 340 mm; move right 171 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 154, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 146 mm; move right 155 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 329 mm; move right 168 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008928571827709675, + -0.004642857238650322, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.14571429789066315, + -0.15535715222358704, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7026665558201459, + 0.1970192347362898, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 146 mm; move right 155 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 329 mm; move right 168 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 155, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 148 mm; move right 155 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 320 mm; move right 163 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007142857648432255, + -0.0057142856530845165, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1478571593761444, + -0.1550000160932541, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6473384724502036, + 0.12373235386426473, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 148 mm; move right 155 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 320 mm; move right 163 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 156, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 153 mm; move right 153 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 313 mm; move right 158 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0057142856530845165, + -0.007500000298023224, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1525000035762787, + -0.15285715460777283, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6030759855551577, + 0.0015875099418980465, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 153 mm; move right 153 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 313 mm; move right 158 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 157, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 9 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 159 mm; move right 148 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 308 mm; move right 150 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004642857238650322, + -0.008928571827709675, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.15892857313156128, + -0.14750002324581146, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5698791384187771, + -0.09612835245529783, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 9 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 159 mm; move right 148 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 308 mm; move right 150 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 158, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 10 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 167 mm; move right 140 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 303 mm; move right 141 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0035714288242161274, + -0.009642857126891613, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.16678573191165924, + -0.14035716652870178, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5366822912823963, + -0.14498625180215197, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 10 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 167 mm; move right 140 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 303 mm; move right 141 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 159, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 11 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 176 mm; move right 131 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 299 mm; move right 131 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0039285714738070965, + -0.010714286006987095, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17571429908275604, + -0.13142859935760498, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5477479021852156, + -0.21827316452592072, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 11 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 176 mm; move right 131 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 299 mm; move right 131 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 160, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 11 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 184 mm; move right 121 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 295 mm; move right 121 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0035714288242161274, + -0.010714286006987095, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1842857301235199, + -0.12071430683135986, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5366822912823963, + -0.21827316452592072, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 11 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 184 mm; move right 121 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 295 mm; move right 121 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 161, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 11 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 193 mm; move right 110 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 292 mm; move right 110 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0039285714738070965, + -0.010714286006987095, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1932142972946167, + -0.11000001430511475, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5477479021852156, + -0.21827316452592072, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 11 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 193 mm; move right 110 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 292 mm; move right 110 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 162, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 10 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 201 mm; move right 99 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 288 mm; move right 99 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.005000000353902578, + -0.010357143357396126, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2014285773038864, + -0.09928571432828903, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5809447637495193, + -0.1938442148524937, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 10 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 201 mm; move right 99 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 288 mm; move right 99 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 163, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 10 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 209 mm; move right 89 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 283 mm; move right 89 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0057142856530845165, + -0.010000000707805157, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20892858505249023, + -0.08892857283353806, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6030759855551577, + -0.16941526517906658, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 10 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 209 mm; move right 89 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 283 mm; move right 89 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 164, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 216 mm; move right 79 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 277 mm; move right 79 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007142857648432255, + -0.007857142947614193, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21571429073810577, + -0.07892856746912003, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6473384724502036, + -0.02284143973152908, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 216 mm; move right 79 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 277 mm; move right 79 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 165, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 221 mm; move right 71 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 270 mm; move right 71 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007857142947614193, + -0.007500000298023224, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22142858803272247, + -0.07107143104076385, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6694696942558422, + 0.0015875099418980465, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 221 mm; move right 71 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 270 mm; move right 71 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 166, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 226 mm; move right 64 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 262 mm; move right 64 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008571429178118706, + -0.006071428768336773, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22607146203517914, + -0.06357143074274063, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6916009449173266, + 0.09930337233909392, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 226 mm; move right 64 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 262 mm; move right 64 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 167, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 230 mm; move right 58 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 254 mm; move right 58 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + -0.0057142856530845165, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23000000417232513, + -0.05750000476837158, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7137321667229652, + 0.12373235386426473, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 230 mm; move right 58 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 254 mm; move right 58 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 168, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 7 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 233 mm; move right 52 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 244 mm; move right 52 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + -0.007142857648432255, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23250000178813934, + -0.05178571864962578, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7358634173844496, + 0.02601645961532517, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 7 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 233 mm; move right 52 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 244 mm; move right 52 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 169, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 7 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 234 mm; move right 45 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 234 mm; move right 45 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + -0.006785714533179998, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23428574204444885, + -0.0446428619325161, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7358634173844496, + 0.050445441140495983, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 7 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 234 mm; move right 45 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 234 mm; move right 45 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 170, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 7 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 236 mm; move right 38 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 224 mm; move right 38 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + -0.006785714533179998, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23642860352993011, + -0.038214292377233505, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7358634173844496, + 0.050445441140495983, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 7 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 236 mm; move right 38 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 224 mm; move right 38 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 171, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 7 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 239 mm; move right 31 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 214 mm; move right 31 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + -0.006785714533179998, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23928573727607727, + -0.03142857551574707, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7358634173844496, + 0.050445441140495983, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 7 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 239 mm; move right 31 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 214 mm; move right 31 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 172, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 243 mm; move right 25 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 204 mm; move right 24 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + -0.006428571883589029, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.24285714328289032, + -0.024642858654260635, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7469290282872687, + 0.07487439081392311, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 243 mm; move right 25 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 204 mm; move right 24 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 173, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 247 mm; move right 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 194 mm; move right 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.24714286625385284, + -0.018214287236332893, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7469290282872687, + 0.14816130353769186, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 247 mm; move right 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 194 mm; move right 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 174, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 253 mm; move right 14 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 184 mm; move right 13 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2532142996788025, + -0.01392857264727354, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7690602500929073, + 0.22144818440971692, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 253 mm; move right 14 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 184 mm; move right 13 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 175, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 260 mm; move right 11 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 172 mm; move right 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + -0.0035714288242161274, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2596428096294403, + -0.010714286006987095, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7911915007543917, + 0.27030611560831463, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 260 mm; move right 11 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 172 mm; move right 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 176, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 266 mm; move right 9 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 161 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + -0.0021428572945296764, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2660714089870453, + -0.008928571827709675, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.802257111657211, + 0.3680219780055105, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 266 mm; move right 9 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 161 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 177, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 273 mm; move right 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 149 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + -0.0017857144121080637, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.27250000834465027, + -0.008214286528527737, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8133227225600304, + 0.3924509436048096, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 273 mm; move right 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 149 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 178, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 280 mm; move right 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 136 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + -0.0007142857066355646, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.27964285016059875, + -0.007857142947614193, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8133227225600304, + 0.4657378443841744, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 280 mm; move right 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 136 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 179, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 287 mm; move right 9 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 124 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28678569197654724, + -0.009285714477300644, + -0.0010714286472648382, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8133227225600304, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 287 mm; move right 9 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 124 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 180, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 291 mm; move right 10 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 111 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.29107141494750977, + -0.010357143357396126, + -0.0014285714132711291, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8133227225600304, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 291 mm; move right 10 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 111 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 181, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 287 mm; move right 10 mm; move downward 1 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 99 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2871428430080414, + -0.010357143357396126, + -0.0014285714132711291, + 0.011428571306169033, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.802257111657211, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 287 mm; move right 10 mm; move downward 1 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 99 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 182, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 275 mm; move right 10 mm; move downward 1 mm; roll upward 3 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 86 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2750000059604645, + -0.010357143357396126, + -0.0014285714132711291, + 0.04714285954833031, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8133227225600304, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 275 mm; move right 10 mm; move downward 1 mm; roll upward 3 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 86 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 183, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 256 mm; move right 10 mm; move downward 1 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 74 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2564285695552826, + -0.010357143357396126, + -0.0014285714132711291, + 0.11428572237491608, + 0.04571428522467613, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8133227225600304, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 256 mm; move right 10 mm; move downward 1 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 74 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 184, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 225 mm; move right 10 mm; move downward 1 mm; roll upward 10 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 61 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22464285790920258, + -0.010357143357396126, + -0.0014285714132711291, + 0.18285715579986572, + 0.09571428596973419, + -0.0014285714132711291, + 1.0 + ], + "delta_full_state_norm": [ + 0.8243883623186954, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 225 mm; move right 10 mm; move downward 1 mm; roll upward 10 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 61 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 185, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 182 mm; move right 10 mm; move downward 1 mm; roll upward 14 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 49 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18214289844036102, + -0.010357143357396126, + -0.0014285714132711291, + 0.2514285743236542, + 0.1542857140302658, + -0.0028571428265422583, + 1.0 + ], + "delta_full_state_norm": [ + 0.8133227225600304, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 182 mm; move right 10 mm; move downward 1 mm; roll upward 14 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 49 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 186, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 136 mm; move right 10 mm; move downward 1 mm; roll upward 19 degrees; pitch upward 13 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 36 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.13607142865657806, + -0.010357143357396126, + -0.0014285714132711291, + 0.33714285492897034, + 0.2328571379184723, + -0.011428571306169033, + 1.0 + ], + "delta_full_state_norm": [ + 0.8133227225600304, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 136 mm; move right 10 mm; move downward 1 mm; roll upward 19 degrees; pitch upward 13 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 36 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 187, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 84 mm; move right 8 mm; move downward 1 mm; roll upward 25 degrees; pitch upward 18 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 24 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.08392856270074844, + -0.007857142947614193, + -0.0014285714132711291, + 0.4399999976158142, + 0.31857141852378845, + -0.030000001192092896, + 1.0 + ], + "delta_full_state_norm": [ + 0.7911915007543917, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 84 mm; move right 8 mm; move downward 1 mm; roll upward 25 degrees; pitch upward 18 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 24 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 188, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 29 mm; move right 3 mm; move downward 1 mm; roll upward 32 degrees; pitch upward 23 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.02892857789993286, + -0.002500000176951289, + -0.0014285714132711291, + 0.5600000023841858, + 0.40714284777641296, + -0.05285714566707611, + 1.0 + ], + "delta_full_state_norm": [ + 0.7911915007543917, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 29 mm; move right 3 mm; move downward 1 mm; roll upward 32 degrees; pitch upward 23 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 189, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector moves from a lower position to contact and interact with the red stop button on the microwave control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 27 mm; move left 4 mm; move downward 1 mm; roll upward 40 degrees; pitch upward 29 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.027142858132719994, + 0.0039285714738070965, + -0.0014285714132711291, + 0.6942857503890991, + 0.5028571486473083, + -0.0771428644657135, + 1.0 + ], + "delta_full_state_norm": [ + 0.802257111657211, + 0.49016680799273926, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 27 mm; move left 4 mm; move downward 1 mm; roll upward 40 degrees; pitch upward 29 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 190, + "segment_id": 20490, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 85 mm; move left 11 mm; move downward 1 mm; roll upward 48 degrees; pitch upward 34 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 170 mm; move right 10 mm; move downward 1 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.08499999344348907, + 0.011071428656578064, + -0.0014285714132711291, + 0.8342857360839844, + 0.595714271068573, + -0.10285715013742447, + 1.0 + ], + "delta_full_state_norm": [ + 0.8243883623186954, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 85 mm; move left 11 mm; move downward 1 mm; roll upward 48 degrees; pitch upward 34 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 170 mm; move right 10 mm; move downward 1 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 191, + "segment_id": 20490, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 144 mm; move left 18 mm; move downward 1 mm; roll upward 56 degrees; pitch upward 40 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move forward 158 mm; move right 10 mm; move downward 1 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013571429066359997, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.14392855763435364, + 0.018214285373687744, + -0.0014285714132711291, + 0.9814286231994629, + 0.6899999976158142, + -0.12857143580913544, + 1.0 + ], + "delta_full_state_norm": [ + 0.8465195841243338, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 144 mm; move left 18 mm; move downward 1 mm; roll upward 56 degrees; pitch upward 40 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 158 mm; move right 10 mm; move downward 1 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 192, + "segment_id": 20490, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 204 mm; move left 25 mm; move downward 1 mm; roll upward 65 degrees; pitch upward 45 degrees; yaw clockwise 9 degrees; open gripper;\nSubtask Movement: move forward 144 mm; move right 10 mm; move downward 1 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.20357142388820648, + 0.025357142090797424, + -0.0014285714132711291, + 1.1328572034835815, + 0.7857142686843872, + -0.154285728931427, + 1.0 + ], + "delta_full_state_norm": [ + 0.8797164168327918, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 204 mm; move left 25 mm; move downward 1 mm; roll upward 65 degrees; pitch upward 45 degrees; yaw clockwise 9 degrees; open gripper;", + "subtask_movement_text": "move forward 144 mm; move right 10 mm; move downward 1 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 193, + "segment_id": 20490, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 265 mm; move left 33 mm; move downward 1 mm; roll upward 74 degrees; pitch upward 50 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move forward 129 mm; move right 10 mm; move downward 1 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.016428573057055473, + -0.0010714286472648382, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2646428346633911, + 0.03285714611411095, + -0.0014285714132711291, + 1.2885714769363403, + 0.8799999952316284, + -0.18000000715255737, + 1.0 + ], + "delta_full_state_norm": [ + 0.9350445579144255, + 0.4413088748034075, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 265 mm; move left 33 mm; move downward 1 mm; roll upward 74 degrees; pitch upward 50 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 129 mm; move right 10 mm; move downward 1 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 194, + "segment_id": 20490, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 328 mm; move left 41 mm; move downward 1 mm; roll upward 83 degrees; pitch upward 56 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 113 mm; move right 9 mm; move downward 1 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.017500000074505806, + -0.0010714286472648382, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3278571367263794, + 0.040714289993047714, + -0.0014285714132711291, + 1.4557143449783325, + 0.9742857217788696, + -0.2014285773038864, + 1.0 + ], + "delta_full_state_norm": [ + 0.9682413617670373, + 0.4413088748034075, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 18 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 328 mm; move left 41 mm; move downward 1 mm; roll upward 83 degrees; pitch upward 56 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 113 mm; move right 9 mm; move downward 1 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 195, + "segment_id": 20490, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 345 mm; move left 42 mm; move downward 1 mm; roll upward 83 degrees; pitch upward 56 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 95 mm; move right 8 mm; move downward 1 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018214285373687744, + -0.0017857144121080637, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.34535714983940125, + 0.04178571701049805, + -0.0014285714132711291, + 1.4557143449783325, + 0.9742857217788696, + -0.2014285773038864, + 1.0 + ], + "delta_full_state_norm": [ + 0.990372583572676, + 0.3924509436048096, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 18 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 345 mm; move left 42 mm; move downward 1 mm; roll upward 83 degrees; pitch upward 56 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 95 mm; move right 8 mm; move downward 1 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 196, + "segment_id": 20490, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 364 mm; move left 44 mm; move downward 1 mm; roll upward 83 degrees; pitch upward 56 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 77 mm; move right 6 mm; move downward 1 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018571428954601288, + -0.0014285714132711291, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.363571435213089, + 0.04357143118977547, + -0.0014285714132711291, + 1.4557143449783325, + 0.9742857217788696, + -0.2014285773038864, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.41687991716704453, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 19 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 364 mm; move left 44 mm; move downward 1 mm; roll upward 83 degrees; pitch upward 56 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 77 mm; move right 6 mm; move downward 1 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 197, + "segment_id": 20490, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 382 mm; move left 45 mm; move downward 1 mm; roll upward 83 degrees; pitch upward 56 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 59 mm; move right 5 mm; move downward 1 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01964285783469677, + -0.0014285714132711291, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3821428716182709, + 0.044999998062849045, + -0.0014285714132711291, + 1.4557143449783325, + 0.9742857217788696, + -0.2014285773038864, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.41687991716704453, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 20 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 382 mm; move left 45 mm; move downward 1 mm; roll upward 83 degrees; pitch upward 56 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 59 mm; move right 5 mm; move downward 1 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 198, + "segment_id": 20490, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 2 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 402 mm; move left 46 mm; move downward 1 mm; roll upward 83 degrees; pitch upward 56 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 39 mm; move right 3 mm; move downward 1 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01964285783469677, + -0.0021428572945296764, + -0.0010714286472648382, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4017857015132904, + 0.04642857238650322, + -0.0014285714132711291, + 1.4557143449783325, + 0.9742857217788696, + -0.2014285773038864, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.3680219780055105, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 20 mm; move right 2 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 402 mm; move left 46 mm; move downward 1 mm; roll upward 83 degrees; pitch upward 56 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 39 mm; move right 3 mm; move downward 1 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 199, + "segment_id": 20490, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 17 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 421 mm; move left 49 mm; move downward 0 mm; roll upward 83 degrees; pitch upward 56 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 19 mm; move right 1 mm; move downward 0 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.016785714775323868, + -0.0010714286472648382, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4214285910129547, + 0.04857143387198448, + -0.0003571428533177823, + 1.4557143449783325, + 0.9742857217788696, + -0.2014285773038864, + 1.0 + ], + "delta_full_state_norm": [ + 0.9461101399613989, + 0.4413088748034075, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 17 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 421 mm; move left 49 mm; move downward 0 mm; roll upward 83 degrees; pitch upward 56 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 19 mm; move right 1 mm; move downward 0 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 200, + "segment_id": 20490, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 438 mm; move left 50 mm; move downward 0 mm; roll upward 83 degrees; pitch upward 56 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 3 mm; move right 0 mm; move downward 0 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008571429178118706, + 0.0, + 0.0, + 0.011428571306169033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4382143020629883, + 0.049642860889434814, + 0.0, + 1.4557143449783325, + 0.9742857217788696, + -0.2014285773038864, + 1.0 + ], + "delta_full_state_norm": [ + 0.6916009449173266, + 0.5145957716013043, + -1.0, + 0.057536671680009865, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 438 mm; move left 50 mm; move downward 0 mm; roll upward 83 degrees; pitch upward 56 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 3 mm; move right 0 mm; move downward 0 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 201, + "segment_id": 20490, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 447 mm; move left 50 mm; move downward 0 mm; roll upward 83 degrees; pitch upward 56 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move backward 6 mm; move right 0 mm; move downward 0 mm; roll upward 6 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0357142873108387, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.44678574800491333, + 0.049642860889434814, + 0.0, + 1.4442857503890991, + 0.9742857217788696, + -0.2014285773038864, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + 0.5145957716013043, + -1.0, + 0.22734988297213254, + 0.17647054167852816, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 447 mm; move left 50 mm; move downward 0 mm; roll upward 83 degrees; pitch upward 56 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move backward 6 mm; move right 0 mm; move downward 0 mm; roll upward 6 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 202, + "segment_id": 20490, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 0 mm; move downward 0 mm; roll upward 4 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 447 mm; move left 50 mm; move downward 0 mm; roll upward 81 degrees; pitch upward 56 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move backward 6 mm; move right 0 mm; move downward 0 mm; roll upward 4 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006071428768336773, + 0.0, + 0.0, + 0.06714285910129547, + 0.041428569704294205, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.44678574800491333, + 0.049642860889434814, + 0.0, + 1.408571481704712, + 0.9700000286102295, + -0.2014285773038864, + 1.0 + ], + "delta_full_state_norm": [ + 0.23791060934327812, + 0.5145957716013043, + -1.0, + 0.4471081433848081, + 0.5163397992376362, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 6 mm; move right 0 mm; move downward 0 mm; roll upward 4 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 447 mm; move left 50 mm; move downward 0 mm; roll upward 81 degrees; pitch upward 56 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move backward 6 mm; move right 0 mm; move downward 0 mm; roll upward 4 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 203, + "segment_id": 20490, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically positioned over the stop button area. The lack of movement suggests the action of pressing or holding the button is currently being executed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 19 mm; move right 0 mm; move downward 0 mm; roll upward 4 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 441 mm; move left 50 mm; move downward 0 mm; roll upward 77 degrees; pitch upward 53 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.019285714253783226, + 0.0, + 0.0, + 0.06857142597436905, + 0.05000000074505806, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + -0.4407143294811249, + 0.049642860889434814, + 0.0, + 1.3414286375045776, + 0.9285714030265808, + -0.2014285773038864, + 1.0 + ], + "delta_full_state_norm": [ + -0.17151722490780175, + 0.5145957716013043, + -1.0, + 0.4570971232532841, + 0.5947711922601437, + 0.36288329558152665, + -1.0 + ], + "movement_text": "move backward 19 mm; move right 0 mm; move downward 0 mm; roll upward 4 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 441 mm; move left 50 mm; move downward 0 mm; roll upward 77 degrees; pitch upward 53 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 204, + "segment_id": 20504, + "subtask": "move away from the microwave", + "reason": "The robot's gripper is retracted and moving downwards, clearing the stop button area. The appliance remains stationary while the end-effector disengages from the interaction zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's gripper is retracted and moving downwards, clearing the stop button area. The appliance remains stationary while the end-effector disengages from the interaction zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 30 mm; move right 0 mm; move downward 0 mm; roll upward 4 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 421 mm; move left 50 mm; move downward 0 mm; roll upward 73 degrees; pitch upward 50 degrees; yaw clockwise 11 degrees; open gripper;\nSubtask Movement: move backward 375 mm; move left 43 mm; move downward 0 mm; roll upward 63 degrees; pitch upward 45 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.029642855748534203, + 0.0, + 0.0, + 0.06857142597436905, + 0.058571428060531616, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + -0.4214285910129547, + 0.049642860889434814, + 0.0, + 1.2728571891784668, + 0.8785714507102966, + -0.20000000298023224, + 1.0 + ], + "delta_full_state_norm": [ + -0.4924200853687899, + 0.5145957716013043, + -1.0, + 0.4570971232532841, + 0.6732025511950286, + 0.36288329558152665, + -1.0 + ], + "movement_text": "move backward 30 mm; move right 0 mm; move downward 0 mm; roll upward 4 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 421 mm; move left 50 mm; move downward 0 mm; roll upward 73 degrees; pitch upward 50 degrees; yaw clockwise 11 degrees; open gripper;", + "subtask_movement_text": "move backward 375 mm; move left 43 mm; move downward 0 mm; roll upward 63 degrees; pitch upward 45 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 205, + "segment_id": 20504, + "subtask": "move away from the microwave", + "reason": "The robot's gripper is retracted and moving downwards, clearing the stop button area. The appliance remains stationary while the end-effector disengages from the interaction zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's gripper is retracted and moving downwards, clearing the stop button area. The appliance remains stationary while the end-effector disengages from the interaction zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 34 mm; move right 0 mm; move downward 0 mm; roll upward 5 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 392 mm; move left 50 mm; move downward 0 mm; roll upward 69 degrees; pitch upward 47 degrees; yaw clockwise 11 degrees; open gripper;\nSubtask Movement: move backward 345 mm; move left 43 mm; move downward 0 mm; roll upward 59 degrees; pitch upward 42 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.033571429550647736, + 0.0, + 0.0, + 0.08571428805589676, + 0.07857143133878708, + -0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + -0.39178571105003357, + 0.049642860889434814, + 0.0, + 1.204285740852356, + 0.8199999928474426, + -0.19857142865657806, + 1.0 + ], + "delta_full_state_norm": [ + -0.614141949579031, + 0.5145957716013043, + -1.0, + 0.5769652984490428, + 0.8562091121891313, + 0.2718666485063439, + -1.0 + ], + "movement_text": "move backward 34 mm; move right 0 mm; move downward 0 mm; roll upward 5 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 392 mm; move left 50 mm; move downward 0 mm; roll upward 69 degrees; pitch upward 47 degrees; yaw clockwise 11 degrees; open gripper;", + "subtask_movement_text": "move backward 345 mm; move left 43 mm; move downward 0 mm; roll upward 59 degrees; pitch upward 42 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 206, + "segment_id": 20504, + "subtask": "move away from the microwave", + "reason": "The robot's gripper is retracted and moving downwards, clearing the stop button area. The appliance remains stationary while the end-effector disengages from the interaction zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's gripper is retracted and moving downwards, clearing the stop button area. The appliance remains stationary while the end-effector disengages from the interaction zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 40 mm; move left 3 mm; move downward 0 mm; roll upward 6 degrees; pitch upward 5 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 358 mm; move left 50 mm; move downward 0 mm; roll upward 64 degrees; pitch upward 42 degrees; yaw clockwise 11 degrees; open gripper;\nSubtask Movement: move backward 311 mm; move left 43 mm; move downward 0 mm; roll upward 55 degrees; pitch upward 37 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03964285925030708, + 0.002500000176951289, + 0.0, + 0.10285714268684387, + 0.08571428805589676, + -0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + -0.35821428894996643, + 0.049642860889434814, + 0.0, + 1.118571400642395, + 0.741428554058075, + -0.18999998271465302, + 1.0 + ], + "delta_full_state_norm": [ + -0.8022574792061878, + 0.685598530796397, + -1.0, + 0.6968334215480454, + 0.9215685836494725, + 0.14444332806374272, + -1.0 + ], + "movement_text": "move backward 40 mm; move left 3 mm; move downward 0 mm; roll upward 6 degrees; pitch upward 5 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 358 mm; move left 50 mm; move downward 0 mm; roll upward 64 degrees; pitch upward 42 degrees; yaw clockwise 11 degrees; open gripper;", + "subtask_movement_text": "move backward 311 mm; move left 43 mm; move downward 0 mm; roll upward 55 degrees; pitch upward 37 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 207, + "segment_id": 20504, + "subtask": "move away from the microwave", + "reason": "The robot's gripper is retracted and moving downwards, clearing the stop button area. The appliance remains stationary while the end-effector disengages from the interaction zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's gripper is retracted and moving downwards, clearing the stop button area. The appliance remains stationary while the end-effector disengages from the interaction zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 43 mm; move left 5 mm; move downward 0 mm; roll upward 7 degrees; pitch upward 5 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 319 mm; move left 47 mm; move downward 0 mm; roll upward 58 degrees; pitch upward 38 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move backward 272 mm; move left 40 mm; move downward 0 mm; roll upward 49 degrees; pitch upward 32 degrees; yaw clockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.04321428760886192, + 0.0053571430034935474, + 0.0, + 0.11999999731779099, + 0.08857142925262451, + -0.022857142612338066, + 1.0 + ], + "delta_next_20": [ + -0.31857141852378845, + 0.04714285954833031, + 0.0, + 1.0157142877578735, + 0.6557142734527588, + -0.17142857611179352, + 1.0 + ], + "delta_full_state_norm": [ + -0.9129136459460723, + 0.8810302396649168, + -1.0, + 0.816701544647048, + 0.9477123585985598, + 0.08983334545556287, + -1.0 + ], + "movement_text": "move backward 43 mm; move left 5 mm; move downward 0 mm; roll upward 7 degrees; pitch upward 5 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 319 mm; move left 47 mm; move downward 0 mm; roll upward 58 degrees; pitch upward 38 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move backward 272 mm; move left 40 mm; move downward 0 mm; roll upward 49 degrees; pitch upward 32 degrees; yaw clockwise 9 degrees; open gripper;" + }, + { + "frame_index": 208, + "segment_id": 20504, + "subtask": "move away from the microwave", + "reason": "The robot's gripper is retracted and moving downwards, clearing the stop button area. The appliance remains stationary while the end-effector disengages from the interaction zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's gripper is retracted and moving downwards, clearing the stop button area. The appliance remains stationary while the end-effector disengages from the interaction zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 44 mm; move left 6 mm; move downward 0 mm; roll upward 8 degrees; pitch upward 5 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 275 mm; move left 42 mm; move downward 0 mm; roll upward 51 degrees; pitch upward 32 degrees; yaw clockwise 9 degrees; open gripper;\nSubtask Movement: move backward 229 mm; move left 35 mm; move downward 0 mm; roll upward 42 degrees; pitch upward 27 degrees; yaw clockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.044285714626312256, + 0.006428571883589029, + 0.0, + 0.13428571820259094, + 0.09571428596973419, + -0.02428571507334709, + 1.0 + ], + "delta_next_20": [ + -0.27535712718963623, + 0.04178571701049805, + 0.0, + 0.895714282989502, + 0.5671428442001343, + -0.1485714316368103, + 1.0 + ], + "delta_full_state_norm": [ + -0.9461104497986842, + 0.9543171523886855, + -1.0, + 0.9165917080090988, + 1.0, + 0.07163000209654213, + -1.0 + ], + "movement_text": "move backward 44 mm; move left 6 mm; move downward 0 mm; roll upward 8 degrees; pitch upward 5 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 275 mm; move left 42 mm; move downward 0 mm; roll upward 51 degrees; pitch upward 32 degrees; yaw clockwise 9 degrees; open gripper;", + "subtask_movement_text": "move backward 229 mm; move left 35 mm; move downward 0 mm; roll upward 42 degrees; pitch upward 27 degrees; yaw clockwise 7 degrees; open gripper;" + }, + { + "frame_index": 209, + "segment_id": 20504, + "subtask": "move away from the microwave", + "reason": "The robot's gripper is retracted and moving downwards, clearing the stop button area. The appliance remains stationary while the end-effector disengages from the interaction zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's gripper is retracted and moving downwards, clearing the stop button area. The appliance remains stationary while the end-effector disengages from the interaction zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 46 mm; move left 7 mm; move downward 0 mm; roll upward 8 degrees; pitch upward 5 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 231 mm; move left 35 mm; move downward 0 mm; roll upward 44 degrees; pitch upward 27 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move backward 184 mm; move left 29 mm; move downward 0 mm; roll upward 34 degrees; pitch upward 22 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.04571428522467613, + 0.006785714533179998, + 0.0, + 0.14000000059604645, + 0.09285714477300644, + -0.025714285671710968, + 1.0 + ], + "delta_next_20": [ + -0.23107145726680756, + 0.035357143729925156, + 0.0, + 0.7614285945892334, + 0.4714285731315613, + -0.12428571283817291, + 1.0 + ], + "delta_full_state_norm": [ + -0.9903728934099613, + 0.9787461020621127, + -1.0, + 0.9565477316765143, + 0.9869280551098136, + 0.05342668247196247, + -1.0 + ], + "movement_text": "move backward 46 mm; move left 7 mm; move downward 0 mm; roll upward 8 degrees; pitch upward 5 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 231 mm; move left 35 mm; move downward 0 mm; roll upward 44 degrees; pitch upward 27 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move backward 184 mm; move left 29 mm; move downward 0 mm; roll upward 34 degrees; pitch upward 22 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 210, + "segment_id": 20504, + "subtask": "move away from the microwave", + "reason": "The robot's gripper is retracted and moving downwards, clearing the stop button area. The appliance remains stationary while the end-effector disengages from the interaction zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's gripper is retracted and moving downwards, clearing the stop button area. The appliance remains stationary while the end-effector disengages from the interaction zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 46 mm; move left 7 mm; move downward 0 mm; roll upward 8 degrees; pitch upward 5 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 185 mm; move left 29 mm; move downward 0 mm; roll upward 36 degrees; pitch upward 22 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move backward 139 mm; move left 22 mm; move downward 0 mm; roll upward 26 degrees; pitch upward 16 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.046071428805589676, + 0.007142857648432255, + 0.0, + 0.14714285731315613, + 0.09428571164608002, + -0.025714285671710968, + 1.0 + ], + "delta_next_20": [ + -0.18535713851451874, + 0.02857143059372902, + 0.0, + 0.6214285492897034, + 0.37857145071029663, + -0.09857142716646194, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 1.0, + -1.0, + 1.0, + 0.9999999084967346, + 0.05342668247196247, + -1.0 + ], + "movement_text": "move backward 46 mm; move left 7 mm; move downward 0 mm; roll upward 8 degrees; pitch upward 5 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 185 mm; move left 29 mm; move downward 0 mm; roll upward 36 degrees; pitch upward 22 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move backward 139 mm; move left 22 mm; move downward 0 mm; roll upward 26 degrees; pitch upward 16 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 211, + "segment_id": 20504, + "subtask": "move away from the microwave", + "reason": "The robot's gripper is retracted and moving downwards, clearing the stop button area. The appliance remains stationary while the end-effector disengages from the interaction zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's gripper is retracted and moving downwards, clearing the stop button area. The appliance remains stationary while the end-effector disengages from the interaction zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 46 mm; move left 7 mm; move downward 0 mm; roll upward 9 degrees; pitch upward 5 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 139 mm; move left 21 mm; move downward 0 mm; roll upward 27 degrees; pitch upward 16 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move backward 92 mm; move left 15 mm; move downward 0 mm; roll upward 18 degrees; pitch upward 11 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.046071428805589676, + 0.007142857648432255, + 0.0, + 0.15142856538295746, + 0.09571428596973419, + -0.025714285671710968, + 1.0 + ], + "delta_next_20": [ + -0.13928571343421936, + 0.02142857387661934, + 0.0, + 0.47428572177886963, + 0.2842857241630554, + -0.07285714149475098, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 1.0, + -1.0, + 1.0, + 1.0, + 0.05342668247196247, + -1.0 + ], + "movement_text": "move backward 46 mm; move left 7 mm; move downward 0 mm; roll upward 9 degrees; pitch upward 5 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 139 mm; move left 21 mm; move downward 0 mm; roll upward 27 degrees; pitch upward 16 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 92 mm; move left 15 mm; move downward 0 mm; roll upward 18 degrees; pitch upward 11 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 212, + "segment_id": 20504, + "subtask": "move away from the microwave", + "reason": "The robot's gripper is retracted and moving downwards, clearing the stop button area. The appliance remains stationary while the end-effector disengages from the interaction zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's gripper is retracted and moving downwards, clearing the stop button area. The appliance remains stationary while the end-effector disengages from the interaction zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 46 mm; move left 8 mm; move downward 0 mm; roll upward 9 degrees; pitch upward 5 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 93 mm; move left 14 mm; move downward 0 mm; roll upward 18 degrees; pitch upward 11 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move backward 46 mm; move left 8 mm; move downward 0 mm; roll upward 9 degrees; pitch upward 5 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.04642857238650322, + 0.007500000298023224, + 0.0, + 0.15571428835391998, + 0.09428571164608002, + -0.025714285671710968, + 1.0 + ], + "delta_next_20": [ + -0.09321428835391998, + 0.01428571529686451, + 0.0, + 0.322857141494751, + 0.18857142329216003, + -0.04714285582304001, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 1.0, + -1.0, + 1.0, + 0.9999999084967346, + 0.05342668247196247, + -1.0 + ], + "movement_text": "move backward 46 mm; move left 8 mm; move downward 0 mm; roll upward 9 degrees; pitch upward 5 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 93 mm; move left 14 mm; move downward 0 mm; roll upward 18 degrees; pitch upward 11 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move backward 46 mm; move left 8 mm; move downward 0 mm; roll upward 9 degrees; pitch upward 5 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 213, + "segment_id": 20504, + "subtask": "move away from the microwave", + "reason": "The robot's gripper is retracted and moving downwards, clearing the stop button area. The appliance remains stationary while the end-effector disengages from the interaction zone.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's gripper is retracted and moving downwards, clearing the stop button area. The appliance remains stationary while the end-effector disengages from the interaction zone.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 47 mm; move left 7 mm; move downward 0 mm; roll upward 10 degrees; pitch upward 5 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 227, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.04678571596741676, + 0.006785714533179998, + 0.0, + 0.167142853140831, + 0.09428571164608002, + -0.02142857201397419, + 1.0 + ], + "delta_full_state_norm": [ + 0.426026110114589, + 0.5145957716013043, + -1.0, + -0.022375421239482773, + 0.13725485795013292, + 0.38108662558992434, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 47 mm; move left 7 mm; move downward 0 mm; roll upward 10 degrees; pitch upward 5 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + } + ], + "all_object_names": [ + "obj" + ], + "obj_cat": "obj", + "distr_cats": [], + "grounding_camera": "robot0_agentview_left", + "grounding_method": "self_render_selfconsistent" +} \ No newline at end of file diff --git a/grounding_cot/TurnOffMicrowave/extras/episode_000002/cot_annotations.json b/grounding_cot/TurnOffMicrowave/extras/episode_000002/cot_annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..7732d96c85247e6160472fb461aa4841fef6305a --- /dev/null +++ b/grounding_cot/TurnOffMicrowave/extras/episode_000002/cot_annotations.json @@ -0,0 +1,11673 @@ +{ + "sample_key": "TurnOffMicrowave|2", + "subtask_list": [ + "approach the microwave", + "reach for the stop button", + "press the stop button", + "move away from the microwave" + ], + "segment_labels_raw": { + "1": [ + "reach for the stop button", + "The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control." + ], + "2": [ + "press the stop button", + "The robot's end-effector is positioned directly over the microwave control panel and exhibits slight motion consistent with pressing a specific key, following the previous approach phase." + ], + "3": [ + "press the stop button", + "The robot's end-effector is positioned directly over the microwave control panel with fingers extended, indicating an active interaction phase consistent with pressing a button." + ], + "4": [ + "press the stop button", + "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action." + ], + "5": [ + "press the stop button", + "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away." + ], + "6": [ + "press the stop button", + "The robot arm is positioned directly in front of the microwave control panel with the end-effector extended towards the interface, indicating it is performing the pressing action." + ], + "7": [ + "move away from the microwave", + "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction." + ], + "8": [ + "press the stop button", + "The robot's end-effector is positioned directly over the microwave control panel, indicating it has reached the target and is performing the pressing action." + ], + "9": [ + "press the stop button", + "The robot's end-effector is positioned directly over the microwave's control panel and remains stationary, indicating it is actively holding the stop button down." + ], + "10": [ + "move away from the microwave", + "The end-effector has released contact with the microwave and is retracting from the appliance, indicating the completion of the pressing action." + ] + }, + "instruction": "press the stop button on the microwave", + "suite": "TurnOffMicrowave", + "num_frames": 241, + "segment_count": 10, + "movement_statistics": { + "mean": [ + -0.0007157676391442658, + -0.0038114998044486686, + 0.0030868406075678953, + -0.025406046469089155, + -0.029644339153141217, + -0.008458802659601684, + 1.0 + ], + "std": [ + 0.014568936153442028, + 0.006564182001556103, + 0.00721786762528722, + 0.05238739203686553, + 0.04969575166725483, + 0.03409245861034726, + 0.0 + ], + "Q1": [ + -0.04878571406006813, + -0.023571429774165154, + -0.0020714286714792252, + -0.16599999964237214, + -0.11085714399814606, + -0.1428571492433548, + 1.0 + ], + "Q99": [ + 0.018928570672869682, + 0.008071429096162317, + 0.027000000700354573, + 0.0717142835259437, + 0.05400000065565107, + 0.0422857142984867, + 1.0 + ] + }, + "frames": [ + { + "frame_index": 0, + "segment_id": 30000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 311 mm; move left 1 mm; move upward 243 mm; roll downward 0 degrees; pitch downward 47 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move backward 204 mm; move left 1 mm; move upward 155 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.31107139587402344, + 0.0010714286472648382, + 0.24285714328289032, + 0.0, + -0.8185713887214661, + 0.06142856925725937, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.5124148651338956, + -0.857493903553592, + 0.3966345685813204, + 0.3448872659600122, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 311 mm; move left 1 mm; move upward 243 mm; roll downward 0 degrees; pitch downward 47 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 204 mm; move left 1 mm; move upward 155 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 1, + "segment_id": 30000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 335 mm; move left 1 mm; move upward 263 mm; roll downward 0 degrees; pitch downward 52 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move backward 204 mm; move left 1 mm; move upward 155 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.002500000176951289, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.33464282751083374, + 0.0007142857066355646, + 0.2628571689128876, + 0.0, + -0.9042856693267822, + 0.07571428269147873, + 1.0 + ], + "delta_full_state_norm": [ + 0.36708841362568, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.3448872659600122, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 3 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 335 mm; move left 1 mm; move upward 263 mm; roll downward 0 degrees; pitch downward 52 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 204 mm; move left 1 mm; move upward 155 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 2, + "segment_id": 30000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 0 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 355 mm; move right 1 mm; move upward 286 mm; roll downward 0 degrees; pitch downward 57 degrees; yaw counterclockwise 5 degrees; open gripper;\nSubtask Movement: move backward 201 mm; move left 1 mm; move upward 155 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.005000000353902578, + 0.0, + 0.0017857144121080637, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3553571403026581, + -0.00107142876368016, + 0.28607144951820374, + 0.0, + -0.9942857027053833, + 0.08999999612569809, + 1.0 + ], + "delta_full_state_norm": [ + 0.29324875578648446, + 0.4898415103106428, + -0.7346438176484424, + 0.3966345685813204, + 0.3448872659600122, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 5 mm; move right 0 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 355 mm; move right 1 mm; move upward 286 mm; roll downward 0 degrees; pitch downward 57 degrees; yaw counterclockwise 5 degrees; open gripper;", + "subtask_movement_text": "move backward 201 mm; move left 1 mm; move upward 155 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 3, + "segment_id": 30000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 0 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 374 mm; move right 4 mm; move upward 307 mm; roll downward 0 degrees; pitch downward 62 degrees; yaw counterclockwise 6 degrees; open gripper;\nSubtask Movement: move backward 196 mm; move left 1 mm; move upward 153 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.010000000707805157, + 0.0, + 0.005000000353902578, + 0.0, + -0.0071428571827709675, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3735714256763458, + -0.0039285714738070965, + 0.3067857325077057, + 0.0, + -1.0885714292526245, + 0.10428570955991745, + 1.0 + ], + "delta_full_state_norm": [ + 0.14556944010809292, + 0.4898415103106428, + -0.5135136630191734, + 0.3966345685813204, + 0.25823215902490704, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 10 mm; move right 0 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 374 mm; move right 4 mm; move upward 307 mm; roll downward 0 degrees; pitch downward 62 degrees; yaw counterclockwise 6 degrees; open gripper;", + "subtask_movement_text": "move backward 196 mm; move left 1 mm; move upward 153 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 4, + "segment_id": 30000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move left 1 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 387 mm; move right 9 mm; move upward 324 mm; roll downward 0 degrees; pitch downward 68 degrees; yaw counterclockwise 7 degrees; open gripper;\nSubtask Movement: move backward 186 mm; move left 1 mm; move upward 148 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 151, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012142857536673546, + 0.0007142857066355646, + 0.007500000298023224, + 0.0, + -0.018571428954601288, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3871428668498993, + -0.008928571827709675, + 0.3239285945892334, + 0.0, + -1.1785714626312256, + 0.11857142299413681, + 1.0 + ], + "delta_full_state_norm": [ + 0.08227831857106094, + 0.5349882199571485, + -0.34152355876979124, + 0.3966345685813204, + 0.11958398453917707, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 12 mm; move left 1 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 387 mm; move right 9 mm; move upward 324 mm; roll downward 0 degrees; pitch downward 68 degrees; yaw counterclockwise 7 degrees; open gripper;", + "subtask_movement_text": "move backward 186 mm; move left 1 mm; move upward 148 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 5, + "segment_id": 30000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 398 mm; move right 15 mm; move upward 339 mm; roll downward 0 degrees; pitch downward 72 degrees; yaw counterclockwise 7 degrees; open gripper;\nSubtask Movement: move backward 174 mm; move right 0 mm; move upward 140 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 151, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013214285485446453, + 0.0, + 0.008928571827709675, + 0.0, + -0.019999999552965164, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.39821431040763855, + -0.015357143245637417, + 0.3392857313156128, + 0.0, + -1.2614285945892334, + 0.12999999523162842, + 1.0 + ], + "delta_full_state_norm": [ + 0.05063277155625201, + 0.4898415103106428, + -0.24324349004567158, + 0.3966345685813204, + 0.10225297332084216, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 398 mm; move right 15 mm; move upward 339 mm; roll downward 0 degrees; pitch downward 72 degrees; yaw counterclockwise 7 degrees; open gripper;", + "subtask_movement_text": "move backward 174 mm; move right 0 mm; move upward 140 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 6, + "segment_id": 30000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 407 mm; move right 22 mm; move upward 353 mm; roll downward 0 degrees; pitch downward 77 degrees; yaw counterclockwise 8 degrees; open gripper;\nSubtask Movement: move backward 161 mm; move right 0 mm; move upward 131 mm; roll downward 0 degrees; pitch downward 23 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 151, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.014642857015132904, + 0.0, + 0.010357143357396126, + 0.0, + -0.027142856270074844, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.40714284777641296, + -0.022499999031424522, + 0.3525000214576721, + 0.0, + -1.3442857265472412, + 0.1371428519487381, + 1.0 + ], + "delta_full_state_norm": [ + 0.00843868136242576, + 0.4898415103106428, + -0.14496342132155204, + 0.3966345685813204, + 0.015597872035006954, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 15 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 407 mm; move right 22 mm; move upward 353 mm; roll downward 0 degrees; pitch downward 77 degrees; yaw counterclockwise 8 degrees; open gripper;", + "subtask_movement_text": "move backward 161 mm; move right 0 mm; move upward 131 mm; roll downward 0 degrees; pitch downward 23 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 7, + "segment_id": 30000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 414 mm; move right 30 mm; move upward 364 mm; roll downward 0 degrees; pitch downward 81 degrees; yaw counterclockwise 8 degrees; open gripper;\nSubtask Movement: move backward 146 mm; move right 0 mm; move upward 121 mm; roll downward 0 degrees; pitch downward 21 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 151, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.015000000596046448, + 0.0, + 0.010714286006987095, + 0.0, + -0.027142856270074844, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.41428571939468384, + -0.030000001192092896, + 0.3635714650154114, + 0.0, + -1.4214284420013428, + 0.14000000059604645, + 1.0 + ], + "delta_full_state_norm": [ + -0.0021098618165912297, + 0.4898415103106428, + -0.1203934201583492, + 0.3966345685813204, + 0.015597872035006954, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 15 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 414 mm; move right 30 mm; move upward 364 mm; roll downward 0 degrees; pitch downward 81 degrees; yaw counterclockwise 8 degrees; open gripper;", + "subtask_movement_text": "move backward 146 mm; move right 0 mm; move upward 121 mm; roll downward 0 degrees; pitch downward 21 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 8, + "segment_id": 30000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 0 mm; move upward 12 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 421 mm; move right 39 mm; move upward 375 mm; roll downward 0 degrees; pitch downward 86 degrees; yaw counterclockwise 8 degrees; open gripper;\nSubtask Movement: move backward 131 mm; move right 0 mm; move upward 110 mm; roll downward 0 degrees; pitch downward 19 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.015714285895228386, + 0.0, + 0.012142857536673546, + 0.0, + -0.03142857179045677, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.42071428894996643, + -0.03857142850756645, + 0.37535715103149414, + 0.0, + -1.5, + 0.14000000059604645, + 1.0 + ], + "delta_full_state_norm": [ + -0.023206893159797293, + 0.4898415103106428, + -0.022113351434229545, + 0.3966345685813204, + -0.036395206814157866, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 0 mm; move upward 12 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 421 mm; move right 39 mm; move upward 375 mm; roll downward 0 degrees; pitch downward 86 degrees; yaw counterclockwise 8 degrees; open gripper;", + "subtask_movement_text": "move backward 131 mm; move right 0 mm; move upward 110 mm; roll downward 0 degrees; pitch downward 19 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 9, + "segment_id": 30000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 18 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 426 mm; move right 48 mm; move upward 387 mm; roll downward 0 degrees; pitch downward 90 degrees; yaw counterclockwise 8 degrees; open gripper;\nSubtask Movement: move backward 116 mm; move right 0 mm; move upward 98 mm; roll downward 0 degrees; pitch downward 18 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.017500000074505806, + 0.0, + 0.013571429066359997, + 0.0, + -0.03857142850756645, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4264286160469055, + -0.04750000312924385, + 0.3871428668498993, + 0.0, + -1.5771428346633911, + 0.14000000059604645, + 1.0 + ], + "delta_full_state_norm": [ + -0.07594949902522641, + 0.4898415103106428, + 0.0761667172898901, + 0.3966345685813204, + -0.12305030809999296, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 18 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 426 mm; move right 48 mm; move upward 387 mm; roll downward 0 degrees; pitch downward 90 degrees; yaw counterclockwise 8 degrees; open gripper;", + "subtask_movement_text": "move backward 116 mm; move right 0 mm; move upward 98 mm; roll downward 0 degrees; pitch downward 18 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 10, + "segment_id": 30000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 18 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 430 mm; move right 57 mm; move upward 400 mm; roll upward 0 degrees; pitch downward 94 degrees; yaw counterclockwise 8 degrees; open gripper;\nSubtask Movement: move backward 98 mm; move right 0 mm; move upward 85 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.018214285373687744, + 0.0, + 0.01428571529686451, + 0.0, + -0.044285714626312256, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4303571283817291, + -0.05714286118745804, + 0.4003571569919586, + 0.0014285714132711291, + -1.645714282989502, + 0.14000000059604645, + 1.0 + ], + "delta_full_state_norm": [ + -0.09704653036843236, + 0.4898415103106428, + 0.12530678368760406, + 0.3966345685813204, + -0.1923743981674929, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 18 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 430 mm; move right 57 mm; move upward 400 mm; roll upward 0 degrees; pitch downward 94 degrees; yaw counterclockwise 8 degrees; open gripper;", + "subtask_movement_text": "move backward 98 mm; move right 0 mm; move upward 85 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 11, + "segment_id": 30000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 19 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 433 mm; move right 69 mm; move upward 414 mm; roll upward 0 degrees; pitch downward 98 degrees; yaw counterclockwise 8 degrees; open gripper;\nSubtask Movement: move backward 80 mm; move right 0 mm; move upward 70 mm; roll downward 0 degrees; pitch downward 13 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.018928570672869682, + 0.0, + 0.01428571529686451, + 0.0, + -0.04571428522467613, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4332142770290375, + -0.06857143342494965, + 0.41428571939468384, + 0.008571428246796131, + -1.7114285230636597, + 0.14000000059604645, + 1.0 + ], + "delta_full_state_norm": [ + -0.11814356171163831, + 0.4898415103106428, + 0.12530678368760406, + 0.3966345685813204, + -0.20970540938582793, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 19 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 433 mm; move right 69 mm; move upward 414 mm; roll upward 0 degrees; pitch downward 98 degrees; yaw counterclockwise 8 degrees; open gripper;", + "subtask_movement_text": "move backward 80 mm; move right 0 mm; move upward 70 mm; roll downward 0 degrees; pitch downward 13 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 12, + "segment_id": 30000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 435 mm; move right 82 mm; move upward 427 mm; roll upward 1 degrees; pitch downward 102 degrees; yaw counterclockwise 8 degrees; open gripper;\nSubtask Movement: move backward 61 mm; move right 0 mm; move upward 56 mm; roll downward 0 degrees; pitch downward 10 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.020000001415610313, + 0.0, + 0.01785714365541935, + 0.0, + -0.05285714194178581, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + -0.4350000023841858, + -0.08178571611642838, + 0.4274999797344208, + 0.009999999776482582, + -1.777142882347107, + 0.14000000059604645, + 1.0 + ], + "delta_full_state_norm": [ + -0.14978919124868972, + 0.4898415103106428, + 0.37100692346224884, + 0.3966345685813204, + -0.296360510671663, + 0.6049381977736541, + -1.0 + ], + "movement_text": "move backward 20 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 435 mm; move right 82 mm; move upward 427 mm; roll upward 1 degrees; pitch downward 102 degrees; yaw counterclockwise 8 degrees; open gripper;", + "subtask_movement_text": "move backward 61 mm; move right 0 mm; move upward 56 mm; roll downward 0 degrees; pitch downward 10 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 13, + "segment_id": 30000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 435 mm; move right 96 mm; move upward 436 mm; roll upward 1 degrees; pitch downward 105 degrees; yaw counterclockwise 8 degrees; open gripper;\nSubtask Movement: move backward 41 mm; move right 0 mm; move upward 38 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02071428671479225, + 0.0, + 0.020357143133878708, + 0.0, + -0.06142857298254967, + 0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + -0.43535709381103516, + -0.09571428596973419, + 0.4364285469055176, + 0.009999999776482582, + -1.8314285278320312, + 0.13428571820259094, + 1.0 + ], + "delta_full_state_norm": [ + -0.17088622259189568, + 0.4898415103106428, + 0.542996995675977, + 0.3966345685813204, + -0.4003466683699929, + 0.6203702962644835, + -1.0 + ], + "movement_text": "move backward 21 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 435 mm; move right 96 mm; move upward 436 mm; roll upward 1 degrees; pitch downward 105 degrees; yaw counterclockwise 8 degrees; open gripper;", + "subtask_movement_text": "move backward 41 mm; move right 0 mm; move upward 38 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 14, + "segment_id": 30000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 436 mm; move right 110 mm; move upward 443 mm; roll upward 1 degrees; pitch downward 108 degrees; yaw counterclockwise 7 degrees; open gripper;\nSubtask Movement: move backward 20 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 155, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.020357143133878708, + 0.0, + 0.01785714365541935, + 0.0, + -0.0657142847776413, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + -0.4357142448425293, + -0.10964285582304001, + 0.4432142674922943, + 0.012857142835855484, + -1.8785713911056519, + 0.12714286148548126, + 1.0 + ], + "delta_full_state_norm": [ + -0.16033767941287858, + 0.4898415103106428, + 0.37100692346224884, + 0.3966345685813204, + -0.45233970202499807, + 0.6049381977736541, + -1.0 + ], + "movement_text": "move backward 20 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 436 mm; move right 110 mm; move upward 443 mm; roll upward 1 degrees; pitch downward 108 degrees; yaw counterclockwise 7 degrees; open gripper;", + "subtask_movement_text": "move backward 20 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 15, + "segment_id": 30000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, with the arm extended and fingers oriented towards the buttons, indicating an approach to grasp or press a specific control.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 435 mm; move right 124 mm; move upward 452 mm; roll upward 1 degrees; pitch downward 110 degrees; yaw counterclockwise 7 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 155, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.020357143133878708, + 0.0, + 0.01714285835623741, + 0.0, + -0.06714285910129547, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + -0.43535709381103516, + -0.12357141822576523, + 0.45178571343421936, + 0.015714285895228386, + -1.9171428680419922, + 0.12142856419086456, + 1.0 + ], + "delta_full_state_norm": [ + -0.16033767941287858, + 0.4898415103106428, + 0.32186692113584314, + 0.3966345685813204, + -0.46967075843749295, + 0.6049381977736541, + -1.0 + ], + "movement_text": "move backward 20 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 435 mm; move right 124 mm; move upward 452 mm; roll upward 1 degrees; pitch downward 110 degrees; yaw counterclockwise 7 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 16, + "segment_id": 40000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel and exhibits slight motion consistent with pressing a specific key, following the previous approach phase.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel and exhibits slight motion consistent with pressing a specific key, following the previous approach phase.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 435 mm; move right 138 mm; move upward 459 mm; roll upward 1 degrees; pitch downward 112 degrees; yaw counterclockwise 7 degrees; open gripper;\nSubtask Movement: move backward 180 mm; move right 10 mm; move upward 159 mm; roll downward 0 degrees; pitch downward 39 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 156, + 98 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02071428671479225, + 0.0, + 0.01785714365541935, + 0.0, + -0.07428571581840515, + 0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + -0.43464285135269165, + -0.13785713911056519, + 0.459285706281662, + 0.017142856493592262, + -1.9528571367263794, + 0.11571428179740906, + 1.0 + ], + "delta_full_state_norm": [ + -0.17088622259189568, + 0.4898415103106428, + 0.37100692346224884, + 0.3966345685813204, + -0.5563258597233279, + 0.6358023897250218, + -1.0 + ], + "movement_text": "move backward 21 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 435 mm; move right 138 mm; move upward 459 mm; roll upward 1 degrees; pitch downward 112 degrees; yaw counterclockwise 7 degrees; open gripper;", + "subtask_movement_text": "move backward 180 mm; move right 10 mm; move upward 159 mm; roll downward 0 degrees; pitch downward 39 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 17, + "segment_id": 40000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel and exhibits slight motion consistent with pressing a specific key, following the previous approach phase.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel and exhibits slight motion consistent with pressing a specific key, following the previous approach phase.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 432 mm; move right 153 mm; move upward 463 mm; roll upward 1 degrees; pitch downward 113 degrees; yaw counterclockwise 6 degrees; open gripper;\nSubtask Movement: move backward 160 mm; move right 10 mm; move upward 141 mm; roll downward 0 degrees; pitch downward 35 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 98 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02071428671479225, + 0.0, + 0.01785714365541935, + 0.0, + -0.07571428269147873, + 0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + -0.4324999749660492, + -0.1525000035762787, + 0.4625000059604645, + 0.017142856493592262, + -1.9757142066955566, + 0.1071428507566452, + 1.0 + ], + "delta_full_state_norm": [ + -0.17088622259189568, + 0.4898415103106428, + 0.37100692346224884, + 0.3966345685813204, + -0.5736568257475032, + 0.6358023897250218, + -1.0 + ], + "movement_text": "move backward 21 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 432 mm; move right 153 mm; move upward 463 mm; roll upward 1 degrees; pitch downward 113 degrees; yaw counterclockwise 6 degrees; open gripper;", + "subtask_movement_text": "move backward 160 mm; move right 10 mm; move upward 141 mm; roll downward 0 degrees; pitch downward 35 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 18, + "segment_id": 40000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel and exhibits slight motion consistent with pressing a specific key, following the previous approach phase.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel and exhibits slight motion consistent with pressing a specific key, following the previous approach phase.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 430 mm; move right 169 mm; move upward 464 mm; roll upward 1 degrees; pitch downward 114 degrees; yaw counterclockwise 6 degrees; open gripper;\nSubtask Movement: move backward 139 mm; move right 10 mm; move upward 123 mm; roll downward 0 degrees; pitch downward 30 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 97 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.021785713732242584, + 0.0, + 0.01785714365541935, + 0.0, + -0.0771428570151329, + 0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + -0.42964282631874084, + -0.16857142746448517, + 0.4635714590549469, + 0.017142856493592262, + -1.9928569793701172, + 0.09857142716646194, + 1.0 + ], + "delta_full_state_norm": [ + -0.2025317420992906, + 0.4898415103106428, + 0.37100692346224884, + 0.3966345685813204, + -0.590987882159998, + 0.6358023897250218, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 430 mm; move right 169 mm; move upward 464 mm; roll upward 1 degrees; pitch downward 114 degrees; yaw counterclockwise 6 degrees; open gripper;", + "subtask_movement_text": "move backward 139 mm; move right 10 mm; move upward 123 mm; roll downward 0 degrees; pitch downward 30 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 19, + "segment_id": 40000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel and exhibits slight motion consistent with pressing a specific key, following the previous approach phase.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel and exhibits slight motion consistent with pressing a specific key, following the previous approach phase.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 24 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 425 mm; move right 186 mm; move upward 461 mm; roll upward 1 degrees; pitch downward 115 degrees; yaw counterclockwise 5 degrees; open gripper;\nSubtask Movement: move backward 117 mm; move right 10 mm; move upward 105 mm; roll downward 0 degrees; pitch downward 26 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 158, + 97 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.023571429774165154, + 0.0, + 0.017500000074505806, + 0.0, + -0.08428571373224258, + 0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + -0.4249999523162842, + -0.18607142567634583, + 0.46142861247062683, + 0.017142856493592262, + -2.005714178085327, + 0.08999999612569809, + 1.0 + ], + "delta_full_state_norm": [ + -0.25527440297954795, + 0.4898415103106428, + 0.34643685822773795, + 0.3966345685813204, + -0.6776429834458331, + 0.666666586706681, + -1.0 + ], + "movement_text": "move backward 24 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 425 mm; move right 186 mm; move upward 461 mm; roll upward 1 degrees; pitch downward 115 degrees; yaw counterclockwise 5 degrees; open gripper;", + "subtask_movement_text": "move backward 117 mm; move right 10 mm; move upward 105 mm; roll downward 0 degrees; pitch downward 26 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 20, + "segment_id": 40000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel and exhibits slight motion consistent with pressing a specific key, following the previous approach phase.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel and exhibits slight motion consistent with pressing a specific key, following the previous approach phase.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 24 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 418 mm; move right 204 mm; move upward 457 mm; roll upward 1 degrees; pitch downward 115 degrees; yaw counterclockwise 5 degrees; open gripper;\nSubtask Movement: move backward 94 mm; move right 10 mm; move upward 88 mm; roll downward 0 degrees; pitch downward 21 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 159, + 97 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.023571429774165154, + 0.0, + 0.020000001415610313, + 0.0, + -0.08571428805589676, + 0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + -0.4178571403026581, + -0.20428572595119476, + 0.45749998092651367, + 0.017142856493592262, + -2.0085713863372803, + 0.07857142388820648, + 1.0 + ], + "delta_full_state_norm": [ + -0.25527440297954795, + 0.4898415103106428, + 0.5184270585840822, + 0.3966345685813204, + -0.694974039858328, + 0.6975307836883402, + -1.0 + ], + "movement_text": "move backward 24 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 418 mm; move right 204 mm; move upward 457 mm; roll upward 1 degrees; pitch downward 115 degrees; yaw counterclockwise 5 degrees; open gripper;", + "subtask_movement_text": "move backward 94 mm; move right 10 mm; move upward 88 mm; roll downward 0 degrees; pitch downward 21 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 21, + "segment_id": 40000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel and exhibits slight motion consistent with pressing a specific key, following the previous approach phase.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel and exhibits slight motion consistent with pressing a specific key, following the previous approach phase.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 23 mm; move right 2 mm; move upward 23 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 410 mm; move right 224 mm; move upward 449 mm; roll upward 1 degrees; pitch downward 115 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move backward 70 mm; move right 10 mm; move upward 68 mm; roll downward 0 degrees; pitch downward 16 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 159, + 96 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02321428619325161, + -0.0017857144121080637, + 0.02321428619325161, + 0.0, + -0.09000000357627869, + 0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + -0.4099999964237213, + -0.22357144951820374, + 0.44928571581840515, + 0.017142856493592262, + -2.0085713863372803, + 0.06428571790456772, + 1.0 + ], + "delta_full_state_norm": [ + -0.24472585980053085, + 0.37697472699678314, + 0.7395571331242163, + 0.3966345685813204, + -0.7469671187074929, + 0.6975307836883402, + -1.0 + ], + "movement_text": "move backward 23 mm; move right 2 mm; move upward 23 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 410 mm; move right 224 mm; move upward 449 mm; roll upward 1 degrees; pitch downward 115 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 70 mm; move right 10 mm; move upward 68 mm; roll downward 0 degrees; pitch downward 16 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 22, + "segment_id": 40000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel and exhibits slight motion consistent with pressing a specific key, following the previous approach phase.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel and exhibits slight motion consistent with pressing a specific key, following the previous approach phase.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 23 mm; move right 3 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 401 mm; move right 243 mm; move upward 435 mm; roll upward 1 degrees; pitch downward 115 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move backward 47 mm; move right 8 mm; move upward 45 mm; roll downward 0 degrees; pitch downward 11 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 160, + 96 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02321428619325161, + -0.0028571428265422583, + 0.022499999031424522, + 0.0, + -0.09428571164608002, + 0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + -0.40142855048179626, + -0.2428571730852127, + 0.4353571832180023, + 0.017142856493592262, + -2.0014286041259766, + 0.04999999701976776, + 1.0 + ], + "delta_full_state_norm": [ + -0.24472585980053085, + 0.30925467172461985, + 0.6904170026551943, + 0.3966345685813204, + -0.7989601071683381, + 0.6975307836883402, + -1.0 + ], + "movement_text": "move backward 23 mm; move right 3 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 401 mm; move right 243 mm; move upward 435 mm; roll upward 1 degrees; pitch downward 115 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move backward 47 mm; move right 8 mm; move upward 45 mm; roll downward 0 degrees; pitch downward 11 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 23, + "segment_id": 40000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel and exhibits slight motion consistent with pressing a specific key, following the previous approach phase.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel and exhibits slight motion consistent with pressing a specific key, following the previous approach phase.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 24 mm; move right 5 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 391 mm; move right 262 mm; move upward 419 mm; roll upward 1 degrees; pitch downward 114 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 24 mm; move right 5 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 161, + 95 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.023571429774165154, + -0.005000000353902578, + 0.022142857313156128, + 0.0, + -0.09714286029338837, + 0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + -0.39142856001853943, + -0.2621428668498993, + 0.4189286231994629, + 0.017142856493592262, + -1.988571286201477, + 0.0357142835855484, + 1.0 + ], + "delta_full_state_norm": [ + -0.25527440297954795, + 0.1738145170318357, + 0.6658470655632995, + 0.3966345685813204, + -0.8336222199933279, + 0.6975307836883402, + -1.0 + ], + "movement_text": "move backward 24 mm; move right 5 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 391 mm; move right 262 mm; move upward 419 mm; roll upward 1 degrees; pitch downward 114 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 24 mm; move right 5 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 24, + "segment_id": 40000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel and exhibits slight motion consistent with pressing a specific key, following the previous approach phase.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel and exhibits slight motion consistent with pressing a specific key, following the previous approach phase.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 23 mm; move right 6 mm; move upward 23 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 381 mm; move right 280 mm; move upward 401 mm; roll upward 1 degrees; pitch downward 113 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 162, + 95 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02321428619325161, + -0.0057142856530845165, + 0.022857142612338066, + 0.0, + -0.1014285683631897, + 0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + -0.3807142972946167, + -0.2800000011920929, + 0.40071430802345276, + 0.017142856493592262, + -1.97428560256958, + 0.02142857201397419, + 1.0 + ], + "delta_full_state_norm": [ + -0.24472585980053085, + 0.12866783313859687, + 0.7149870678897052, + 0.3966345685813204, + -0.8856152084541732, + 0.666666586706681, + -1.0 + ], + "movement_text": "move backward 23 mm; move right 6 mm; move upward 23 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 381 mm; move right 280 mm; move upward 401 mm; roll upward 1 degrees; pitch downward 113 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 25, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with fingers extended, indicating an active interaction phase consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with fingers extended, indicating an active interaction phase consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 7 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 370 mm; move right 298 mm; move upward 380 mm; roll upward 1 degrees; pitch downward 112 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 170 mm; move right 80 mm; move upward 199 mm; roll upward 1 degrees; pitch downward 49 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 163, + 94 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.022142857313156128, + -0.007142857648432255, + 0.022142857313156128, + 0.0, + -0.10285714268684387, + 0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + -0.36964285373687744, + -0.2978571355342865, + 0.37964287400245667, + 0.017142856493592262, + -1.9557141065597534, + 0.009999999776482582, + 1.0 + ], + "delta_full_state_norm": [ + -0.2130802852783077, + 0.03837437705520408, + 0.6658470655632995, + 0.3966345685813204, + -0.9029462648666681, + 0.6203702962644835, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 7 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 370 mm; move right 298 mm; move upward 380 mm; roll upward 1 degrees; pitch downward 112 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 170 mm; move right 80 mm; move upward 199 mm; roll upward 1 degrees; pitch downward 49 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 26, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with fingers extended, indicating an active interaction phase consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with fingers extended, indicating an active interaction phase consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 8 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 359 mm; move right 314 mm; move upward 358 mm; roll upward 1 degrees; pitch downward 111 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move backward 148 mm; move right 73 mm; move upward 177 mm; roll upward 1 degrees; pitch downward 43 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 165, + 93 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.021785713732242584, + -0.007500000298023224, + 0.02142857201397419, + 0.0, + -0.10428571701049805, + 0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + -0.35928571224212646, + -0.3142856955528259, + 0.35821428894996643, + 0.017142856493592262, + -1.9371428489685059, + 0.0028571428265422583, + 1.0 + ], + "delta_full_state_norm": [ + -0.2025317420992906, + 0.01580103510858466, + 0.6167070632368938, + 0.3966345685813204, + -0.920277321279163, + 0.5740740033071405, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 8 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 359 mm; move right 314 mm; move upward 358 mm; roll upward 1 degrees; pitch downward 111 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 148 mm; move right 73 mm; move upward 177 mm; roll upward 1 degrees; pitch downward 43 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 27, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with fingers extended, indicating an active interaction phase consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with fingers extended, indicating an active interaction phase consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 9 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 349 mm; move right 330 mm; move upward 337 mm; roll upward 1 degrees; pitch downward 110 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 126 mm; move right 66 mm; move upward 156 mm; roll upward 1 degrees; pitch downward 37 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 166, + 93 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02142857201397419, + -0.008571429178118706, + 0.022499999031424522, + 0.0, + -0.10571428388357162, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.34857141971588135, + -0.3303571343421936, + 0.3367857038974762, + 0.017142856493592262, + -1.9171427488327026, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.19198325393510174, + -0.05191904959588378, + 0.6904170026551943, + 0.3966345685813204, + -0.9376082873033381, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 21 mm; move right 9 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 349 mm; move right 330 mm; move upward 337 mm; roll upward 1 degrees; pitch downward 110 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 126 mm; move right 66 mm; move upward 156 mm; roll upward 1 degrees; pitch downward 37 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 28, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with fingers extended, indicating an active interaction phase consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with fingers extended, indicating an active interaction phase consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 9 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 338 mm; move right 345 mm; move upward 314 mm; roll upward 1 degrees; pitch downward 109 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 105 mm; move right 57 mm; move upward 133 mm; roll upward 1 degrees; pitch downward 31 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 167, + 92 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02142857201397419, + -0.008928571827709675, + 0.023928571492433548, + 0.0, + -0.10857142508029938, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3375000059604645, + -0.3449999690055847, + 0.3142857253551483, + 0.017142856493592262, + -1.8957144021987915, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.19198325393510174, + -0.07449239154250309, + 0.788697135450622, + 0.3966345685813204, + -0.9722703097400082, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 21 mm; move right 9 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 338 mm; move right 345 mm; move upward 314 mm; roll upward 1 degrees; pitch downward 109 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 105 mm; move right 57 mm; move upward 133 mm; roll upward 1 degrees; pitch downward 31 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 29, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with fingers extended, indicating an active interaction phase consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with fingers extended, indicating an active interaction phase consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 10 mm; move upward 27 mm; roll upward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 324 mm; move right 359 mm; move upward 290 mm; roll upward 1 degrees; pitch downward 107 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 84 mm; move right 48 mm; move upward 109 mm; roll upward 1 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 169, + 91 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02142857201397419, + -0.009642857126891613, + 0.02678571455180645, + 0.0014285714132711291, + -0.1071428582072258, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.32428571581840515, + -0.3592856824398041, + 0.29035714268684387, + 0.01428571343421936, + -1.8728572130203247, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.19198325393510174, + -0.11963907543574182, + 0.9852572728988611, + 0.40865379884493436, + -0.954939343715833, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 21 mm; move right 10 mm; move upward 27 mm; roll upward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 324 mm; move right 359 mm; move upward 290 mm; roll upward 1 degrees; pitch downward 107 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 84 mm; move right 48 mm; move upward 109 mm; roll upward 1 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 30, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with fingers extended, indicating an active interaction phase consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with fingers extended, indicating an active interaction phase consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 11 mm; move upward 28 mm; roll upward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 310 mm; move right 374 mm; move upward 264 mm; roll upward 0 degrees; pitch downward 106 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 62 mm; move right 39 mm; move upward 83 mm; roll upward 0 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 170, + 90 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.021071428433060646, + -0.011428571306169033, + 0.028214285150170326, + 0.0071428571827709675, + -0.10999999940395355, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.30964285135269165, + -0.3735714256763458, + 0.26357144117355347, + 0.008571429178118706, + -1.8514286279678345, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.18143471075608453, + -0.23250584403344887, + 1.0, + 0.4567307208788467, + -0.989601366152503, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 21 mm; move right 11 mm; move upward 28 mm; roll upward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 310 mm; move right 374 mm; move upward 264 mm; roll upward 0 degrees; pitch downward 106 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 62 mm; move right 39 mm; move upward 83 mm; roll upward 0 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 31, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with fingers extended, indicating an active interaction phase consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with fingers extended, indicating an active interaction phase consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 13 mm; move upward 28 mm; roll upward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 295 mm; move right 386 mm; move upward 235 mm; roll downward 0 degrees; pitch downward 105 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 41 mm; move right 27 mm; move upward 54 mm; roll upward 0 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 172, + 89 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02071428671479225, + -0.013214285485446453, + 0.027500001713633537, + 0.0014285714132711291, + -0.11142857372760773, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.294642835855484, + -0.38571426272392273, + 0.2353571504354477, + -0.004285714589059353, + -1.8271429538726807, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.17088622259189568, + -0.34537261263115593, + 1.0, + 0.40865379884493436, + -1.0, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 21 mm; move right 13 mm; move upward 28 mm; roll upward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 295 mm; move right 386 mm; move upward 235 mm; roll downward 0 degrees; pitch downward 105 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 41 mm; move right 27 mm; move upward 54 mm; roll upward 0 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 32, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with fingers extended, indicating an active interaction phase consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with fingers extended, indicating an active interaction phase consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 14 mm; move upward 27 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 279 mm; move right 396 mm; move upward 208 mm; roll downward 1 degrees; pitch downward 103 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 20 mm; move right 14 mm; move upward 27 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 174, + 88 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.020357143133878708, + -0.013928571715950966, + 0.02678571455180645, + 0.0, + -0.1071428582072258, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2789285480976105, + -0.3960714042186737, + 0.2078571319580078, + -0.01428571343421936, + -1.8014287948608398, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.16033767941287858, + -0.39051935538900506, + 0.9852572728988611, + 0.3966345685813204, + -0.954939343715833, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 20 mm; move right 14 mm; move upward 27 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 279 mm; move right 396 mm; move upward 208 mm; roll downward 1 degrees; pitch downward 103 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 20 mm; move right 14 mm; move upward 27 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 33, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with fingers extended, indicating an active interaction phase consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with fingers extended, indicating an active interaction phase consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 14 mm; move upward 27 mm; roll upward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 262 mm; move right 405 mm; move upward 181 mm; roll downward 1 degrees; pitch downward 102 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 176, + 87 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.021071428433060646, + -0.013928571715950966, + 0.027142858132719994, + 0.0028571428265422583, + -0.10857142508029938, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.26178571581840515, + -0.4049999713897705, + 0.1810714304447174, + -0.024285713210701942, + -1.7785717248916626, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.18143471075608453, + -0.39051935538900506, + 1.0, + 0.42067302910854854, + -0.9722703097400082, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 21 mm; move right 14 mm; move upward 27 mm; roll upward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 262 mm; move right 405 mm; move upward 181 mm; roll downward 1 degrees; pitch downward 102 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 34, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 14 mm; move upward 26 mm; roll upward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 242 mm; move right 412 mm; move upward 154 mm; roll downward 2 degrees; pitch downward 101 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 242 mm; move right 661 mm; move upward 174 mm; roll downward 217 degrees; pitch downward 291 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 178, + 86 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.020000001415610313, + -0.013928571715950966, + 0.026428570970892906, + 0.0028571428265422583, + -0.10428571701049805, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2417856901884079, + -0.4121428430080414, + 0.15392856299877167, + -0.04285714030265808, + -1.7600003480911255, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.14978919124868972, + -0.39051935538900506, + 0.9606872076643502, + 0.42067302910854854, + -0.920277321279163, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 20 mm; move right 14 mm; move upward 26 mm; roll upward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 242 mm; move right 412 mm; move upward 154 mm; roll downward 2 degrees; pitch downward 101 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 242 mm; move right 661 mm; move upward 174 mm; roll downward 217 degrees; pitch downward 291 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 35, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 14 mm; move upward 25 mm; roll upward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 222 mm; move right 418 mm; move upward 127 mm; roll downward 4 degrees; pitch downward 100 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 222 mm; move right 647 mm; move upward 147 mm; roll downward 217 degrees; pitch downward 285 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 180, + 85 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01964285783469677, + -0.01428571529686451, + 0.024642856791615486, + 0.0014285714132711291, + -0.10285714268684387, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.22178570926189423, + -0.41785717010498047, + 0.1274999976158142, + -0.07000000029802322, + -1.7500003576278687, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.13924064806967262, + -0.4130927562002348, + 0.8378371377770277, + 0.40865379884493436, + -0.9029462648666681, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 20 mm; move right 14 mm; move upward 25 mm; roll upward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 222 mm; move right 418 mm; move upward 127 mm; roll downward 4 degrees; pitch downward 100 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 222 mm; move right 647 mm; move upward 147 mm; roll downward 217 degrees; pitch downward 285 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 36, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 19 mm; move right 15 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 202 mm; move right 422 mm; move upward 103 mm; roll downward 6 degrees; pitch downward 100 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 202 mm; move right 633 mm; move upward 123 mm; roll downward 217 degrees; pitch downward 279 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 182, + 84 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.018571428954601288, + -0.014642857015132904, + 0.021071428433060646, + 0.0, + -0.09714286029338837, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2021428346633911, + -0.4221428334712982, + 0.10285715013742447, + -0.10428570955991745, + -1.7442859411239624, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.10759507354744946, + -0.4356660392822437, + 0.5921369980023827, + 0.3966345685813204, + -0.8336222199933279, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 19 mm; move right 15 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 202 mm; move right 422 mm; move upward 103 mm; roll downward 6 degrees; pitch downward 100 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 202 mm; move right 633 mm; move upward 123 mm; roll downward 217 degrees; pitch downward 279 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 37, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 18 mm; move right 16 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 184 mm; move right 425 mm; move upward 82 mm; roll downward 8 degrees; pitch downward 100 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 184 mm; move right 619 mm; move upward 101 mm; roll downward 217 degrees; pitch downward 274 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 184, + 83 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01785714365541935, + -0.01607142947614193, + 0.018928570672869682, + 0.0, + -0.09285714477300644, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.18357142806053162, + -0.42500001192092896, + 0.08178571611642838, + -0.14571428298950195, + -1.745714545249939, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.08649804220424351, + -0.5259595247979418, + 0.44471686288054935, + 0.3966345685813204, + -0.7816291411441629, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 18 mm; move right 16 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 184 mm; move right 425 mm; move upward 82 mm; roll downward 8 degrees; pitch downward 100 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 184 mm; move right 619 mm; move upward 101 mm; roll downward 217 degrees; pitch downward 274 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 38, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 18 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 166 mm; move right 423 mm; move upward 63 mm; roll downward 11 degrees; pitch downward 101 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 166 mm; move right 602 mm; move upward 83 mm; roll downward 217 degrees; pitch downward 268 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 186, + 82 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01714285835623741, + -0.017500000074505806, + 0.015714285895228386, + 0.0, + -0.09000000357627869, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.16571427881717682, + -0.4228571355342865, + 0.06285714358091354, + -0.19285714626312256, + -1.7542858123779297, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.06540101086103756, + -0.6162528925844192, + 0.22358678834041545, + 0.3966345685813204, + -0.7469671187074929, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 17 mm; move right 18 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 166 mm; move right 423 mm; move upward 63 mm; roll downward 11 degrees; pitch downward 101 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 166 mm; move right 602 mm; move upward 83 mm; roll downward 217 degrees; pitch downward 268 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 39, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 18 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 149 mm; move right 417 mm; move upward 47 mm; roll downward 14 degrees; pitch downward 101 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 149 mm; move right 585 mm; move upward 67 mm; roll downward 217 degrees; pitch downward 263 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 188, + 81 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.016428573057055473, + -0.018214285373687744, + 0.013571429066359997, + 0.0, + -0.08714285492897034, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.1485714167356491, + -0.41678571701049805, + 0.04714285954833031, + -0.24285714328289032, + -1.765714406967163, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.04430397951783149, + -0.6613995764776579, + 0.0761667172898901, + 0.3966345685813204, + -0.7123050058825031, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 18 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 149 mm; move right 417 mm; move upward 47 mm; roll downward 14 degrees; pitch downward 101 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 149 mm; move right 585 mm; move upward 67 mm; roll downward 217 degrees; pitch downward 263 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 40, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 19 mm; move upward 12 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 132 mm; move right 409 mm; move upward 34 mm; roll downward 18 degrees; pitch downward 102 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 132 mm; move right 567 mm; move upward 53 mm; roll downward 217 degrees; pitch downward 258 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 190, + 81 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.015714285895228386, + -0.019285714253783226, + 0.011785714887082577, + 0.0, + -0.08571428805589676, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.13214285671710968, + -0.4085714519023895, + 0.033571429550647736, + -0.3085714280605316, + -1.7857142686843872, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.023206893159797293, + -0.7291196611821262, + -0.046683352597432504, + 0.3966345685813204, + -0.694974039858328, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 19 mm; move upward 12 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 132 mm; move right 409 mm; move upward 34 mm; roll downward 18 degrees; pitch downward 102 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 132 mm; move right 567 mm; move upward 53 mm; roll downward 217 degrees; pitch downward 258 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 41, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 21 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 116 mm; move right 396 mm; move upward 22 mm; roll downward 22 degrees; pitch downward 104 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move backward 116 mm; move right 547 mm; move upward 41 mm; roll downward 217 degrees; pitch downward 253 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 80 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.014642857015132904, + -0.021071428433060646, + 0.009285714477300644, + 0.0, + -0.08285713940858841, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.11642856895923615, + -0.3960714042186737, + 0.021785715594887733, + -0.3799999952316284, + -1.807142734527588, + 0.0028571428265422583, + 1.0 + ], + "delta_full_state_norm": [ + 0.00843868136242576, + -0.8419864297798334, + -0.21867348888246874, + 0.3966345685813204, + -0.6603119270333382, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 15 mm; move right 21 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 116 mm; move right 396 mm; move upward 22 mm; roll downward 22 degrees; pitch downward 104 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 116 mm; move right 547 mm; move upward 41 mm; roll downward 217 degrees; pitch downward 253 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 42, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 22 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 102 mm; move right 380 mm; move upward 13 mm; roll downward 26 degrees; pitch downward 105 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 102 mm; move right 526 mm; move upward 32 mm; roll downward 217 degrees; pitch downward 249 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 194, + 80 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013214285485446453, + -0.022142857313156128, + 0.006071428768336773, + 0.0, + -0.08142857253551483, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.10178571939468384, + -0.3796428143978119, + 0.012500000186264515, + -0.44999998807907104, + -1.8299999237060547, + 0.011428571306169033, + 1.0 + ], + "delta_full_state_norm": [ + 0.05063277155625201, + -0.9097065144843018, + -0.4398036274939108, + 0.3966345685813204, + -0.642980961009163, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 22 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 102 mm; move right 380 mm; move upward 13 mm; roll downward 26 degrees; pitch downward 105 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 102 mm; move right 526 mm; move upward 32 mm; roll downward 217 degrees; pitch downward 249 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 43, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 23 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 89 mm; move right 361 mm; move upward 6 mm; roll downward 30 degrees; pitch downward 106 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 89 mm; move right 504 mm; move upward 26 mm; roll downward 217 degrees; pitch downward 244 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012857143767178059, + -0.022857142612338066, + 0.0039285714738070965, + 0.0, + -0.08285713940858841, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.0885714441537857, + -0.36142855882644653, + 0.006428571883589029, + -0.522857129573822, + -1.855713963508606, + 0.025714285671710968, + 1.0 + ], + "delta_full_state_norm": [ + 0.06118125972044086, + -0.9548531983775405, + -0.5872237305800903, + 0.3966345685813204, + -0.6603119270333382, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 23 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 89 mm; move right 361 mm; move upward 6 mm; roll downward 30 degrees; pitch downward 106 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 89 mm; move right 504 mm; move upward 26 mm; roll downward 217 degrees; pitch downward 244 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 44, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 24 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 76 mm; move right 340 mm; move upward 3 mm; roll downward 34 degrees; pitch downward 108 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move backward 76 mm; move right 481 mm; move upward 22 mm; roll downward 217 degrees; pitch downward 239 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 199, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012142857536673546, + -0.023571429774165154, + 0.0017857144121080637, + 0.0, + -0.08285713940858841, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.07571429014205933, + -0.3403571546077728, + 0.002500000176951289, + -0.5999999642372131, + -1.8799996376037598, + 0.051428571343421936, + 1.0 + ], + "delta_full_state_norm": [ + 0.08227831857106094, + -1.0, + -0.7346438176484424, + 0.3966345685813204, + -0.6603119270333382, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 12 mm; move right 24 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 76 mm; move right 340 mm; move upward 3 mm; roll downward 34 degrees; pitch downward 108 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move backward 76 mm; move right 481 mm; move upward 22 mm; roll downward 217 degrees; pitch downward 239 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 45, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 24 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 64 mm; move right 318 mm; move upward 1 mm; roll downward 39 degrees; pitch downward 109 degrees; yaw counterclockwise 5 degrees; open gripper;\nSubtask Movement: move backward 64 mm; move right 458 mm; move upward 20 mm; roll downward 217 degrees; pitch downward 235 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011785714887082577, + -0.023571429774165154, + 0.0007142857066355646, + 0.0, + -0.08428571373224258, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.06357143819332123, + -0.31785714626312256, + 0.0007142857066355646, + -0.6742856502532959, + -1.9057141542434692, + 0.07999999821186066, + 1.0 + ], + "delta_full_state_norm": [ + 0.09282683424266391, + -1.0, + -0.808353873195989, + 0.3966345685813204, + -0.6776429834458331, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 12 mm; move right 24 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 64 mm; move right 318 mm; move upward 1 mm; roll downward 39 degrees; pitch downward 109 degrees; yaw counterclockwise 5 degrees; open gripper;", + "subtask_movement_text": "move backward 64 mm; move right 458 mm; move upward 20 mm; roll downward 217 degrees; pitch downward 235 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 46, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 24 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 52 mm; move right 294 mm; move downward 0 mm; roll downward 43 degrees; pitch downward 111 degrees; yaw counterclockwise 7 degrees; open gripper;\nSubtask Movement: move backward 52 mm; move right 434 mm; move upward 20 mm; roll downward 217 degrees; pitch downward 230 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011071428656578064, + -0.023571429774165154, + 0.0, + 0.0, + -0.08428571373224258, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.05178571492433548, + -0.29428571462631226, + 0.0, + -0.7442856431007385, + -1.9314284324645996, + 0.11428570747375488, + 1.0 + ], + "delta_full_state_norm": [ + 0.11392389309328399, + -1.0, + -0.857493903553592, + 0.3966345685813204, + -0.6776429834458331, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 24 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 52 mm; move right 294 mm; move downward 0 mm; roll downward 43 degrees; pitch downward 111 degrees; yaw counterclockwise 7 degrees; open gripper;", + "subtask_movement_text": "move backward 52 mm; move right 434 mm; move upward 20 mm; roll downward 217 degrees; pitch downward 230 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 47, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 41 mm; move right 271 mm; move upward 2 mm; roll downward 46 degrees; pitch downward 112 degrees; yaw counterclockwise 9 degrees; open gripper;\nSubtask Movement: move backward 41 mm; move right 411 mm; move upward 20 mm; roll downward 217 degrees; pitch downward 225 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.010357143357396126, + -0.02321428619325161, + 0.0, + 0.0, + -0.08428571373224258, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.040714289993047714, + -0.2710714042186737, + 0.0017857144121080637, + -0.8085713386535645, + -1.95714271068573, + 0.1485714167356491, + 1.0 + ], + "delta_full_state_norm": [ + 0.13502092443648994, + -0.9774265991887703, + -0.857493903553592, + 0.3966345685813204, + -0.6776429834458331, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 10 mm; move right 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 41 mm; move right 271 mm; move upward 2 mm; roll downward 46 degrees; pitch downward 112 degrees; yaw counterclockwise 9 degrees; open gripper;", + "subtask_movement_text": "move backward 41 mm; move right 411 mm; move upward 20 mm; roll downward 217 degrees; pitch downward 225 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 48, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 30 mm; move right 249 mm; move upward 5 mm; roll downward 50 degrees; pitch downward 114 degrees; yaw counterclockwise 10 degrees; open gripper;\nSubtask Movement: move backward 30 mm; move right 387 mm; move upward 20 mm; roll downward 217 degrees; pitch downward 220 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008214286528527737, + -0.02321428619325161, + 0.0, + -0.0028571428265422583, + -0.08571428805589676, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.03035714291036129, + -0.24857139587402344, + 0.005000000353902578, + -0.8728570342063904, + -1.985714077949524, + 0.18285712599754333, + 1.0 + ], + "delta_full_state_norm": [ + 0.19831204597352214, + -0.9774265991887703, + -0.857493903553592, + 0.37259610805409205, + -0.694974039858328, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 8 mm; move right 23 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 30 mm; move right 249 mm; move upward 5 mm; roll downward 50 degrees; pitch downward 114 degrees; yaw counterclockwise 10 degrees; open gripper;", + "subtask_movement_text": "move backward 30 mm; move right 387 mm; move upward 20 mm; roll downward 217 degrees; pitch downward 220 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 49, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 24 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 22 mm; move right 227 mm; move upward 9 mm; roll downward 53 degrees; pitch downward 115 degrees; yaw counterclockwise 12 degrees; open gripper;\nSubtask Movement: move backward 22 mm; move right 364 mm; move upward 20 mm; roll downward 217 degrees; pitch downward 215 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006785714533179998, + -0.023928571492433548, + 0.0, + -0.004285714123398066, + -0.08571428805589676, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.022142859175801277, + -0.22678568959236145, + 0.00857143010944128, + -0.932857096195221, + -2.012856960296631, + 0.21714283525943756, + 1.0 + ], + "delta_full_state_norm": [ + 0.24050614992105523, + -1.0, + -0.857493903553592, + 0.3605768787699337, + -0.694974039858328, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 7 mm; move right 24 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 22 mm; move right 227 mm; move upward 9 mm; roll downward 53 degrees; pitch downward 115 degrees; yaw counterclockwise 12 degrees; open gripper;", + "subtask_movement_text": "move backward 22 mm; move right 364 mm; move upward 20 mm; roll downward 217 degrees; pitch downward 215 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 50, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 24 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 15 mm; move right 205 mm; move upward 13 mm; roll downward 57 degrees; pitch downward 117 degrees; yaw counterclockwise 14 degrees; open gripper;\nSubtask Movement: move backward 15 mm; move right 340 mm; move upward 20 mm; roll downward 217 degrees; pitch downward 210 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006071428768336773, + -0.023571429774165154, + 0.0, + -0.0057142856530845165, + -0.08571428805589676, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.015357144176959991, + -0.20464284718036652, + 0.012500002048909664, + -0.991428554058075, + -2.037142753601074, + 0.2499999701976776, + 1.0 + ], + "delta_full_state_norm": [ + 0.26160319501796847, + -1.0, + -0.857493903553592, + 0.3485576475268639, + -0.694974039858328, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 6 mm; move right 24 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 15 mm; move right 205 mm; move upward 13 mm; roll downward 57 degrees; pitch downward 117 degrees; yaw counterclockwise 14 degrees; open gripper;", + "subtask_movement_text": "move backward 15 mm; move right 340 mm; move upward 20 mm; roll downward 217 degrees; pitch downward 210 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 51, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 24 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 9 mm; move right 184 mm; move upward 16 mm; roll downward 61 degrees; pitch downward 118 degrees; yaw counterclockwise 16 degrees; open gripper;\nSubtask Movement: move backward 9 mm; move right 317 mm; move upward 20 mm; roll downward 216 degrees; pitch downward 205 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.005000000353902578, + -0.023571429774165154, + 0.0, + -0.008571428246796131, + -0.08571428805589676, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.009285714477300644, + -0.18392857909202576, + 0.01607142947614193, + -1.0571428537368774, + -2.0514283180236816, + 0.28285712003707886, + 1.0 + ], + "delta_full_state_norm": [ + 0.29324875578648446, + -1.0, + -0.857493903553592, + 0.32451918895854726, + -0.694974039858328, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 5 mm; move right 24 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 9 mm; move right 184 mm; move upward 16 mm; roll downward 61 degrees; pitch downward 118 degrees; yaw counterclockwise 16 degrees; open gripper;", + "subtask_movement_text": "move backward 9 mm; move right 317 mm; move upward 20 mm; roll downward 216 degrees; pitch downward 205 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 52, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 23 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 4 mm; move right 165 mm; move upward 19 mm; roll downward 65 degrees; pitch downward 118 degrees; yaw counterclockwise 18 degrees; open gripper;\nSubtask Movement: move backward 4 mm; move right 293 mm; move upward 20 mm; roll downward 216 degrees; pitch downward 200 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0032142859417945147, + -0.022857142612338066, + 0.0, + -0.009999999776482582, + -0.08428571373224258, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.004285714589059353, + -0.16464287042617798, + 0.018571430817246437, + -1.1285713911056519, + -2.0614285469055176, + 0.3171428442001343, + 1.0 + ], + "delta_full_state_norm": [ + 0.345991368528767, + -0.9548531983775405, + -0.857493903553592, + 0.31249995771547745, + -0.6776429834458331, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 3 mm; move right 23 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 4 mm; move right 165 mm; move upward 19 mm; roll downward 65 degrees; pitch downward 118 degrees; yaw counterclockwise 18 degrees; open gripper;", + "subtask_movement_text": "move backward 4 mm; move right 293 mm; move upward 20 mm; roll downward 216 degrees; pitch downward 200 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 53, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move right 21 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 1 mm; move right 148 mm; move upward 20 mm; roll downward 69 degrees; pitch downward 118 degrees; yaw counterclockwise 20 degrees; open gripper;\nSubtask Movement: move backward 1 mm; move right 270 mm; move upward 20 mm; roll downward 215 degrees; pitch downward 196 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0010714286472648382, + -0.021071428433060646, + 0.0, + -0.015714285895228386, + -0.09000000357627869, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.0010714286472648382, + -0.14750002324581146, + 0.01964285969734192, + -1.208571434020996, + -2.0657143592834473, + 0.35428571701049805, + 1.0 + ], + "delta_full_state_norm": [ + 0.40928250381950626, + -0.8419864297798334, + -0.857493903553592, + 0.2644230327431978, + -0.7469671187074929, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 1 mm; move right 21 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 1 mm; move right 148 mm; move upward 20 mm; roll downward 69 degrees; pitch downward 118 degrees; yaw counterclockwise 20 degrees; open gripper;", + "subtask_movement_text": "move backward 1 mm; move right 270 mm; move upward 20 mm; roll downward 215 degrees; pitch downward 196 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 54, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 20 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 133 mm; move upward 20 mm; roll downward 74 degrees; pitch downward 118 degrees; yaw counterclockwise 23 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 249 mm; move upward 20 mm; roll downward 215 degrees; pitch downward 190 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01964285783469677, + 0.0, + -0.02428571507334709, + -0.09428571164608002, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.13285715878009796, + 0.01964285969734192, + -1.2857142686843872, + -2.0585713386535645, + 0.3942857086658478, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + -0.7516930619933561, + -0.857493903553592, + 0.19230764528477828, + -0.7989601071683381, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 20 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 133 mm; move upward 20 mm; roll downward 74 degrees; pitch downward 118 degrees; yaw counterclockwise 23 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 249 mm; move upward 20 mm; roll downward 215 degrees; pitch downward 190 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 55, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 19 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 120 mm; move upward 20 mm; roll downward 78 degrees; pitch downward 117 degrees; yaw counterclockwise 25 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 230 mm; move upward 20 mm; roll downward 213 degrees; pitch downward 185 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.018571428954601288, + 0.0, + -0.03285714238882065, + -0.09714286029338837, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.11964286863803864, + 0.01964285969734192, + -1.3600000143051147, + -2.038571357727051, + 0.4342857003211975, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + -0.6839729772888876, + -0.857493903553592, + 0.12019227349765171, + -0.8336222199933279, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 19 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 120 mm; move upward 20 mm; roll downward 78 degrees; pitch downward 117 degrees; yaw counterclockwise 25 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 230 mm; move upward 20 mm; roll downward 213 degrees; pitch downward 185 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 56, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 108 mm; move upward 20 mm; roll downward 82 degrees; pitch downward 115 degrees; yaw counterclockwise 27 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 211 mm; move upward 20 mm; roll downward 211 degrees; pitch downward 179 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.017500000074505806, + 0.0, + -0.041428569704294205, + -0.09857142716646194, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.10821428149938583, + 0.01964285969734192, + -1.4314285516738892, + -2.0085713863372803, + 0.47428569197654724, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + -0.6162528925844192, + -0.857493903553592, + 0.04807690171052492, + -0.850953186017503, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 108 mm; move upward 20 mm; roll downward 82 degrees; pitch downward 115 degrees; yaw counterclockwise 27 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 211 mm; move upward 20 mm; roll downward 211 degrees; pitch downward 179 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 57, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 99 mm; move upward 20 mm; roll downward 87 degrees; pitch downward 113 degrees; yaw counterclockwise 30 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 194 mm; move upward 20 mm; roll downward 209 degrees; pitch downward 174 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.013928571715950966, + 0.0, + -0.04714285582304001, + -0.1014285683631897, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.09857143461704254, + 0.01964285969734192, + -1.5114285945892334, + -1.9714285135269165, + 0.5171428322792053, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + -0.39051935538900506, + -0.857493903553592, + -2.3261754633630005e-08, + -0.8856152084541732, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 99 mm; move upward 20 mm; roll downward 87 degrees; pitch downward 113 degrees; yaw counterclockwise 30 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 194 mm; move upward 20 mm; roll downward 209 degrees; pitch downward 174 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 58, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 11 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 93 mm; move upward 20 mm; roll downward 92 degrees; pitch downward 111 degrees; yaw counterclockwise 32 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 180 mm; move upward 20 mm; roll downward 206 degrees; pitch downward 168 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.011428571306169033, + 0.0, + -0.05000000074505806, + -0.1014285683631897, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.09285714477300644, + 0.01964285969734192, + -1.5971429347991943, + -1.9328571557998657, + 0.5600000023841858, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + -0.23250584403344887, + -0.857493903553592, + -0.024038501419187286, + -0.8856152084541732, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 11 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 93 mm; move upward 20 mm; roll downward 92 degrees; pitch downward 111 degrees; yaw counterclockwise 32 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 180 mm; move upward 20 mm; roll downward 206 degrees; pitch downward 168 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 59, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 10 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 89 mm; move upward 20 mm; roll downward 97 degrees; pitch downward 109 degrees; yaw counterclockwise 35 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 168 mm; move upward 20 mm; roll downward 203 degrees; pitch downward 162 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 227, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.010000000707805157, + 0.0, + -0.0657142847776413, + -0.1071428582072258, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.0892857238650322, + 0.01964285969734192, + -1.6871429681777954, + -1.8957144021987915, + 0.6028571724891663, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + -0.14221247624697153, + -0.857493903553592, + -0.15625002158601708, + -0.954939343715833, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 10 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 89 mm; move upward 20 mm; roll downward 97 degrees; pitch downward 109 degrees; yaw counterclockwise 35 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 168 mm; move upward 20 mm; roll downward 203 degrees; pitch downward 162 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 60, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 7 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 87 mm; move upward 20 mm; roll downward 101 degrees; pitch downward 106 degrees; yaw counterclockwise 37 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 158 mm; move upward 20 mm; roll downward 200 degrees; pitch downward 156 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 228, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.006785714533179998, + 0.0, + -0.0714285746216774, + -0.1071428582072258, + 0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.08714287728071213, + 0.01964285969734192, + -1.7657142877578735, + -1.8557144403457642, + 0.6442857384681702, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.060947748434128535, + -0.857493903553592, + -0.2043269779008824, + -0.954939343715833, + 0.5740740033071405, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 7 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 87 mm; move upward 20 mm; roll downward 101 degrees; pitch downward 106 degrees; yaw counterclockwise 37 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 158 mm; move upward 20 mm; roll downward 200 degrees; pitch downward 156 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 61, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 5 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 88 mm; move upward 20 mm; roll downward 105 degrees; pitch downward 104 degrees; yaw counterclockwise 39 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 151 mm; move upward 20 mm; roll downward 195 degrees; pitch downward 150 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 229, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.004642857238650322, + 0.0, + -0.07000000029802322, + -0.10571428388357162, + 0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.08750000596046448, + 0.01964285969734192, + -1.835714340209961, + -1.8200000524520874, + 0.6785714626312256, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.19638788841076016, + -0.857493903553592, + -0.1923077231508733, + -0.9376082873033381, + 0.6358023897250218, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 5 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 88 mm; move upward 20 mm; roll downward 105 degrees; pitch downward 104 degrees; yaw counterclockwise 39 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 151 mm; move upward 20 mm; roll downward 195 degrees; pitch downward 150 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 62, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 4 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 91 mm; move upward 20 mm; roll downward 109 degrees; pitch downward 102 degrees; yaw counterclockwise 40 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 147 mm; move upward 20 mm; roll downward 191 degrees; pitch downward 144 degrees; yaw counterclockwise 49 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 230, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0039285714738070965, + 0.0, + -0.07285714149475098, + -0.1071428582072258, + 0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.09071429818868637, + 0.01964285969734192, + -1.9085716009140015, + -1.7871429920196533, + 0.7028571367263794, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.24153460173630403, + -0.857493903553592, + -0.2163461699657202, + -0.954939343715833, + 0.6975307836883402, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 4 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 91 mm; move upward 20 mm; roll downward 109 degrees; pitch downward 102 degrees; yaw counterclockwise 40 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 147 mm; move upward 20 mm; roll downward 191 degrees; pitch downward 144 degrees; yaw counterclockwise 49 degrees; open gripper;" + }, + { + "frame_index": 63, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 2 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 94 mm; move upward 20 mm; roll downward 114 degrees; pitch downward 101 degrees; yaw counterclockwise 41 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 143 mm; move upward 20 mm; roll downward 187 degrees; pitch downward 138 degrees; yaw counterclockwise 49 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 230, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0017857144121080637, + 0.0, + -0.0771428570151329, + -0.1071428582072258, + 0.025714285671710968, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.09428571909666061, + 0.01964285969734192, + -1.984285831451416, + -1.7542858123779297, + 0.7200000286102295, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.37697472699678314, + -0.857493903553592, + -0.2524038715305764, + -0.954939343715833, + 0.8209875615543942, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 2 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 94 mm; move upward 20 mm; roll downward 114 degrees; pitch downward 101 degrees; yaw counterclockwise 41 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 143 mm; move upward 20 mm; roll downward 187 degrees; pitch downward 138 degrees; yaw counterclockwise 49 degrees; open gripper;" + }, + { + "frame_index": 64, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 1 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 100 mm; move upward 20 mm; roll downward 118 degrees; pitch downward 99 degrees; yaw counterclockwise 42 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 141 mm; move upward 20 mm; roll downward 183 degrees; pitch downward 132 degrees; yaw counterclockwise 47 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 230, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0010714286472648382, + 0.0, + -0.07428571581840515, + -0.10857142508029938, + 0.02857142873108387, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.10000001639127731, + 0.01964285969734192, + -2.062857151031494, + -1.722857117652893, + 0.7257143259048462, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.422121440322327, + -0.857493903553592, + -0.2283654247157294, + -0.9722703097400082, + 0.8518517585360534, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 1 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 100 mm; move upward 20 mm; roll downward 118 degrees; pitch downward 99 degrees; yaw counterclockwise 42 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 141 mm; move upward 20 mm; roll downward 183 degrees; pitch downward 132 degrees; yaw counterclockwise 47 degrees; open gripper;" + }, + { + "frame_index": 65, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 106 mm; move upward 20 mm; roll downward 123 degrees; pitch downward 97 degrees; yaw counterclockwise 42 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 140 mm; move upward 20 mm; roll downward 179 degrees; pitch downward 125 degrees; yaw counterclockwise 46 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 230, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.07000000029802322, + -0.10999999940395355, + 0.034285712987184525, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.10642857849597931, + 0.01964285969734192, + -2.1528570652008057, + -1.6914284229278564, + 0.7257142663002014, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.4898415103106428, + -0.857493903553592, + -0.1923077231508733, + -0.989601366152503, + 0.9135801323782067, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 106 mm; move upward 20 mm; roll downward 123 degrees; pitch downward 97 degrees; yaw counterclockwise 42 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 140 mm; move upward 20 mm; roll downward 179 degrees; pitch downward 125 degrees; yaw counterclockwise 46 degrees; open gripper;" + }, + { + "frame_index": 66, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 2 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 114 mm; move upward 20 mm; roll downward 129 degrees; pitch downward 95 degrees; yaw counterclockwise 41 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 140 mm; move upward 20 mm; roll downward 175 degrees; pitch downward 119 degrees; yaw counterclockwise 44 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 230, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0003571428533177823, + 0.0017857144121080637, + -0.06428571790456772, + -0.10999999940395355, + 0.034285712987184525, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.11428572237491608, + 0.01964285969734192, + -2.2514286041259766, + -1.6614285707473755, + 0.7185714244842529, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.46726815548738987, + -0.7346438176484424, + -0.14423082952117927, + -0.989601366152503, + 0.9135801323782067, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 2 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 114 mm; move upward 20 mm; roll downward 129 degrees; pitch downward 95 degrees; yaw counterclockwise 41 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 140 mm; move upward 20 mm; roll downward 175 degrees; pitch downward 119 degrees; yaw counterclockwise 44 degrees; open gripper;" + }, + { + "frame_index": 67, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 1 mm; move upward 3 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 121 mm; move upward 18 mm; roll downward 135 degrees; pitch downward 94 degrees; yaw counterclockwise 41 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 140 mm; move upward 18 mm; roll downward 171 degrees; pitch downward 113 degrees; yaw counterclockwise 42 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 231, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0007142857066355646, + 0.0032142859417945147, + -0.06428571790456772, + -0.1128571406006813, + 0.034285712987184525, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.12107143551111221, + 0.0178571455180645, + -2.357142925262451, + -1.632857084274292, + 0.7085714340209961, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.44469480066413714, + -0.636363748924323, + -0.14423082952117927, + -1.0, + 0.9135801323782067, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 1 mm; move upward 3 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 121 mm; move upward 18 mm; roll downward 135 degrees; pitch downward 94 degrees; yaw counterclockwise 41 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 140 mm; move upward 18 mm; roll downward 171 degrees; pitch downward 113 degrees; yaw counterclockwise 42 degrees; open gripper;" + }, + { + "frame_index": 68, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 1 mm; move upward 4 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 127 mm; move upward 15 mm; roll downward 141 degrees; pitch downward 92 degrees; yaw counterclockwise 40 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 139 mm; move upward 15 mm; roll downward 167 degrees; pitch downward 106 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 231, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0014285714132711291, + 0.0035714288242161274, + -0.06285714358091354, + -0.1128571406006813, + 0.034285712987184525, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.1274999976158142, + 0.014642858877778053, + -2.4600000381469727, + -1.6042855978012085, + 0.691428542137146, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.3995480910176312, + -0.6117937317432931, + -0.13221157477117007, + -1.0, + 0.9135801323782067, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 1 mm; move upward 4 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 127 mm; move upward 15 mm; roll downward 141 degrees; pitch downward 92 degrees; yaw counterclockwise 40 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 139 mm; move upward 15 mm; roll downward 167 degrees; pitch downward 106 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 69, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 2 mm; move upward 4 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 131 mm; move upward 11 mm; roll downward 147 degrees; pitch downward 90 degrees; yaw counterclockwise 38 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 138 mm; move upward 11 mm; roll downward 164 degrees; pitch downward 100 degrees; yaw counterclockwise 38 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 231, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0017857144121080637, + 0.0039285714738070965, + -0.06285714358091354, + -0.10999999940395355, + 0.03285714238882065, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.1314285844564438, + 0.011071428656578064, + -2.5585713386535645, + -1.5757142305374146, + 0.6571428179740906, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.37697472699678314, + -0.5872237305800903, + -0.13221157477117007, + -0.989601366152503, + 0.8981480439479597, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 2 mm; move upward 4 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 131 mm; move upward 11 mm; roll downward 147 degrees; pitch downward 90 degrees; yaw counterclockwise 38 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 138 mm; move upward 11 mm; roll downward 164 degrees; pitch downward 100 degrees; yaw counterclockwise 38 degrees; open gripper;" + }, + { + "frame_index": 70, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 3 mm; move upward 4 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 134 mm; move upward 7 mm; roll downward 152 degrees; pitch downward 89 degrees; yaw counterclockwise 36 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 136 mm; move upward 7 mm; roll downward 160 degrees; pitch downward 93 degrees; yaw counterclockwise 36 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 231, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0028571428265422583, + 0.0035714288242161274, + -0.0714285746216774, + -0.10000000149011612, + 0.03285714238882065, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.13357143104076385, + 0.007142857648432255, + -2.6499998569488525, + -1.5499999523162842, + 0.6242856979370117, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.30925467172461985, + -0.6117937317432931, + -0.2043269779008824, + -0.8682842424299979, + 0.8981480439479597, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 3 mm; move upward 4 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 134 mm; move upward 7 mm; roll downward 152 degrees; pitch downward 89 degrees; yaw counterclockwise 36 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 136 mm; move upward 7 mm; roll downward 160 degrees; pitch downward 93 degrees; yaw counterclockwise 36 degrees; open gripper;" + }, + { + "frame_index": 71, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 4 mm; move upward 3 mm; roll downward 5 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 133 mm; move upward 4 mm; roll downward 156 degrees; pitch downward 88 degrees; yaw counterclockwise 34 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 133 mm; move upward 4 mm; roll downward 156 degrees; pitch downward 88 degrees; yaw counterclockwise 34 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 231, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.004285714589059353, + 0.002500000176951289, + -0.07999999821186066, + -0.09571428596973419, + 0.034285712987184525, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.13285712897777557, + 0.0035714288242161274, + -2.721428632736206, + -1.531428575515747, + 0.5914286375045776, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.21896123035737958, + -0.6855037832863827, + -0.27644231834542343, + -0.816291163580833, + 0.9135801323782067, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 4 mm; move upward 3 mm; roll downward 5 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 133 mm; move upward 4 mm; roll downward 156 degrees; pitch downward 88 degrees; yaw counterclockwise 34 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 133 mm; move upward 4 mm; roll downward 156 degrees; pitch downward 88 degrees; yaw counterclockwise 34 degrees; open gripper;" + }, + { + "frame_index": 72, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 6 mm; move upward 1 mm; roll downward 5 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 129 mm; move upward 1 mm; roll downward 159 degrees; pitch downward 87 degrees; yaw counterclockwise 32 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 129 mm; move upward 1 mm; roll downward 151 degrees; pitch downward 82 degrees; yaw counterclockwise 32 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 231, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0057142856530845165, + 0.0010714286472648382, + -0.09000000357627869, + -0.08857142925262451, + 0.037142857909202576, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.12857143580913544, + 0.0010714286472648382, + -2.77571439743042, + -1.5114284753799438, + 0.5571428537368774, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.12866783313859687, + -0.7837838520105023, + -0.36057697622514484, + -0.729636062294998, + 0.9444443494810308, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 6 mm; move upward 1 mm; roll downward 5 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 129 mm; move upward 1 mm; roll downward 159 degrees; pitch downward 87 degrees; yaw counterclockwise 32 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 129 mm; move upward 1 mm; roll downward 151 degrees; pitch downward 82 degrees; yaw counterclockwise 32 degrees; open gripper;" + }, + { + "frame_index": 73, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 6 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 123 mm; move downward 0 mm; roll downward 161 degrees; pitch downward 85 degrees; yaw counterclockwise 29 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 123 mm; move downward 0 mm; roll downward 146 degrees; pitch downward 77 degrees; yaw counterclockwise 30 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 231, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.006428571883589029, + 0.0, + -0.09285714477300644, + -0.08285713940858841, + 0.03999999910593033, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.12285714596509933, + 0.0, + -2.812857151031494, + -1.48714280128479, + 0.5114285349845886, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.08352109038074795, + -0.857493903553592, + -0.38461542303999185, + -0.6603119270333382, + 0.9753085263415249, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 6 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 123 mm; move downward 0 mm; roll downward 161 degrees; pitch downward 85 degrees; yaw counterclockwise 29 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 123 mm; move downward 0 mm; roll downward 146 degrees; pitch downward 77 degrees; yaw counterclockwise 30 degrees; open gripper;" + }, + { + "frame_index": 74, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 6 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 116 mm; move downward 0 mm; roll downward 162 degrees; pitch downward 83 degrees; yaw counterclockwise 25 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 116 mm; move downward 0 mm; roll downward 141 degrees; pitch downward 72 degrees; yaw counterclockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 231, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.006428571883589029, + 0.0, + -0.09857142716646194, + -0.07428571581840515, + 0.03999999910593033, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.11642857640981674, + 0.0, + -2.835714101791382, + -1.455714225769043, + 0.43142858147621155, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.08352109038074795, + -0.857493903553592, + -0.4326923166696858, + -0.5563258597233279, + 0.9753085263415249, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 6 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 116 mm; move downward 0 mm; roll downward 162 degrees; pitch downward 83 degrees; yaw counterclockwise 25 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 116 mm; move downward 0 mm; roll downward 141 degrees; pitch downward 72 degrees; yaw counterclockwise 28 degrees; open gripper;" + }, + { + "frame_index": 75, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 7 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 110 mm; move downward 0 mm; roll downward 163 degrees; pitch downward 81 degrees; yaw counterclockwise 19 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 110 mm; move downward 0 mm; roll downward 135 degrees; pitch downward 68 degrees; yaw counterclockwise 25 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 231, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.007142857648432255, + 0.0, + -0.10428571701049805, + -0.06714285910129547, + 0.03999999910593033, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.11000000685453415, + 0.0, + -2.8471426963806152, + -1.4199999570846558, + 0.3257142901420593, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.03837437705520408, + -0.857493903553592, + -0.4807692729845511, + -0.46967075843749295, + 0.9753085263415249, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 7 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 110 mm; move downward 0 mm; roll downward 163 degrees; pitch downward 81 degrees; yaw counterclockwise 19 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 110 mm; move downward 0 mm; roll downward 135 degrees; pitch downward 68 degrees; yaw counterclockwise 25 degrees; open gripper;" + }, + { + "frame_index": 76, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 8 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 103 mm; move downward 0 mm; roll downward 163 degrees; pitch downward 79 degrees; yaw counterclockwise 11 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 103 mm; move downward 0 mm; roll downward 129 degrees; pitch downward 64 degrees; yaw counterclockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 231, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.007857142947614193, + 0.0, + -0.12142857164144516, + -0.06142857298254967, + 0.04285714402794838, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.10285715013742447, + 0.0, + -2.844285488128662, + -1.3799999952316284, + 0.19857147336006165, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + -0.006772306838034647, + -0.857493903553592, + -0.6250000165588043, + -0.4003466683699929, + 1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 8 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 103 mm; move downward 0 mm; roll downward 163 degrees; pitch downward 79 degrees; yaw counterclockwise 11 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 103 mm; move downward 0 mm; roll downward 129 degrees; pitch downward 64 degrees; yaw counterclockwise 23 degrees; open gripper;" + }, + { + "frame_index": 77, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 8 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 95 mm; move downward 0 mm; roll downward 162 degrees; pitch downward 77 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 95 mm; move downward 0 mm; roll downward 122 degrees; pitch downward 61 degrees; yaw counterclockwise 20 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 231, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.008214286528527737, + 0.0, + -0.13285714387893677, + -0.06285714358091354, + 0.04285714402794838, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.0950000062584877, + 0.0, + -2.819999933242798, + -1.3442858457565308, + 0.05428574979305267, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + -0.029345707649264474, + -0.857493903553592, + -0.7211538665033637, + -0.4176776795883279, + 1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 8 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 95 mm; move downward 0 mm; roll downward 162 degrees; pitch downward 77 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 95 mm; move downward 0 mm; roll downward 122 degrees; pitch downward 61 degrees; yaw counterclockwise 20 degrees; open gripper;" + }, + { + "frame_index": 78, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 8 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 87 mm; move downward 0 mm; roll downward 159 degrees; pitch downward 75 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 87 mm; move downward 0 mm; roll downward 115 degrees; pitch downward 57 degrees; yaw counterclockwise 18 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 231, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.007857142947614193, + 0.0, + -0.14000000059604645, + -0.06428571790456772, + 0.04285714402794838, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.08678572624921799, + 0.0, + -2.7799999713897705, + -1.3057143688201904, + -0.09999996423721313, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + -0.006772306838034647, + -0.857493903553592, + -0.7812500148830668, + -0.4350087360008228, + 1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 8 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 87 mm; move downward 0 mm; roll downward 159 degrees; pitch downward 75 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 87 mm; move downward 0 mm; roll downward 115 degrees; pitch downward 57 degrees; yaw counterclockwise 18 degrees; open gripper;" + }, + { + "frame_index": 79, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 8 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 79 mm; move downward 0 mm; roll downward 156 degrees; pitch downward 72 degrees; yaw clockwise 15 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 79 mm; move downward 0 mm; roll downward 107 degrees; pitch downward 54 degrees; yaw counterclockwise 16 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 232, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.007857142947614193, + 0.0, + -0.14428570866584778, + -0.06714285910129547, + 0.041428569704294205, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.07892858237028122, + 0.0, + -2.731428384780884, + -1.261428713798523, + -0.2628571391105652, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + -0.006772306838034647, + -0.857493903553592, + -0.8173076537627516, + -0.46967075843749295, + 0.9907406147717721, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 8 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 79 mm; move downward 0 mm; roll downward 156 degrees; pitch downward 72 degrees; yaw clockwise 15 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 79 mm; move downward 0 mm; roll downward 107 degrees; pitch downward 54 degrees; yaw counterclockwise 16 degrees; open gripper;" + }, + { + "frame_index": 80, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 7 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 71 mm; move downward 0 mm; roll downward 153 degrees; pitch downward 69 degrees; yaw clockwise 25 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 71 mm; move downward 0 mm; roll downward 98 degrees; pitch downward 50 degrees; yaw counterclockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 232, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.007142857648432255, + 0.0, + -0.14142857491970062, + -0.0714285746216774, + 0.037142857909202576, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.07107143849134445, + 0.0, + -2.6757140159606934, + -1.2114287614822388, + -0.4357142746448517, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.03837437705520408, + -0.857493903553592, + -0.793269269633076, + -0.5216638372866578, + 0.9444443494810308, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 7 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 71 mm; move downward 0 mm; roll downward 153 degrees; pitch downward 69 degrees; yaw clockwise 25 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 71 mm; move downward 0 mm; roll downward 98 degrees; pitch downward 50 degrees; yaw counterclockwise 13 degrees; open gripper;" + }, + { + "frame_index": 81, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 8 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 64 mm; move downward 0 mm; roll downward 150 degrees; pitch downward 66 degrees; yaw clockwise 35 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 64 mm; move downward 0 mm; roll downward 90 degrees; pitch downward 46 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 232, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.007857142947614193, + 0.0, + -0.1428571492433548, + -0.07285714149475098, + 0.03285714238882065, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.06392857432365417, + 0.0, + -2.619999885559082, + -1.1557143926620483, + -0.6085714101791382, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + -0.006772306838034647, + -0.857493903553592, + -0.8052885243830852, + -0.538994803310833, + 0.8981480439479597, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 8 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 64 mm; move downward 0 mm; roll downward 150 degrees; pitch downward 66 degrees; yaw clockwise 35 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 64 mm; move downward 0 mm; roll downward 90 degrees; pitch downward 46 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 82, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 8 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 56 mm; move downward 0 mm; roll downward 147 degrees; pitch downward 63 degrees; yaw clockwise 45 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 56 mm; move downward 0 mm; roll downward 82 degrees; pitch downward 41 degrees; yaw counterclockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 232, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.007500000298023224, + 0.0, + -0.1485714316368103, + -0.07428571581840515, + 0.03142857179045677, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.05607143044471741, + 0.0, + -2.559999942779541, + -1.0942857265472412, + -0.7842857241630554, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.01580103510858466, + -0.857493903553592, + -0.8533654180127791, + -0.5563258597233279, + 0.8827159555177124, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 8 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 56 mm; move downward 0 mm; roll downward 147 degrees; pitch downward 63 degrees; yaw clockwise 45 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 56 mm; move downward 0 mm; roll downward 82 degrees; pitch downward 41 degrees; yaw counterclockwise 9 degrees; open gripper;" + }, + { + "frame_index": 83, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 8 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 49 mm; move downward 0 mm; roll downward 143 degrees; pitch downward 59 degrees; yaw clockwise 55 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 49 mm; move downward 0 mm; roll downward 74 degrees; pitch downward 37 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 233, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.007500000298023224, + 0.0, + -0.15571428835391998, + -0.07571428269147873, + 0.03142857179045677, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.04857143387198448, + 0.0, + -2.488571882247925, + -1.031428575515747, + -0.9642857313156128, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.01580103510858466, + -0.857493903553592, + -0.9134615663924822, + -0.5736568257475032, + 0.8827159555177124, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 8 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 49 mm; move downward 0 mm; roll downward 143 degrees; pitch downward 59 degrees; yaw clockwise 55 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 49 mm; move downward 0 mm; roll downward 74 degrees; pitch downward 37 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 84, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 8 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 41 mm; move downward 0 mm; roll downward 138 degrees; pitch downward 56 degrees; yaw clockwise 65 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 41 mm; move downward 0 mm; roll downward 65 degrees; pitch downward 33 degrees; yaw counterclockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 233, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.007500000298023224, + 0.0, + -0.16428571939468384, + -0.0771428570151329, + 0.02857142873108387, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.04107142984867096, + 0.0, + -2.4128572940826416, + -0.9714285731315613, + -1.1428571939468384, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.01580103510858466, + -0.857493903553592, + -0.9855769695221945, + -0.590987882159998, + 0.8518517585360534, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 8 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 41 mm; move downward 0 mm; roll downward 138 degrees; pitch downward 56 degrees; yaw clockwise 65 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 41 mm; move downward 0 mm; roll downward 65 degrees; pitch downward 33 degrees; yaw counterclockwise 6 degrees; open gripper;" + }, + { + "frame_index": 85, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 8 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 1 mm; move right 34 mm; move downward 0 mm; roll downward 133 degrees; pitch downward 52 degrees; yaw clockwise 75 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 34 mm; move downward 0 mm; roll downward 55 degrees; pitch downward 28 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 233, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.007857142947614193, + 0.0, + -0.16857142746448517, + -0.07999999821186066, + 0.027142856270074844, + 1.0 + ], + "delta_next_20": [ + 0.0007142857066355646, + -0.033571433275938034, + 0.0, + -2.3299999237060547, + -0.9128571152687073, + -1.3142857551574707, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + -0.006772306838034647, + -0.857493903553592, + -1.0, + -0.6256499045966681, + 0.8364196499846412, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 8 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 1 mm; move right 34 mm; move downward 0 mm; roll downward 133 degrees; pitch downward 52 degrees; yaw clockwise 75 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 34 mm; move downward 0 mm; roll downward 55 degrees; pitch downward 28 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 86, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 7 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 2 mm; move right 26 mm; move downward 0 mm; roll downward 129 degrees; pitch downward 50 degrees; yaw clockwise 84 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 26 mm; move downward 0 mm; roll downward 46 degrees; pitch downward 24 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 234, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.007142857648432255, + 0.0, + -0.17000000178813934, + -0.08142857253551483, + 0.02428571507334709, + 1.0 + ], + "delta_next_20": [ + 0.0021428572945296764, + -0.025714287534356117, + 0.0, + -2.247142791748047, + -0.8642857074737549, + -1.4728572368621826, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.03837437705520408, + -0.857493903553592, + -1.0, + -0.642980961009163, + 0.8055554731241472, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 7 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 2 mm; move right 26 mm; move downward 0 mm; roll downward 129 degrees; pitch downward 50 degrees; yaw clockwise 84 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 26 mm; move downward 0 mm; roll downward 46 degrees; pitch downward 24 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 87, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 7 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 5 mm; move right 19 mm; move downward 0 mm; roll downward 124 degrees; pitch downward 47 degrees; yaw clockwise 93 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 19 mm; move downward 0 mm; roll downward 36 degrees; pitch downward 19 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 234, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.007142857648432255, + 0.0, + -0.167142853140831, + -0.08428571373224258, + 0.017142856493592262, + 1.0 + ], + "delta_next_20": [ + 0.005000000353902578, + -0.018571428954601288, + 0.0, + -2.1685712337493896, + -0.8242858052253723, + -1.617142915725708, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.03837437705520408, + -0.857493903553592, + -1.0, + -0.6776429834458331, + 0.7283949706094168, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 7 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 5 mm; move right 19 mm; move downward 0 mm; roll downward 124 degrees; pitch downward 47 degrees; yaw clockwise 93 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 19 mm; move downward 0 mm; roll downward 36 degrees; pitch downward 19 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 88, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 5 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 10 mm; move right 11 mm; move downward 0 mm; roll downward 120 degrees; pitch downward 45 degrees; yaw clockwise 100 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 11 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 234, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0053571430034935474, + 0.0, + -0.1614285707473755, + -0.08428571373224258, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.010357143357396126, + -0.011428571306169033, + 0.0, + -2.094285726547241, + -0.7885714769363403, + -1.7400001287460327, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.15124117508521628, + -0.857493903553592, + -0.9615384600221762, + -0.6776429834458331, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 5 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 10 mm; move right 11 mm; move downward 0 mm; roll downward 120 degrees; pitch downward 45 degrees; yaw clockwise 100 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 11 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 89, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 4 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 16 mm; move right 6 mm; move downward 0 mm; roll downward 116 degrees; pitch downward 43 degrees; yaw clockwise 105 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 6 mm; move downward 0 mm; roll downward 17 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 235, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0039285714738070965, + 0.0, + -0.1542857140302658, + -0.08428571373224258, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.016428573057055473, + -0.00607142923399806, + 0.0, + -2.0242857933044434, + -0.758571445941925, + -1.8357144594192505, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.24153460173630403, + -0.857493903553592, + -0.9014423116424731, + -0.6776429834458331, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 4 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 16 mm; move right 6 mm; move downward 0 mm; roll downward 116 degrees; pitch downward 43 degrees; yaw clockwise 105 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 6 mm; move downward 0 mm; roll downward 17 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 90, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 2 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 23 mm; move right 2 mm; move downward 0 mm; roll downward 113 degrees; pitch downward 42 degrees; yaw clockwise 110 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 2 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 235, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0021428572945296764, + 0.0, + -0.1428571492433548, + -0.08142857253551483, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.022857144474983215, + -0.0021428572945296764, + 0.0, + -1.9642857313156128, + -0.7328571081161499, + -1.9228572845458984, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.3544013703340112, + -0.857493903553592, + -0.8052885243830852, + -0.642980961009163, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 2 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 23 mm; move right 2 mm; move downward 0 mm; roll downward 113 degrees; pitch downward 42 degrees; yaw clockwise 110 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 2 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 91, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, consistent with the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 30 mm; move right 0 mm; move downward 0 mm; roll downward 110 degrees; pitch downward 41 degrees; yaw clockwise 114 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 235, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.13428571820259094, + -0.07571428269147873, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.030000001192092896, + 0.0, + 0.0, + -1.9128570556640625, + -0.7128571271896362, + -1.997143030166626, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.4898415103106428, + -0.857493903553592, + -0.7331731212533729, + -0.5736568257475032, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 30 mm; move right 0 mm; move downward 0 mm; roll downward 110 degrees; pitch downward 41 degrees; yaw clockwise 114 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 92, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 37 mm; move right 0 mm; move downward 0 mm; roll downward 107 degrees; pitch downward 40 degrees; yaw clockwise 118 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 118 degrees; pitch downward 47 degrees; yaw clockwise 125 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 235, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.12714286148548126, + -0.06428571790456772, + -0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + 0.037142857909202576, + 0.0, + 0.0, + -1.869999885559082, + -0.6985714435577393, + -2.06428599357605, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.4898415103106428, + -0.857493903553592, + -0.6730769728736696, + -0.4350087360008228, + 0.45061722795623194, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 37 mm; move right 0 mm; move downward 0 mm; roll downward 107 degrees; pitch downward 40 degrees; yaw clockwise 118 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 118 degrees; pitch downward 47 degrees; yaw clockwise 125 degrees; open gripper;" + }, + { + "frame_index": 93, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 3 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 45 mm; move right 0 mm; move downward 0 mm; roll downward 105 degrees; pitch downward 40 degrees; yaw clockwise 121 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 110 degrees; pitch downward 43 degrees; yaw clockwise 124 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 235, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.11571428924798965, + -0.051428571343421936, + -0.03999999910593033, + 1.0 + ], + "delta_next_20": [ + 0.0446428619325161, + 0.0, + 0.0, + -1.8328568935394287, + -0.6942856907844543, + -2.1157145500183105, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.4898415103106428, + -0.857493903553592, + -0.5769231229291104, + -0.279029499453328, + 0.11111109133972885, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 3 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 45 mm; move right 0 mm; move downward 0 mm; roll downward 105 degrees; pitch downward 40 degrees; yaw clockwise 121 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 110 degrees; pitch downward 43 degrees; yaw clockwise 124 degrees; open gripper;" + }, + { + "frame_index": 94, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 104 degrees; pitch downward 40 degrees; yaw clockwise 122 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 104 degrees; pitch downward 40 degrees; yaw clockwise 122 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 235, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.10999999940395355, + -0.03857142850756645, + -0.0657142847776413, + 1.0 + ], + "delta_next_20": [ + 0.05214285850524902, + 0.0, + 0.0, + -1.808571219444275, + -0.7042856216430664, + -2.1285715103149414, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.4898415103106428, + -0.857493903553592, + -0.5288461666142451, + -0.12305030809999296, + -0.1666666613740383, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 104 degrees; pitch downward 40 degrees; yaw clockwise 122 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 104 degrees; pitch downward 40 degrees; yaw clockwise 122 degrees; open gripper;" + }, + { + "frame_index": 95, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 60 mm; move right 0 mm; move downward 0 mm; roll downward 103 degrees; pitch downward 42 degrees; yaw clockwise 121 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 97 degrees; pitch downward 38 degrees; yaw clockwise 118 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 235, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.1014285683631897, + -0.027142856270074844, + -0.08714285492897034, + 1.0 + ], + "delta_next_20": [ + 0.06000000238418579, + 0.0, + 0.0, + -1.7899997234344482, + -0.7299999594688416, + -2.1071431636810303, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.4898415103106428, + -0.857493903553592, + -0.4567307634845328, + 0.015597872035006954, + -0.3981481085547345, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 60 mm; move right 0 mm; move downward 0 mm; roll downward 103 degrees; pitch downward 42 degrees; yaw clockwise 121 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 97 degrees; pitch downward 38 degrees; yaw clockwise 118 degrees; open gripper;" + }, + { + "frame_index": 96, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 1 degrees; yaw clockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 68 mm; move right 0 mm; move downward 0 mm; roll downward 102 degrees; pitch downward 44 degrees; yaw clockwise 118 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 92 degrees; pitch downward 37 degrees; yaw clockwise 113 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 235, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.09714286029338837, + -0.025714285671710968, + -0.1014285683631897, + 1.0 + ], + "delta_next_20": [ + 0.06785714626312256, + 0.0, + 0.0, + -1.7828569412231445, + -0.7685713768005371, + -2.057142972946167, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.4898415103106428, + -0.857493903553592, + -0.42067312460484796, + 0.03292888325334209, + -0.5524690733418651, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 1 degrees; yaw clockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 68 mm; move right 0 mm; move downward 0 mm; roll downward 102 degrees; pitch downward 44 degrees; yaw clockwise 118 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 92 degrees; pitch downward 37 degrees; yaw clockwise 113 degrees; open gripper;" + }, + { + "frame_index": 97, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 77 mm; move right 0 mm; move downward 0 mm; roll downward 102 degrees; pitch downward 46 degrees; yaw clockwise 114 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 86 degrees; pitch downward 35 degrees; yaw clockwise 107 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 236, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.09285714477300644, + -0.02428571507334709, + -0.11142857372760773, + 1.0 + ], + "delta_next_20": [ + 0.0771428570151329, + 0.0, + 0.0, + -1.7799997329711914, + -0.8071427941322327, + -1.9828572273254395, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.4898415103106428, + -0.857493903553592, + -0.38461542303999185, + 0.050259894471677224, + -0.6604938130805845, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 77 mm; move right 0 mm; move downward 0 mm; roll downward 102 degrees; pitch downward 46 degrees; yaw clockwise 114 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 86 degrees; pitch downward 35 degrees; yaw clockwise 107 degrees; open gripper;" + }, + { + "frame_index": 98, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 7 degrees; open gripper;\nNext 20 Movement: move forward 87 mm; move right 0 mm; move downward 0 mm; roll downward 102 degrees; pitch downward 49 degrees; yaw clockwise 109 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 81 degrees; pitch downward 34 degrees; yaw clockwise 101 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 236, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.09142857044935226, + -0.019999999552965164, + -0.11999999731779099, + 1.0 + ], + "delta_next_20": [ + 0.08678571879863739, + 0.0, + 0.0, + -1.784285545349121, + -0.8485713601112366, + -1.8942859172821045, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.4898415103106428, + -0.857493903553592, + -0.37259616828998265, + 0.10225297332084216, + -0.7530863436620671, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 7 degrees; open gripper;", + "next_20_movement_text": "move forward 87 mm; move right 0 mm; move downward 0 mm; roll downward 102 degrees; pitch downward 49 degrees; yaw clockwise 109 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 81 degrees; pitch downward 34 degrees; yaw clockwise 101 degrees; open gripper;" + }, + { + "frame_index": 99, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 8 degrees; open gripper;\nNext 20 Movement: move forward 97 mm; move right 0 mm; move downward 0 mm; roll downward 103 degrees; pitch downward 51 degrees; yaw clockwise 103 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 75 degrees; pitch downward 33 degrees; yaw clockwise 94 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 236, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.08857142925262451, + -0.017142856493592262, + -0.1314285695552826, + 1.0 + ], + "delta_next_20": [ + 0.09714286029338837, + 0.0, + 0.0, + -1.794285535812378, + -0.8957142233848572, + -1.7957143783569336, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.4898415103106428, + -0.857493903553592, + -0.34855772147513564, + 0.13691501835459197, + -0.8765431315887037, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 8 degrees; open gripper;", + "next_20_movement_text": "move forward 97 mm; move right 0 mm; move downward 0 mm; roll downward 103 degrees; pitch downward 51 degrees; yaw clockwise 103 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 75 degrees; pitch downward 33 degrees; yaw clockwise 94 degrees; open gripper;" + }, + { + "frame_index": 100, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 8 degrees; open gripper;\nNext 20 Movement: move forward 108 mm; move right 0 mm; move downward 0 mm; roll downward 103 degrees; pitch downward 54 degrees; yaw clockwise 97 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 70 degrees; pitch downward 32 degrees; yaw clockwise 87 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 236, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.08571428805589676, + -0.015714285895228386, + -0.13571429252624512, + 1.0 + ], + "delta_next_20": [ + 0.10821428149938583, + 0.0, + 0.0, + -1.8042856454849243, + -0.9428570866584778, + -1.6857144832611084, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.4898415103106428, + -0.857493903553592, + -0.32451927466028874, + 0.1542460295729271, + -0.9228395176064347, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 8 degrees; open gripper;", + "next_20_movement_text": "move forward 108 mm; move right 0 mm; move downward 0 mm; roll downward 103 degrees; pitch downward 54 degrees; yaw clockwise 97 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 70 degrees; pitch downward 32 degrees; yaw clockwise 87 degrees; open gripper;" + }, + { + "frame_index": 101, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 8 degrees; open gripper;\nNext 20 Movement: move forward 120 mm; move right 0 mm; move downward 0 mm; roll downward 104 degrees; pitch downward 57 degrees; yaw clockwise 90 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 65 degrees; pitch downward 31 degrees; yaw clockwise 79 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 237, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.08285713940858841, + -0.011428571306169033, + -0.1428571492433548, + 1.0 + ], + "delta_next_20": [ + 0.11964285373687744, + 0.0, + 0.0, + -1.8157141208648682, + -0.98714280128479, + -1.5714285373687744, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.4898415103106428, + -0.857493903553592, + -0.30048076516027034, + 0.20623909712355215, + -1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 8 degrees; open gripper;", + "next_20_movement_text": "move forward 120 mm; move right 0 mm; move downward 0 mm; roll downward 104 degrees; pitch downward 57 degrees; yaw clockwise 90 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 65 degrees; pitch downward 31 degrees; yaw clockwise 79 degrees; open gripper;" + }, + { + "frame_index": 102, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 9 degrees; open gripper;\nNext 20 Movement: move forward 132 mm; move right 0 mm; move downward 0 mm; roll downward 105 degrees; pitch downward 59 degrees; yaw clockwise 83 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 61 degrees; pitch downward 30 degrees; yaw clockwise 71 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 237, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.0771428570151329, + -0.011428571306169033, + -0.1485714316368103, + 1.0 + ], + "delta_next_20": [ + 0.13178572058677673, + 0.0, + 0.0, + -1.825714111328125, + -1.0342856645584106, + -1.4500000476837158, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.4898415103106428, + -0.857493903553592, + -0.2524038715305764, + 0.20623909712355215, + -1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 9 degrees; open gripper;", + "next_20_movement_text": "move forward 132 mm; move right 0 mm; move downward 0 mm; roll downward 105 degrees; pitch downward 59 degrees; yaw clockwise 83 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 61 degrees; pitch downward 30 degrees; yaw clockwise 71 degrees; open gripper;" + }, + { + "frame_index": 103, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 8 degrees; open gripper;\nNext 20 Movement: move forward 145 mm; move right 0 mm; move downward 0 mm; roll downward 105 degrees; pitch downward 62 degrees; yaw clockwise 76 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 56 degrees; pitch downward 29 degrees; yaw clockwise 62 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 237, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.07999999821186066, + -0.015714285895228386, + -0.14714285731315613, + 1.0 + ], + "delta_next_20": [ + 0.14464285969734192, + 0.0, + 0.0, + -1.8357142210006714, + -1.074285626411438, + -1.322857141494751, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.4898415103106428, + -0.857493903553592, + -0.27644231834542343, + 0.1542460295729271, + -1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 8 degrees; open gripper;", + "next_20_movement_text": "move forward 145 mm; move right 0 mm; move downward 0 mm; roll downward 105 degrees; pitch downward 62 degrees; yaw clockwise 76 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 56 degrees; pitch downward 29 degrees; yaw clockwise 62 degrees; open gripper;" + }, + { + "frame_index": 104, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 8 degrees; open gripper;\nNext 20 Movement: move forward 156 mm; move right 0 mm; move downward 0 mm; roll downward 105 degrees; pitch downward 63 degrees; yaw clockwise 69 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 52 degrees; pitch downward 28 degrees; yaw clockwise 54 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 238, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0007142857066355646, + 0.0, + 0.0, + -0.08142857253551483, + -0.018571428954601288, + -0.1428571492433548, + 1.0 + ], + "delta_next_20": [ + 0.15642856061458588, + 0.0, + 0.0, + -1.8300000429153442, + -1.1071429252624512, + -1.1985716819763184, + 1.0 + ], + "delta_full_state_norm": [ + 0.46202511484257536, + 0.4898415103106428, + -0.857493903553592, + -0.2884615730954325, + 0.11958398453917707, + -1.0, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 8 degrees; open gripper;", + "next_20_movement_text": "move forward 156 mm; move right 0 mm; move downward 0 mm; roll downward 105 degrees; pitch downward 63 degrees; yaw clockwise 69 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 52 degrees; pitch downward 28 degrees; yaw clockwise 54 degrees; open gripper;" + }, + { + "frame_index": 105, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 8 degrees; open gripper;\nNext 20 Movement: move forward 167 mm; move right 0 mm; move downward 0 mm; roll downward 104 degrees; pitch downward 65 degrees; yaw clockwise 62 degrees; open gripper;\nSubtask Movement: move forward 51 mm; move right 0 mm; move downward 0 mm; roll downward 47 degrees; pitch downward 27 degrees; yaw clockwise 46 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 238, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0014285714132711291, + 0.0, + 0.0, + -0.08571428805589676, + -0.03142857179045677, + -0.1314285695552826, + 1.0 + ], + "delta_next_20": [ + 0.167142853140831, + 0.0, + 0.0, + -1.8142855167388916, + -1.132857084274292, + -1.0800000429153442, + 1.0 + ], + "delta_full_state_norm": [ + 0.48312215822027516, + 0.4898415103106428, + -0.857493903553592, + -0.32451927466028874, + -0.036395206814157866, + -0.8765431315887037, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 8 degrees; open gripper;", + "next_20_movement_text": "move forward 167 mm; move right 0 mm; move downward 0 mm; roll downward 104 degrees; pitch downward 65 degrees; yaw clockwise 62 degrees; open gripper;", + "subtask_movement_text": "move forward 51 mm; move right 0 mm; move downward 0 mm; roll downward 47 degrees; pitch downward 27 degrees; yaw clockwise 46 degrees; open gripper;" + }, + { + "frame_index": 106, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 7 degrees; open gripper;\nNext 20 Movement: move forward 177 mm; move right 0 mm; move downward 0 mm; roll downward 102 degrees; pitch downward 65 degrees; yaw clockwise 56 degrees; open gripper;\nSubtask Movement: move forward 50 mm; move right 0 mm; move downward 0 mm; roll downward 42 degrees; pitch downward 26 degrees; yaw clockwise 38 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 238, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0028571428265422583, + 0.0, + 0.0, + -0.09142857044935226, + -0.041428569704294205, + -0.11999999731779099, + 1.0 + ], + "delta_next_20": [ + 0.17678570747375488, + 0.0, + 0.0, + -1.7885713577270508, + -1.1371427774429321, + -0.9728572964668274, + 1.0 + ], + "delta_full_state_norm": [ + 0.5253162449756745, + 0.4898415103106428, + -0.857493903553592, + -0.37259616828998265, + -0.157712330536663, + -0.7530863436620671, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 7 degrees; open gripper;", + "next_20_movement_text": "move forward 177 mm; move right 0 mm; move downward 0 mm; roll downward 102 degrees; pitch downward 65 degrees; yaw clockwise 56 degrees; open gripper;", + "subtask_movement_text": "move forward 50 mm; move right 0 mm; move downward 0 mm; roll downward 42 degrees; pitch downward 26 degrees; yaw clockwise 38 degrees; open gripper;" + }, + { + "frame_index": 107, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 185 mm; move right 0 mm; move downward 0 mm; roll downward 100 degrees; pitch downward 64 degrees; yaw clockwise 50 degrees; open gripper;\nSubtask Movement: move forward 47 mm; move right 0 mm; move downward 0 mm; roll downward 37 degrees; pitch downward 23 degrees; yaw clockwise 31 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 238, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0053571430034935474, + 0.0, + 0.0, + -0.09285714477300644, + -0.04857143014669418, + -0.10571428388357162, + 1.0 + ], + "delta_next_20": [ + 0.1850000023841858, + 0.0, + 0.0, + -1.7485711574554443, + -1.1228570938110352, + -0.8785715699195862, + 1.0 + ], + "delta_full_state_norm": [ + 0.5991559028148701, + 0.4898415103106428, + -0.857493903553592, + -0.38461542303999185, + -0.24436747701665784, + -0.5987653788749363, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 185 mm; move right 0 mm; move downward 0 mm; roll downward 100 degrees; pitch downward 64 degrees; yaw clockwise 50 degrees; open gripper;", + "subtask_movement_text": "move forward 47 mm; move right 0 mm; move downward 0 mm; roll downward 37 degrees; pitch downward 23 degrees; yaw clockwise 31 degrees; open gripper;" + }, + { + "frame_index": 108, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 191 mm; move right 0 mm; move downward 0 mm; roll downward 97 degrees; pitch downward 62 degrees; yaw clockwise 46 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 0 mm; move downward 0 mm; roll downward 32 degrees; pitch downward 20 degrees; yaw clockwise 25 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 238, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006071428768336773, + 0.0, + 0.0, + -0.09142857044935226, + -0.05428571254014969, + -0.09571428596973419, + 1.0 + ], + "delta_next_20": [ + 0.1907142847776413, + 0.0, + 0.0, + -1.6914284229278564, + -1.0899999141693115, + -0.8014286160469055, + 1.0 + ], + "delta_full_state_norm": [ + 0.6202529479117833, + 0.4898415103106428, + -0.857493903553592, + -0.37259616828998265, + -0.31369152188999805, + -0.49074071962087684, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 191 mm; move right 0 mm; move downward 0 mm; roll downward 97 degrees; pitch downward 62 degrees; yaw clockwise 46 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 0 mm; move downward 0 mm; roll downward 32 degrees; pitch downward 20 degrees; yaw clockwise 25 degrees; open gripper;" + }, + { + "frame_index": 109, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 196 mm; move right 0 mm; move downward 0 mm; roll downward 93 degrees; pitch downward 60 degrees; yaw clockwise 42 degrees; open gripper;\nSubtask Movement: move forward 36 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 17 degrees; yaw clockwise 20 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 238, + 75 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006428571883589029, + 0.0, + 0.0, + -0.09428571164608002, + -0.058571428060531616, + -0.08714285492897034, + 1.0 + ], + "delta_next_20": [ + 0.1957142949104309, + 0.0, + 0.0, + -1.6257141828536987, + -1.0428571701049805, + -0.7357142567634583, + 1.0 + ], + "delta_full_state_norm": [ + 0.6308014773370934, + 0.4898415103106428, + -0.857493903553592, + -0.39663461510482967, + -0.365684600739163, + -0.3981481085547345, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 196 mm; move right 0 mm; move downward 0 mm; roll downward 93 degrees; pitch downward 60 degrees; yaw clockwise 42 degrees; open gripper;", + "subtask_movement_text": "move forward 36 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 17 degrees; yaw clockwise 20 degrees; open gripper;" + }, + { + "frame_index": 110, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 200 mm; move right 0 mm; move downward 0 mm; roll downward 89 degrees; pitch downward 56 degrees; yaw clockwise 39 degrees; open gripper;\nSubtask Movement: move forward 29 mm; move right 0 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 14 degrees; yaw clockwise 15 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 238, + 75 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007142857648432255, + 0.0, + 0.0, + -0.09142857044935226, + -0.06142857298254967, + -0.07428571581840515, + 1.0 + ], + "delta_next_20": [ + 0.1996428668498993, + 0.0, + 0.0, + -1.5457141399383545, + -0.9842856526374817, + -0.6800000667572021, + 1.0 + ], + "delta_full_state_norm": [ + 0.6518985224340064, + 0.4898415103106428, + -0.857493903553592, + -0.37259616828998265, + -0.4003466683699929, + -0.25925927244018065, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 200 mm; move right 0 mm; move downward 0 mm; roll downward 89 degrees; pitch downward 56 degrees; yaw clockwise 39 degrees; open gripper;", + "subtask_movement_text": "move forward 29 mm; move right 0 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 14 degrees; yaw clockwise 15 degrees; open gripper;" + }, + { + "frame_index": 111, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 203 mm; move right 0 mm; move downward 0 mm; roll downward 84 degrees; pitch downward 53 degrees; yaw clockwise 37 degrees; open gripper;\nSubtask Movement: move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 16 degrees; pitch downward 10 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 238, + 75 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007142857648432255, + 0.0, + 0.0, + -0.09142857044935226, + -0.06142857298254967, + -0.06714285910129547, + 1.0 + ], + "delta_next_20": [ + 0.20285716652870178, + 0.0, + 0.0, + -1.4614285230636597, + -0.9228571057319641, + -0.6385714411735535, + 1.0 + ], + "delta_full_state_norm": [ + 0.6518985224340064, + 0.4898415103106428, + -0.857493903553592, + -0.37259616828998265, + -0.4003466683699929, + -0.18209879004661533, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 203 mm; move right 0 mm; move downward 0 mm; roll downward 84 degrees; pitch downward 53 degrees; yaw clockwise 37 degrees; open gripper;", + "subtask_movement_text": "move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 16 degrees; pitch downward 10 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 112, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 206 mm; move right 0 mm; move downward 0 mm; roll downward 79 degrees; pitch downward 49 degrees; yaw clockwise 35 degrees; open gripper;\nSubtask Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 7 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 238, + 75 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007500000298023224, + 0.0, + 0.0, + -0.09000000357627869, + -0.05999999865889549, + -0.05999999865889549, + 1.0 + ], + "delta_next_20": [ + 0.20607145130634308, + 0.0, + 0.0, + -1.3714284896850586, + -0.8614285588264465, + -0.6042856574058533, + 1.0 + ], + "delta_full_state_norm": [ + 0.6624470381056093, + 0.4898415103106428, + -0.857493903553592, + -0.36057697622514484, + -0.383015611957498, + -0.1049382674107201, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 206 mm; move right 0 mm; move downward 0 mm; roll downward 79 degrees; pitch downward 49 degrees; yaw clockwise 35 degrees; open gripper;", + "subtask_movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 7 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 113, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 208 mm; move right 0 mm; move downward 0 mm; roll downward 73 degrees; pitch downward 46 degrees; yaw clockwise 33 degrees; open gripper;\nSubtask Movement: move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 237, + 74 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007500000298023224, + 0.0, + 0.0, + -0.09142857044935226, + -0.06142857298254967, + -0.05285714194178581, + 1.0 + ], + "delta_next_20": [ + 0.20821428298950195, + 0.0, + 0.0, + -1.2814284563064575, + -0.801428496837616, + -0.5771427750587463, + 1.0 + ], + "delta_full_state_norm": [ + 0.6624470381056093, + 0.4898415103106428, + -0.857493903553592, + -0.37259616828998265, + -0.4003466683699929, + -0.027777785017154666, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 208 mm; move right 0 mm; move downward 0 mm; roll downward 73 degrees; pitch downward 46 degrees; yaw clockwise 33 degrees; open gripper;", + "subtask_movement_text": "move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 114, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector remains stationary at the interface. This static pose indicates the execution phase of pressing the button rather than reaching or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 210 mm; move right 0 mm; move downward 0 mm; roll downward 68 degrees; pitch downward 42 degrees; yaw clockwise 32 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 237, + 74 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007857142947614193, + 0.0, + 0.0, + -0.09142857044935226, + -0.06428571790456772, + -0.044285714626312256, + 1.0 + ], + "delta_next_20": [ + 0.21035714447498322, + 0.0, + 0.0, + -1.190000057220459, + -0.7399999499320984, + -0.5528571009635925, + 1.0 + ], + "delta_full_state_norm": [ + 0.6729955537772123, + 0.4898415103106428, + -0.857493903553592, + -0.37259616828998265, + -0.4350087360008228, + 0.06481478580665767, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 210 mm; move right 0 mm; move downward 0 mm; roll downward 68 degrees; pitch downward 42 degrees; yaw clockwise 32 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 115, + "segment_id": 10200, + "subtask": "press the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with the end-effector extended towards the interface, indicating it is performing the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with the end-effector extended towards the interface, indicating it is performing the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 210 mm; move right 0 mm; move downward 0 mm; roll downward 63 degrees; pitch downward 39 degrees; yaw clockwise 30 degrees; open gripper;\nSubtask Movement: move forward 48 mm; move right 0 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 19 degrees; yaw clockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 236, + 74 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007857142947614193, + 0.0, + 0.0, + -0.09428571164608002, + -0.0657142847776413, + -0.037142857909202576, + 1.0 + ], + "delta_next_20": [ + 0.21000002324581146, + 0.0, + 0.0, + -1.0985714197158813, + -0.6757142543792725, + -0.5285714268684387, + 1.0 + ], + "delta_full_state_norm": [ + 0.6729955537772123, + 0.4898415103106428, + -0.857493903553592, + -0.39663461510482967, + -0.45233970202499807, + 0.1419752682002231, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 210 mm; move right 0 mm; move downward 0 mm; roll downward 63 degrees; pitch downward 39 degrees; yaw clockwise 30 degrees; open gripper;", + "subtask_movement_text": "move forward 48 mm; move right 0 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 19 degrees; yaw clockwise 7 degrees; open gripper;" + }, + { + "frame_index": 116, + "segment_id": 10200, + "subtask": "press the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with the end-effector extended towards the interface, indicating it is performing the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with the end-effector extended towards the interface, indicating it is performing the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 205 mm; move right 1 mm; move downward 0 mm; roll downward 58 degrees; pitch downward 35 degrees; yaw clockwise 29 degrees; open gripper;\nSubtask Movement: move forward 40 mm; move right 0 mm; move downward 0 mm; roll downward 22 degrees; pitch downward 15 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 236, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + 0.0, + 0.0, + -0.09428571164608002, + -0.06428571790456772, + -0.027142856270074844, + 1.0 + ], + "delta_next_20": [ + 0.20500002801418304, + -0.0010714286472648382, + 0.0, + -1.0042856931686401, + -0.60999995470047, + -0.5028572082519531, + 1.0 + ], + "delta_full_state_norm": [ + 0.7151896439710383, + 0.4898415103106428, + -0.857493903553592, + -0.39663461510482967, + -0.4350087360008228, + 0.24999996769661248, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 205 mm; move right 1 mm; move downward 0 mm; roll downward 58 degrees; pitch downward 35 degrees; yaw clockwise 29 degrees; open gripper;", + "subtask_movement_text": "move forward 40 mm; move right 0 mm; move downward 0 mm; roll downward 22 degrees; pitch downward 15 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 117, + "segment_id": 10200, + "subtask": "press the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with the end-effector extended towards the interface, indicating it is performing the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with the end-effector extended towards the interface, indicating it is performing the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 196 mm; move right 4 mm; move downward 0 mm; roll downward 51 degrees; pitch downward 31 degrees; yaw clockwise 28 degrees; open gripper;\nSubtask Movement: move forward 31 mm; move right 0 mm; move downward 0 mm; roll downward 17 degrees; pitch downward 11 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 235, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + 0.0, + 0.0, + -0.09714286029338837, + -0.0657142847776413, + -0.022857142612338066, + 1.0 + ], + "delta_next_20": [ + 0.1957143247127533, + -0.004285714589059353, + 0.0, + -0.8857142925262451, + -0.5457143187522888, + -0.4814286231994629, + 1.0 + ], + "delta_full_state_norm": [ + 0.7257381596426413, + 0.4898415103106428, + -0.857493903553592, + -0.42067312460484796, + -0.45233970202499807, + 0.2962962531085189, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 196 mm; move right 4 mm; move downward 0 mm; roll downward 51 degrees; pitch downward 31 degrees; yaw clockwise 28 degrees; open gripper;", + "subtask_movement_text": "move forward 31 mm; move right 0 mm; move downward 0 mm; roll downward 17 degrees; pitch downward 11 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 118, + "segment_id": 10200, + "subtask": "press the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with the end-effector extended towards the interface, indicating it is performing the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with the end-effector extended towards the interface, indicating it is performing the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 186 mm; move right 8 mm; move downward 0 mm; roll downward 43 degrees; pitch downward 28 degrees; yaw clockwise 26 degrees; open gripper;\nSubtask Movement: move forward 21 mm; move right 0 mm; move downward 0 mm; roll downward 11 degrees; pitch downward 8 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 235, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + 0.0, + 0.0, + -0.1014285683631897, + -0.06714285910129547, + -0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + 0.1860714554786682, + -0.007500000298023224, + 0.0, + -0.7485713362693787, + -0.48000001907348633, + -0.46000003814697266, + 1.0 + ], + "delta_full_state_norm": [ + 0.7468352184932616, + 0.4898415103106428, + -0.857493903553592, + -0.4567307634845328, + -0.46967075843749295, + 0.31172834153876594, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 186 mm; move right 8 mm; move downward 0 mm; roll downward 43 degrees; pitch downward 28 degrees; yaw clockwise 26 degrees; open gripper;", + "subtask_movement_text": "move forward 21 mm; move right 0 mm; move downward 0 mm; roll downward 11 degrees; pitch downward 8 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 119, + "segment_id": 10200, + "subtask": "press the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with the end-effector extended towards the interface, indicating it is performing the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with the end-effector extended towards the interface, indicating it is performing the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 176 mm; move right 11 mm; move downward 0 mm; roll downward 35 degrees; pitch downward 23 degrees; yaw clockwise 25 degrees; open gripper;\nSubtask Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 235, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + -0.09857142716646194, + -0.06428571790456772, + -0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + 0.17571431398391724, + -0.011071428656578064, + 0.0, + -0.6042855978012085, + -0.4085714519023895, + -0.44142863154411316, + 1.0 + ], + "delta_full_state_norm": [ + 0.7679322498364676, + 0.4898415103106428, + -0.857493903553592, + -0.4326923166696858, + -0.4350087360008228, + 0.31172834153876594, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 176 mm; move right 11 mm; move downward 0 mm; roll downward 35 degrees; pitch downward 23 degrees; yaw clockwise 25 degrees; open gripper;", + "subtask_movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 120, + "segment_id": 10200, + "subtask": "press the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with the end-effector extended towards the interface, indicating it is performing the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with the end-effector extended towards the interface, indicating it is performing the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 3 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 165 mm; move right 14 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 19 degrees; yaw clockwise 24 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 234, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + 0.0, + -0.09714286029338837, + -0.05999999865889549, + -0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + 0.16464287042617798, + -0.01428571529686451, + 0.0, + -0.4599998891353607, + -0.33571431040763855, + -0.4228571951389313, + 1.0 + ], + "delta_full_state_norm": [ + 0.7784807655080705, + 0.4898415103106428, + -0.857493903553592, + -0.42067312460484796, + -0.383015611957498, + 0.31172834153876594, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 3 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 165 mm; move right 14 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 19 degrees; yaw clockwise 24 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 121, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 153 mm; move right 18 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 15 degrees; yaw clockwise 23 degrees; open gripper;\nSubtask Movement: move forward 911 mm; move right 185 mm; move downward 0 mm; roll upward 4 degrees; pitch upward 76 degrees; yaw clockwise 39 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 234, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + 0.0, + 0.0, + -0.09285714477300644, + -0.058571428060531616, + -0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + 0.15321430563926697, + -0.018214287236332893, + 0.0, + -0.3171428143978119, + -0.26428574323654175, + -0.40571436285972595, + 1.0 + ], + "delta_full_state_norm": [ + 0.7995778243586906, + 0.4898415103106428, + -0.857493903553592, + -0.38461542303999185, + -0.365684600739163, + 0.31172834153876594, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 153 mm; move right 18 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 15 degrees; yaw clockwise 23 degrees; open gripper;", + "subtask_movement_text": "move forward 911 mm; move right 185 mm; move downward 0 mm; roll upward 4 degrees; pitch upward 76 degrees; yaw clockwise 39 degrees; open gripper;" + }, + { + "frame_index": 122, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 142 mm; move right 24 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 10 degrees; yaw clockwise 22 degrees; open gripper;\nSubtask Movement: move forward 899 mm; move right 185 mm; move downward 0 mm; roll upward 10 degrees; pitch upward 79 degrees; yaw clockwise 38 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 233, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + 0.0, + -0.08714285492897034, + -0.051428571343421936, + -0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + 0.14178574085235596, + -0.023571429774165154, + 0.0, + -0.17285718023777008, + -0.18142856657505035, + -0.3914286494255066, + 1.0 + ], + "delta_full_state_norm": [ + 0.8206748832093107, + 0.4898415103106428, + -0.857493903553592, + -0.33653846672512655, + -0.279029499453328, + 0.31172834153876594, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 142 mm; move right 24 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 10 degrees; yaw clockwise 22 degrees; open gripper;", + "subtask_movement_text": "move forward 899 mm; move right 185 mm; move downward 0 mm; roll upward 10 degrees; pitch upward 79 degrees; yaw clockwise 38 degrees; open gripper;" + }, + { + "frame_index": 123, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 3 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 132 mm; move right 30 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw clockwise 22 degrees; open gripper;\nSubtask Movement: move forward 886 mm; move right 185 mm; move downward 0 mm; roll upward 15 degrees; pitch upward 82 degrees; yaw clockwise 37 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 232, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + 0.0, + 0.0, + -0.07428571581840515, + -0.04857143014669418, + -0.022857142612338066, + 1.0 + ], + "delta_next_20": [ + 0.13214288651943207, + -0.030000001192092896, + 0.0, + -0.02571432664990425, + -0.09285715222358704, + -0.37714293599128723, + 1.0 + ], + "delta_full_state_norm": [ + 0.7890293086870876, + 0.4898415103106428, + -0.857493903553592, + -0.2283654247157294, + -0.24436747701665784, + 0.2962962531085189, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 3 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 132 mm; move right 30 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw clockwise 22 degrees; open gripper;", + "subtask_movement_text": "move forward 886 mm; move right 185 mm; move downward 0 mm; roll upward 15 degrees; pitch upward 82 degrees; yaw clockwise 37 degrees; open gripper;" + }, + { + "frame_index": 124, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 3 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 125 mm; move right 38 mm; move downward 0 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 21 degrees; open gripper;\nSubtask Movement: move forward 874 mm; move right 185 mm; move downward 0 mm; roll upward 19 degrees; pitch upward 85 degrees; yaw clockwise 35 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 232, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + 0.0, + -0.0657142847776413, + -0.044285714626312256, + -0.02428571507334709, + 1.0 + ], + "delta_next_20": [ + 0.1250000149011612, + -0.03821428865194321, + 0.0, + 0.09999999403953552, + -0.00714285671710968, + -0.3614286780357361, + 1.0 + ], + "delta_full_state_norm": [ + 0.7784807655080705, + 0.4898415103106428, + -0.857493903553592, + -0.15625002158601708, + -0.1923743981674929, + 0.28086414455710673, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 3 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 125 mm; move right 38 mm; move downward 0 mm; roll upward 6 degrees; pitch downward 0 degrees; yaw clockwise 21 degrees; open gripper;", + "subtask_movement_text": "move forward 874 mm; move right 185 mm; move downward 0 mm; roll upward 19 degrees; pitch upward 85 degrees; yaw clockwise 35 degrees; open gripper;" + }, + { + "frame_index": 125, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 119 mm; move right 46 mm; move downward 0 mm; roll upward 12 degrees; pitch upward 4 degrees; yaw clockwise 20 degrees; open gripper;\nSubtask Movement: move forward 863 mm; move right 185 mm; move downward 0 mm; roll upward 23 degrees; pitch upward 88 degrees; yaw clockwise 34 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 231, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + -0.05999999865889549, + -0.0357142873108387, + -0.02428571507334709, + 1.0 + ], + "delta_next_20": [ + 0.11892858892679214, + -0.046071432530879974, + 0.0, + 0.20714284479618073, + 0.07285714894533157, + -0.34714293479919434, + 1.0 + ], + "delta_full_state_norm": [ + 0.7679322498364676, + 0.4898415103106428, + -0.857493903553592, + -0.10817309661373742, + -0.08838828566332291, + 0.28086414455710673, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 119 mm; move right 46 mm; move downward 0 mm; roll upward 12 degrees; pitch upward 4 degrees; yaw clockwise 20 degrees; open gripper;", + "subtask_movement_text": "move forward 863 mm; move right 185 mm; move downward 0 mm; roll upward 23 degrees; pitch upward 88 degrees; yaw clockwise 34 degrees; open gripper;" + }, + { + "frame_index": 126, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 114 mm; move right 54 mm; move downward 0 mm; roll upward 18 degrees; pitch upward 8 degrees; yaw clockwise 19 degrees; open gripper;\nSubtask Movement: move forward 852 mm; move right 185 mm; move downward 0 mm; roll upward 26 degrees; pitch upward 90 degrees; yaw clockwise 32 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 231, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + -0.051428571343421936, + -0.027142856270074844, + -0.025714285671710968, + 1.0 + ], + "delta_next_20": [ + 0.11392857134342194, + -0.0535714328289032, + 0.0, + 0.3085714280605316, + 0.1428571492433548, + -0.33428579568862915, + 1.0 + ], + "delta_full_state_norm": [ + 0.7679322498364676, + 0.4898415103106428, + -0.857493903553592, + -0.03605772482661085, + 0.015597872035006954, + 0.2654320561268597, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 114 mm; move right 54 mm; move downward 0 mm; roll upward 18 degrees; pitch upward 8 degrees; yaw clockwise 19 degrees; open gripper;", + "subtask_movement_text": "move forward 852 mm; move right 185 mm; move downward 0 mm; roll upward 26 degrees; pitch upward 90 degrees; yaw clockwise 32 degrees; open gripper;" + }, + { + "frame_index": 127, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 110 mm; move right 61 mm; move downward 0 mm; roll upward 23 degrees; pitch upward 12 degrees; yaw clockwise 18 degrees; open gripper;\nSubtask Movement: move forward 841 mm; move right 185 mm; move downward 0 mm; roll upward 29 degrees; pitch upward 91 degrees; yaw clockwise 31 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 230, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + -0.0357142873108387, + -0.015714285895228386, + -0.02857142873108387, + 1.0 + ], + "delta_next_20": [ + 0.10964285582304001, + -0.06107143312692642, + 0.0, + 0.3999999761581421, + 0.20714285969734192, + -0.320000022649765, + 1.0 + ], + "delta_full_state_norm": [ + 0.7679322498364676, + 0.4898415103106428, + -0.857493903553592, + 0.09615379534021895, + 0.1542460295729271, + 0.2345678591452005, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 110 mm; move right 61 mm; move downward 0 mm; roll upward 23 degrees; pitch upward 12 degrees; yaw clockwise 18 degrees; open gripper;", + "subtask_movement_text": "move forward 841 mm; move right 185 mm; move downward 0 mm; roll upward 29 degrees; pitch upward 91 degrees; yaw clockwise 31 degrees; open gripper;" + }, + { + "frame_index": 128, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 107 mm; move right 68 mm; move downward 0 mm; roll upward 27 degrees; pitch upward 15 degrees; yaw clockwise 17 degrees; open gripper;\nSubtask Movement: move forward 830 mm; move right 185 mm; move downward 0 mm; roll upward 31 degrees; pitch upward 92 degrees; yaw clockwise 29 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 229, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + -0.025714285671710968, + -0.0071428571827709675, + -0.029999999329447746, + 1.0 + ], + "delta_next_20": [ + 0.1071428582072258, + -0.06785714626312256, + 0.0, + 0.4657142758369446, + 0.26571428775787354, + -0.3042857050895691, + 1.0 + ], + "delta_full_state_norm": [ + 0.7679322498364676, + 0.4898415103106428, + -0.857493903553592, + 0.18028842187735483, + 0.25823215902490704, + 0.2191357707149535, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 107 mm; move right 68 mm; move downward 0 mm; roll upward 27 degrees; pitch upward 15 degrees; yaw clockwise 17 degrees; open gripper;", + "subtask_movement_text": "move forward 830 mm; move right 185 mm; move downward 0 mm; roll upward 31 degrees; pitch upward 92 degrees; yaw clockwise 29 degrees; open gripper;" + }, + { + "frame_index": 129, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 105 mm; move right 74 mm; move downward 0 mm; roll upward 29 degrees; pitch upward 18 degrees; yaw clockwise 16 degrees; open gripper;\nSubtask Movement: move forward 819 mm; move right 185 mm; move downward 0 mm; roll upward 33 degrees; pitch upward 92 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 229, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + 0.0, + 0.0, + -0.014285714365541935, + 0.0, + -0.03142857179045677, + 1.0 + ], + "delta_next_20": [ + 0.10499999672174454, + -0.07357143610715866, + 0.0, + 0.514285683631897, + 0.3142857253551483, + -0.2871428430080414, + 1.0 + ], + "delta_full_state_norm": [ + 0.7468352184932616, + 0.4898415103106428, + -0.857493903553592, + 0.2764422639862676, + 0.3448872659600122, + 0.2037036621635413, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 105 mm; move right 74 mm; move downward 0 mm; roll upward 29 degrees; pitch upward 18 degrees; yaw clockwise 16 degrees; open gripper;", + "subtask_movement_text": "move forward 819 mm; move right 185 mm; move downward 0 mm; roll upward 33 degrees; pitch upward 92 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 130, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 105 mm; move right 78 mm; move downward 0 mm; roll upward 31 degrees; pitch upward 21 degrees; yaw clockwise 15 degrees; open gripper;\nSubtask Movement: move forward 808 mm; move right 185 mm; move downward 0 mm; roll upward 33 degrees; pitch upward 92 degrees; yaw clockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 228, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + 0.0, + 0.0, + -0.0071428571827709675, + 0.0, + -0.03285714238882065, + 1.0 + ], + "delta_next_20": [ + 0.10464286059141159, + -0.07750000804662704, + 0.0, + 0.545714259147644, + 0.3614285886287689, + -0.2685714066028595, + 1.0 + ], + "delta_full_state_norm": [ + 0.7468352184932616, + 0.4898415103106428, + -0.857493903553592, + 0.3365384162837939, + 0.3448872659600122, + 0.18827157373329428, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 105 mm; move right 78 mm; move downward 0 mm; roll upward 31 degrees; pitch upward 21 degrees; yaw clockwise 15 degrees; open gripper;", + "subtask_movement_text": "move forward 808 mm; move right 185 mm; move downward 0 mm; roll upward 33 degrees; pitch upward 92 degrees; yaw clockwise 26 degrees; open gripper;" + }, + { + "frame_index": 131, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 104 mm; move right 81 mm; move downward 0 mm; roll upward 32 degrees; pitch upward 23 degrees; yaw clockwise 14 degrees; open gripper;\nSubtask Movement: move forward 798 mm; move right 185 mm; move downward 0 mm; roll upward 34 degrees; pitch upward 92 degrees; yaw clockwise 24 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 227, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + 0.0, + 0.0, + -0.0014285714132711291, + 0.0, + -0.03285714238882065, + 1.0 + ], + "delta_next_20": [ + 0.10428571701049805, + -0.08071429282426834, + 0.0, + 0.5657142400741577, + 0.4085714519023895, + -0.24857139587402344, + 1.0 + ], + "delta_full_state_norm": [ + 0.7468352184932616, + 0.4898415103106428, + -0.857493903553592, + 0.3846153383177062, + 0.3448872659600122, + 0.18827157373329428, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 104 mm; move right 81 mm; move downward 0 mm; roll upward 32 degrees; pitch upward 23 degrees; yaw clockwise 14 degrees; open gripper;", + "subtask_movement_text": "move forward 798 mm; move right 185 mm; move downward 0 mm; roll upward 34 degrees; pitch upward 92 degrees; yaw clockwise 24 degrees; open gripper;" + }, + { + "frame_index": 132, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 104 mm; move right 83 mm; move downward 0 mm; roll upward 33 degrees; pitch upward 26 degrees; yaw clockwise 13 degrees; open gripper;\nSubtask Movement: move forward 788 mm; move right 185 mm; move downward 0 mm; roll upward 34 degrees; pitch upward 92 degrees; yaw clockwise 22 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 227, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + 0.0, + 0.0, + 0.0, + 0.0, + -0.03285714238882065, + 1.0 + ], + "delta_next_20": [ + 0.10357143729925156, + -0.08250000327825546, + 0.0, + 0.5799999237060547, + 0.45571431517601013, + -0.2271428257226944, + 1.0 + ], + "delta_full_state_norm": [ + 0.7257381596426413, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.3448872659600122, + 0.18827157373329428, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 104 mm; move right 83 mm; move downward 0 mm; roll upward 33 degrees; pitch upward 26 degrees; yaw clockwise 13 degrees; open gripper;", + "subtask_movement_text": "move forward 788 mm; move right 185 mm; move downward 0 mm; roll upward 34 degrees; pitch upward 92 degrees; yaw clockwise 22 degrees; open gripper;" + }, + { + "frame_index": 133, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 104 mm; move right 84 mm; move downward 0 mm; roll upward 34 degrees; pitch upward 29 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 778 mm; move right 185 mm; move downward 0 mm; roll upward 34 degrees; pitch upward 92 degrees; yaw clockwise 20 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + 0.0, + 0.0, + 0.0, + 0.0, + -0.02857142873108387, + 1.0 + ], + "delta_next_20": [ + 0.10357143729925156, + -0.08392857760190964, + 0.0, + 0.5899999141693115, + 0.5057142972946167, + -0.20428569614887238, + 1.0 + ], + "delta_full_state_norm": [ + 0.7257381596426413, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.3448872659600122, + 0.2345678591452005, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 104 mm; move right 84 mm; move downward 0 mm; roll upward 34 degrees; pitch upward 29 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 778 mm; move right 185 mm; move downward 0 mm; roll upward 34 degrees; pitch upward 92 degrees; yaw clockwise 20 degrees; open gripper;" + }, + { + "frame_index": 134, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 103 mm; move right 84 mm; move downward 0 mm; roll upward 34 degrees; pitch upward 32 degrees; yaw clockwise 11 degrees; open gripper;\nSubtask Movement: move forward 768 mm; move right 185 mm; move downward 0 mm; roll upward 34 degrees; pitch upward 92 degrees; yaw clockwise 18 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007500000298023224, + 0.0, + 0.0, + 0.0, + 0.0, + -0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + 0.10321428626775742, + -0.08392857760190964, + 0.0, + 0.5928570628166199, + 0.5557143092155457, + -0.18571427464485168, + 1.0 + ], + "delta_full_state_norm": [ + 0.6624470381056093, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.3448872659600122, + 0.3271604500901779, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 103 mm; move right 84 mm; move downward 0 mm; roll upward 34 degrees; pitch upward 32 degrees; yaw clockwise 11 degrees; open gripper;", + "subtask_movement_text": "move forward 768 mm; move right 185 mm; move downward 0 mm; roll upward 34 degrees; pitch upward 92 degrees; yaw clockwise 18 degrees; open gripper;" + }, + { + "frame_index": 135, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 105 mm; move right 84 mm; move downward 0 mm; roll upward 34 degrees; pitch upward 35 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move forward 761 mm; move right 185 mm; move downward 0 mm; roll upward 34 degrees; pitch upward 92 degrees; yaw clockwise 17 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0028571428265422583, + -0.0010714286472648382, + 0.0, + 0.0, + 0.0, + -0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + 0.10464286059141159, + -0.08392857760190964, + 0.0, + 0.5928570628166199, + 0.6071428656578064, + -0.1728571355342865, + 1.0 + ], + "delta_full_state_norm": [ + 0.5253162449756745, + 0.422121440322327, + -0.857493903553592, + 0.3966345685813204, + 0.3448872659600122, + 0.41975303097457295, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 105 mm; move right 84 mm; move downward 0 mm; roll upward 34 degrees; pitch upward 35 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 761 mm; move right 185 mm; move downward 0 mm; roll upward 34 degrees; pitch upward 92 degrees; yaw clockwise 17 degrees; open gripper;" + }, + { + "frame_index": 136, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 3 mm; move downward 0 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 111 mm; move right 83 mm; move downward 0 mm; roll upward 34 degrees; pitch upward 38 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move forward 758 mm; move right 184 mm; move downward 0 mm; roll upward 34 degrees; pitch upward 92 degrees; yaw clockwise 17 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0032142859417945147, + 0.0, + 0.02428571507334709, + 0.0, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.11142857372760773, + -0.0828571543097496, + 0.0, + 0.5928570628166199, + 0.6642857193946838, + -0.16857142746448517, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.2866813003456954, + -0.857493903553592, + 0.6009614918778623, + 0.3448872659600122, + 0.48148141990759985, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 3 mm; move downward 0 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 111 mm; move right 83 mm; move downward 0 mm; roll upward 34 degrees; pitch upward 38 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 758 mm; move right 184 mm; move downward 0 mm; roll upward 34 degrees; pitch upward 92 degrees; yaw clockwise 17 degrees; open gripper;" + }, + { + "frame_index": 137, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 3 mm; move downward 0 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 120 mm; move right 80 mm; move downward 0 mm; roll upward 33 degrees; pitch upward 41 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move forward 758 mm; move right 181 mm; move downward 0 mm; roll upward 33 degrees; pitch upward 92 degrees; yaw clockwise 16 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0032142859417945147, + 0.0, + 0.03999999910593033, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.12035714834928513, + -0.07964286208152771, + 0.0, + 0.5685713887214661, + 0.7214285731315613, + -0.1671428382396698, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.2866813003456954, + -0.857493903553592, + 0.7331730120446922, + 0.3448872659600122, + 0.5277777116073703, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 3 mm; move downward 0 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 120 mm; move right 80 mm; move downward 0 mm; roll upward 33 degrees; pitch upward 41 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 758 mm; move right 181 mm; move downward 0 mm; roll upward 33 degrees; pitch upward 92 degrees; yaw clockwise 16 degrees; open gripper;" + }, + { + "frame_index": 138, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 4 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 130 mm; move right 76 mm; move downward 0 mm; roll upward 30 degrees; pitch upward 45 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move forward 758 mm; move right 177 mm; move downward 0 mm; roll upward 30 degrees; pitch upward 92 degrees; yaw clockwise 16 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0035714288242161274, + 0.0, + 0.04285714402794838, + 0.004285714123398066, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.12964285910129547, + -0.07642858475446701, + 0.0, + 0.5285714268684387, + 0.7771428823471069, + -0.16999998688697815, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.26410794368292345, + -0.857493903553592, + 0.7572114902021247, + 0.39688032786136707, + 0.5123456143741134, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 4 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 130 mm; move right 76 mm; move downward 0 mm; roll upward 30 degrees; pitch upward 45 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 758 mm; move right 177 mm; move downward 0 mm; roll upward 30 degrees; pitch upward 92 degrees; yaw clockwise 16 degrees; open gripper;" + }, + { + "frame_index": 139, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 3 mm; move downward 0 mm; roll upward 3 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 139 mm; move right 73 mm; move downward 0 mm; roll upward 28 degrees; pitch upward 47 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move forward 758 mm; move right 174 mm; move downward 0 mm; roll upward 28 degrees; pitch upward 92 degrees; yaw clockwise 16 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0032142859417945147, + 0.0, + 0.04571428522467613, + 0.008571428246796131, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.1389285773038864, + -0.07285714894533157, + 0.0, + 0.48571422696113586, + 0.8242857456207275, + -0.17142854630947113, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.2866813003456954, + -0.857493903553592, + 0.7812499370169719, + 0.4488733897627222, + 0.5123456143741134, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 3 mm; move downward 0 mm; roll upward 3 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 139 mm; move right 73 mm; move downward 0 mm; roll upward 28 degrees; pitch upward 47 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 758 mm; move right 174 mm; move downward 0 mm; roll upward 28 degrees; pitch upward 92 degrees; yaw clockwise 16 degrees; open gripper;" + }, + { + "frame_index": 140, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 4 mm; move downward 0 mm; roll upward 3 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 148 mm; move right 70 mm; move downward 0 mm; roll upward 25 degrees; pitch upward 49 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move forward 758 mm; move right 171 mm; move downward 0 mm; roll upward 25 degrees; pitch upward 92 degrees; yaw clockwise 16 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0039285714738070965, + 0.0, + 0.04571428522467613, + 0.011428571306169033, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.14750000834465027, + -0.06964286416769028, + 0.0, + 0.4399999678134918, + 0.8614285588264465, + -0.1728571057319641, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.24153460173630403, + -0.857493903553592, + 0.7812499370169719, + 0.4835354347964722, + 0.49691351839842945, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 4 mm; move downward 0 mm; roll upward 3 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 148 mm; move right 70 mm; move downward 0 mm; roll upward 25 degrees; pitch upward 49 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 758 mm; move right 171 mm; move downward 0 mm; roll upward 25 degrees; pitch upward 92 degrees; yaw clockwise 16 degrees; open gripper;" + }, + { + "frame_index": 141, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 5 mm; move downward 0 mm; roll upward 3 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 155 mm; move right 66 mm; move downward 0 mm; roll upward 23 degrees; pitch upward 51 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move forward 758 mm; move right 167 mm; move downward 0 mm; roll upward 23 degrees; pitch upward 91 degrees; yaw clockwise 16 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0007142857066355646, + -0.0053571430034935474, + 0.0, + 0.051428571343421936, + 0.02428571507334709, + -0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.15535715222358704, + -0.0657142922282219, + 0.0, + 0.3942856788635254, + 0.8899999856948853, + -0.1728571057319641, + 1.0 + ], + "delta_full_state_norm": [ + 0.46202511484257536, + 0.15124117508521628, + -0.857493903553592, + 0.8293268619892515, + 0.6395146374483471, + 0.46604932141677025, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 5 mm; move downward 0 mm; roll upward 3 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 155 mm; move right 66 mm; move downward 0 mm; roll upward 23 degrees; pitch upward 51 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 758 mm; move right 167 mm; move downward 0 mm; roll upward 23 degrees; pitch upward 91 degrees; yaw clockwise 16 degrees; open gripper;" + }, + { + "frame_index": 142, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 6 mm; move downward 0 mm; roll upward 3 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 162 mm; move right 60 mm; move downward 0 mm; roll upward 20 degrees; pitch upward 52 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move forward 757 mm; move right 161 mm; move downward 0 mm; roll upward 20 degrees; pitch upward 90 degrees; yaw clockwise 15 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0032142859417945147, + -0.006428571883589029, + 0.0, + 0.05999999865889549, + 0.037142857909202576, + -0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.16214287281036377, + -0.06035714969038963, + 0.0, + 0.34285712242126465, + 0.9014285802841187, + -0.16999995708465576, + 1.0 + ], + "delta_full_state_norm": [ + 0.5358647744009846, + 0.08352109038074795, + -0.857493903553592, + 0.9014422337763781, + 0.7954938288016822, + 0.46604932141677025, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 6 mm; move downward 0 mm; roll upward 3 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 162 mm; move right 60 mm; move downward 0 mm; roll upward 20 degrees; pitch upward 52 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 757 mm; move right 161 mm; move downward 0 mm; roll upward 20 degrees; pitch upward 90 degrees; yaw clockwise 15 degrees; open gripper;" + }, + { + "frame_index": 143, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 8 mm; move downward 0 mm; roll upward 3 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 165 mm; move right 54 mm; move downward 0 mm; roll upward 16 degrees; pitch upward 51 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move forward 754 mm; move right 155 mm; move downward 0 mm; roll upward 16 degrees; pitch upward 88 degrees; yaw clockwise 15 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004642857238650322, + -0.008214286528527737, + 0.0, + 0.051428571343421936, + 0.037142857909202576, + -0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.16500000655651093, + -0.05392858013510704, + 0.0, + 0.28285714983940125, + 0.8928571343421936, + -0.1671428084373474, + 1.0 + ], + "delta_full_state_norm": [ + 0.5780588577179571, + -0.029345707649264474, + -0.857493903553592, + 0.8293268619892515, + 0.7954938288016822, + 0.46604932141677025, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 8 mm; move downward 0 mm; roll upward 3 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 165 mm; move right 54 mm; move downward 0 mm; roll upward 16 degrees; pitch upward 51 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 754 mm; move right 155 mm; move downward 0 mm; roll upward 16 degrees; pitch upward 88 degrees; yaw clockwise 15 degrees; open gripper;" + }, + { + "frame_index": 144, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 8 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 166 mm; move right 46 mm; move downward 0 mm; roll upward 13 degrees; pitch upward 51 degrees; yaw clockwise 9 degrees; open gripper;\nSubtask Movement: move forward 749 mm; move right 147 mm; move downward 0 mm; roll upward 13 degrees; pitch upward 85 degrees; yaw clockwise 14 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0053571430034935474, + -0.007857142947614193, + 0.0, + 0.041428569704294205, + 0.0357142873108387, + -0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + 0.165714293718338, + -0.04571428522467613, + 0.0, + 0.2314285784959793, + 0.8828572034835815, + -0.16571423411369324, + 1.0 + ], + "delta_full_state_norm": [ + 0.5991559028148701, + -0.006772306838034647, + -0.857493903553592, + 0.7451922354521157, + 0.778162817583347, + 0.43518512946540255, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 8 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 166 mm; move right 46 mm; move downward 0 mm; roll upward 13 degrees; pitch upward 51 degrees; yaw clockwise 9 degrees; open gripper;", + "subtask_movement_text": "move forward 749 mm; move right 147 mm; move downward 0 mm; roll upward 13 degrees; pitch upward 85 degrees; yaw clockwise 14 degrees; open gripper;" + }, + { + "frame_index": 145, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 8 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 165 mm; move right 38 mm; move downward 0 mm; roll upward 11 degrees; pitch upward 50 degrees; yaw clockwise 9 degrees; open gripper;\nSubtask Movement: move forward 744 mm; move right 139 mm; move downward 0 mm; roll upward 11 degrees; pitch upward 83 degrees; yaw clockwise 14 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006071428768336773, + -0.007500000298023224, + 0.0, + 0.041428569704294205, + 0.034285712987184525, + -0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + 0.16500000655651093, + -0.037857141345739365, + 0.0, + 0.1900000125169754, + 0.8700000047683716, + -0.1614285260438919, + 1.0 + ], + "delta_full_state_norm": [ + 0.6202529479117833, + 0.01580103510858466, + -0.857493903553592, + 0.7451922354521157, + 0.7608317611708522, + 0.41975303097457295, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 8 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 165 mm; move right 38 mm; move downward 0 mm; roll upward 11 degrees; pitch upward 50 degrees; yaw clockwise 9 degrees; open gripper;", + "subtask_movement_text": "move forward 744 mm; move right 139 mm; move downward 0 mm; roll upward 11 degrees; pitch upward 83 degrees; yaw clockwise 14 degrees; open gripper;" + }, + { + "frame_index": 146, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 8 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 164 mm; move right 30 mm; move downward 0 mm; roll upward 9 degrees; pitch upward 49 degrees; yaw clockwise 9 degrees; open gripper;\nSubtask Movement: move forward 738 mm; move right 131 mm; move downward 0 mm; roll upward 9 degrees; pitch upward 81 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006785714533179998, + -0.007500000298023224, + 0.0, + 0.03999999910593033, + 0.037142857909202576, + -0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + 0.16357143223285675, + -0.03035714291036129, + 0.0, + 0.1485714316368103, + 0.8557142615318298, + -0.1557142585515976, + 1.0 + ], + "delta_full_state_norm": [ + 0.6413499930086963, + 0.01580103510858466, + -0.857493903553592, + 0.7331730120446922, + 0.7954938288016822, + 0.41975303097457295, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 8 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 164 mm; move right 30 mm; move downward 0 mm; roll upward 9 degrees; pitch upward 49 degrees; yaw clockwise 9 degrees; open gripper;", + "subtask_movement_text": "move forward 738 mm; move right 131 mm; move downward 0 mm; roll upward 9 degrees; pitch upward 81 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 147, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 7 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 163 mm; move right 23 mm; move downward 0 mm; roll upward 6 degrees; pitch upward 48 degrees; yaw clockwise 9 degrees; open gripper;\nSubtask Movement: move forward 731 mm; move right 124 mm; move downward 0 mm; roll upward 6 degrees; pitch upward 79 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008571429178118706, + -0.006785714533179998, + 0.0, + 0.029999999329447746, + 0.04285714402794838, + -0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + 0.16250000894069672, + -0.022857144474983215, + 0.0, + 0.10857142508029938, + 0.8400000333786011, + -0.14999999105930328, + 1.0 + ], + "delta_full_state_norm": [ + 0.6940926126278324, + 0.060947748434128535, + -0.857493903553592, + 0.6490384011788493, + 0.864817918869182, + 0.40432093248374334, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 7 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 163 mm; move right 23 mm; move downward 0 mm; roll upward 6 degrees; pitch upward 48 degrees; yaw clockwise 9 degrees; open gripper;", + "subtask_movement_text": "move forward 731 mm; move right 124 mm; move downward 0 mm; roll upward 6 degrees; pitch upward 79 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 148, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 6 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 160 mm; move right 16 mm; move downward 0 mm; roll upward 5 degrees; pitch upward 47 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move forward 723 mm; move right 117 mm; move downward 0 mm; roll upward 5 degrees; pitch upward 77 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008928571827709675, + -0.0057142856530845165, + 0.0, + 0.022857142612338066, + 0.041428569704294205, + -0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + 0.1600000113248825, + -0.01607142947614193, + 0.0, + 0.07857142388820648, + 0.8185714483261108, + -0.1428571343421936, + 1.0 + ], + "delta_full_state_norm": [ + 0.7046411282994354, + 0.12866783313859687, + -0.857493903553592, + 0.5889422527991461, + 0.8474868624566874, + 0.40432093248374334, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 6 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 160 mm; move right 16 mm; move downward 0 mm; roll upward 5 degrees; pitch upward 47 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move forward 723 mm; move right 117 mm; move downward 0 mm; roll upward 5 degrees; pitch upward 77 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 149, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 4 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 158 mm; move right 10 mm; move downward 0 mm; roll upward 3 degrees; pitch upward 46 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move forward 714 mm; move right 111 mm; move downward 0 mm; roll upward 3 degrees; pitch upward 74 degrees; yaw clockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + -0.0039285714738070965, + 0.0, + 0.017142856493592262, + 0.04714285582304001, + -0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + 0.1582142859697342, + -0.010357143357396126, + 0.0, + 0.05571427941322327, + 0.8014285564422607, + -0.13571427762508392, + 1.0 + ], + "delta_full_state_norm": [ + 0.7362867028216586, + 0.24153460173630403, + -0.857493903553592, + 0.5408653278268665, + 0.9168109525241872, + 0.40432093248374334, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 4 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 158 mm; move right 10 mm; move downward 0 mm; roll upward 3 degrees; pitch upward 46 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move forward 714 mm; move right 111 mm; move downward 0 mm; roll upward 3 degrees; pitch upward 74 degrees; yaw clockwise 11 degrees; open gripper;" + }, + { + "frame_index": 150, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 3 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 156 mm; move right 6 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 45 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move forward 704 mm; move right 107 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 72 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + -0.0032142859417945147, + 0.0, + 0.012857142835855484, + 0.04714285582304001, + -0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + 0.15607142448425293, + -0.006428571883589029, + 0.0, + 0.038571424782276154, + 0.7799999713897705, + -0.12857142090797424, + 1.0 + ], + "delta_full_state_norm": [ + 0.7362867028216586, + 0.2866813003456954, + -0.857493903553592, + 0.5048076419333032, + 0.9168109525241872, + 0.40432093248374334, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 3 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 156 mm; move right 6 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 45 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 704 mm; move right 107 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 72 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 151, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 2 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 154 mm; move right 3 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 44 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move forward 694 mm; move right 104 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 69 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + -0.0017857144121080637, + 0.0, + 0.012857142835855484, + 0.04714285582304001, + -0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + 0.1542857140302658, + -0.0032142859417945147, + 0.0, + 0.025714285671710968, + 0.7600000500679016, + -0.12142854928970337, + 1.0 + ], + "delta_full_state_norm": [ + 0.7257381596426413, + 0.37697472699678314, + -0.857493903553592, + 0.5048076419333032, + 0.9168109525241872, + 0.41975303097457295, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 2 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 154 mm; move right 3 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 44 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 694 mm; move right 104 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 69 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 152, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 1 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 154 mm; move right 1 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 43 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move forward 684 mm; move right 102 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 66 degrees; yaw clockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + -0.0014285714132711291, + 0.0, + 0.009999999776482582, + 0.05000000074505806, + -0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + 0.15392856299877167, + -0.0014285714132711291, + 0.0, + 0.012857142835855484, + 0.7428572177886963, + -0.11571425944566727, + 1.0 + ], + "delta_full_state_norm": [ + 0.7257381596426413, + 0.3995480910176312, + -0.857493903553592, + 0.48076917944716335, + 0.9514730201550172, + 0.43518512946540255, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 1 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 154 mm; move right 1 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 43 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 684 mm; move right 102 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 66 degrees; yaw clockwise 9 degrees; open gripper;" + }, + { + "frame_index": 153, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 3 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 155 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 41 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 674 mm; move right 101 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 64 degrees; yaw clockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + 0.0, + 0.0, + 0.0028571428265422583, + 0.05000000074505806, + -0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + 0.15464285016059875, + 0.0, + 0.0, + 0.0028571428265422583, + 0.7228571176528931, + -0.11142855137586594, + 1.0 + ], + "delta_full_state_norm": [ + 0.7151896439710383, + 0.4898415103106428, + -0.857493903553592, + 0.42067302910854854, + 0.9514730201550172, + 0.43518512946540255, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 3 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 155 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 41 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 674 mm; move right 101 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 64 degrees; yaw clockwise 8 degrees; open gripper;" + }, + { + "frame_index": 154, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 156 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 40 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 665 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 61 degrees; yaw clockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008928571827709675, + 0.0, + 0.0, + 0.0, + 0.051428571343421936, + -0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.1557142734527588, + 0.0, + 0.0, + 0.0, + 0.7028570771217346, + -0.10571426898241043, + 1.0 + ], + "delta_full_state_norm": [ + 0.7046411282994354, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.9688040313733521, + 0.46604932141677025, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 156 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 40 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 665 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 61 degrees; yaw clockwise 8 degrees; open gripper;" + }, + { + "frame_index": 155, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 157 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 39 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 656 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 58 degrees; yaw clockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + 0.0, + 0.0, + 0.0, + 0.05714285746216774, + -0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.1574999839067459, + 0.0, + 0.0, + 0.0, + 0.6799999475479126, + -0.10285712778568268, + 1.0 + ], + "delta_full_state_norm": [ + 0.7257381596426413, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 1.0, + 0.46604932141677025, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 157 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 39 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 656 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 58 degrees; yaw clockwise 7 degrees; open gripper;" + }, + { + "frame_index": 156, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 158 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 37 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 646 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 54 degrees; yaw clockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008928571827709675, + 0.0, + 0.0, + 0.0, + 0.05714285746216774, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.1582142859697342, + 0.0, + 0.0, + 0.0, + 0.6499999761581421, + -0.09999998658895493, + 1.0 + ], + "delta_full_state_norm": [ + 0.7046411282994354, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 1.0, + 0.49691351839842945, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 158 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 37 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 646 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 54 degrees; yaw clockwise 7 degrees; open gripper;" + }, + { + "frame_index": 157, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 159 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 638 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 51 degrees; yaw clockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + 0.0, + 0.0, + 0.0, + 0.055714286863803864, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.15928570926189423, + 0.0, + 0.0, + 0.0, + 0.6157142519950867, + -0.09999999403953552, + 1.0 + ], + "delta_full_state_norm": [ + 0.7151896439710383, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 1.0, + 0.49691351839842945, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 159 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 638 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 51 degrees; yaw clockwise 7 degrees; open gripper;" + }, + { + "frame_index": 158, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 160 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 33 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 628 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 48 degrees; yaw clockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + 0.0, + 0.0, + 0.0, + 0.051428571343421936, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.15964286029338837, + 0.0, + 0.0, + 0.0, + 0.5800000429153442, + -0.10000000149011612, + 1.0 + ], + "delta_full_state_norm": [ + 0.7151896439710383, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.9688040313733521, + 0.49691351839842945, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 160 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 33 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 628 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 48 degrees; yaw clockwise 7 degrees; open gripper;" + }, + { + "frame_index": 159, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 160 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 31 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 619 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 45 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008571429178118706, + 0.0, + 0.0, + 0.0, + 0.04571428522467613, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.16035716235637665, + 0.0, + 0.0, + 0.0, + 0.5485713481903076, + -0.10000000149011612, + 1.0 + ], + "delta_full_state_norm": [ + 0.6940926126278324, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.8994799413058523, + 0.49691351839842945, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 160 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 31 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 619 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 45 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 160, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 161 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 30 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 610 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 42 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007857142947614193, + 0.0, + 0.0, + 0.0, + 0.03999999910593033, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.1614285558462143, + 0.0, + 0.0, + 0.0, + 0.5185714364051819, + -0.10000000894069672, + 1.0 + ], + "delta_full_state_norm": [ + 0.6729955537772123, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.8301558512383522, + 0.49691351839842945, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 161 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 30 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 610 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 42 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 161, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 164 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 28 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 603 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 40 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007500000298023224, + 0.0, + 0.0, + 0.0, + 0.0357142873108387, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.1639285534620285, + 0.0, + 0.0, + 0.0, + 0.4942857325077057, + -0.09857143461704254, + 1.0 + ], + "delta_full_state_norm": [ + 0.6624470381056093, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.778162817583347, + 0.49691351839842945, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 164 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 28 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 603 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 40 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 162, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 167 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 27 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 595 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 38 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006071428768336773, + 0.0, + 0.0, + 0.0, + 0.02857142873108387, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.167142853140831, + 0.0, + 0.0, + 0.0, + 0.47428572177886963, + -0.09714286029338837, + 1.0 + ], + "delta_full_state_norm": [ + 0.6202529479117833, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.6915076937004321, + 0.49691351839842945, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 167 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 27 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 595 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 38 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 163, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 172 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 26 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 589 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 36 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0053571430034935474, + 0.0, + 0.0, + 0.0, + 0.027142856270074844, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.17178571224212646, + 0.0, + 0.0, + 0.0, + 0.4571428596973419, + -0.09285714477300644, + 1.0 + ], + "delta_full_state_norm": [ + 0.5991559028148701, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.6741766598850172, + 0.48148141990759985, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 172 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 26 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 589 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 36 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 164, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 178 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 25 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 584 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004642857238650322, + 0.0, + 0.0, + 0.0, + 0.022857142612338066, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.17821428179740906, + 0.0, + 0.0, + 0.0, + 0.4414285719394684, + -0.08714286237955093, + 1.0 + ], + "delta_full_state_norm": [ + 0.5780588577179571, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.6221836036329322, + 0.48148141990759985, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 178 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 25 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 584 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 35 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 165, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 186 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 25 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 579 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 34 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004642857238650322, + 0.0, + 0.0, + 0.0, + 0.019999999552965164, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.18607141077518463, + 0.0, + 0.0, + 0.0, + 0.4300000071525574, + -0.08142857253551483, + 1.0 + ], + "delta_full_state_norm": [ + 0.5780588577179571, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.5875215585991822, + 0.48148141990759985, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 186 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 25 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 579 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 34 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 166, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 194 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 24 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 574 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 32 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0057142856530845165, + 0.0, + 0.0, + 0.0, + 0.02142857201397419, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.19428570568561554, + 0.0, + 0.0, + 0.0, + 0.4228571355342865, + -0.07571429014205933, + 1.0 + ], + "delta_full_state_norm": [ + 0.609704418486473, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.6048525924145971, + 0.48148141990759985, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 194 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 24 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 574 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 32 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 167, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 201 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 24 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 569 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 31 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006071428768336773, + 0.0, + 0.0, + 0.0, + 0.02142857201397419, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.20142856240272522, + 0.0, + 0.0, + 0.0, + 0.41428571939468384, + -0.07000000029802322, + 1.0 + ], + "delta_full_state_norm": [ + 0.6202529479117833, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.6048525924145971, + 0.48148141990759985, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 201 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 24 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 569 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 31 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 168, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 208 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 23 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 562 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 30 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007142857648432255, + 0.0, + 0.0, + 0.0, + 0.02428571507334709, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.2078571319580078, + 0.0, + 0.0, + 0.0, + 0.40285712480545044, + -0.06428571790456772, + 1.0 + ], + "delta_full_state_norm": [ + 0.6518985224340064, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.6395146374483471, + 0.48148141990759985, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 208 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 23 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 562 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 30 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 169, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 213 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 22 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 555 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 29 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007857142947614193, + 0.0, + 0.0, + 0.0, + 0.025714285671710968, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.21285711228847504, + 0.0, + 0.0, + 0.0, + 0.3885713815689087, + -0.058571431785821915, + 1.0 + ], + "delta_full_state_norm": [ + 0.6729955537772123, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.656845648666682, + 0.48148141990759985, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 213 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 22 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 555 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 29 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 170, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 217 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 21 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 548 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 27 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008214286528527737, + 0.0, + 0.0, + 0.0, + 0.027142856270074844, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.21678569912910461, + 0.0, + 0.0, + 0.0, + 0.37285706400871277, + -0.05285714194178581, + 1.0 + ], + "delta_full_state_norm": [ + 0.6835440969562294, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.6741766598850172, + 0.48148141990759985, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 217 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 21 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 548 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 27 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 171, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 220 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 20 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 539 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 26 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + 0.0, + 0.0, + 0.0, + 0.029999999329447746, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.22035713493824005, + 0.0, + 0.0, + 0.0, + 0.35571420192718506, + -0.04714285582304001, + 1.0 + ], + "delta_full_state_norm": [ + 0.7151896439710383, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.7088387049187672, + 0.48148141990759985, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 220 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 20 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 539 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 26 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 172, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 222 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 19 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 530 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 24 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + 0.0, + 0.0, + 0.0, + 0.029999999329447746, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.2224999964237213, + 0.0, + 0.0, + 0.0, + 0.3328571021556854, + -0.041428565979003906, + 1.0 + ], + "delta_full_state_norm": [ + 0.7468352184932616, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.7088387049187672, + 0.48148141990759985, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 222 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 19 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 530 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 24 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 173, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 222 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 18 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 520 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 22 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + 0.0, + 0.0, + 0.0, + 0.029999999329447746, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.22178570926189423, + -0.0007142857066355646, + 0.0, + 0.0, + 0.30714282393455505, + -0.0357142798602581, + 1.0 + ], + "delta_full_state_norm": [ + 0.7468352184932616, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.7088387049187672, + 0.49691351839842945, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 222 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 18 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 520 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 22 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 174, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 219 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 16 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 509 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 20 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + 0.0, + 0.0, + 0.0, + 0.02857142873108387, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.21928571164608002, + -0.002500000176951289, + 0.0, + 0.0, + 0.27714285254478455, + -0.03142856806516647, + 1.0 + ], + "delta_full_state_norm": [ + 0.7573837341648646, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.6915076937004321, + 0.49691351839842945, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 219 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 16 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 509 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 20 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 175, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 217 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 499 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 19 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + 0.0, + 0.0, + 0.0, + 0.027142856270074844, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.21678569912910461, + -0.004285714589059353, + 0.0, + 0.0, + 0.24857141077518463, + -0.027142856270074844, + 1.0 + ], + "delta_full_state_norm": [ + 0.7468352184932616, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.6741766598850172, + 0.49691351839842945, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 217 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 499 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 19 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 176, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 216 mm; move right 7 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 13 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 488 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 17 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + 0.0, + 0.0, + 0.0, + 0.022857142612338066, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.21607144176959991, + -0.006785714533179998, + 0.0, + 0.0, + 0.2257142812013626, + -0.022857142612338066, + 1.0 + ], + "delta_full_state_norm": [ + 0.7362867028216586, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.6221836036329322, + 0.49691351839842945, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 216 mm; move right 7 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 13 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 488 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 17 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 177, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 216 mm; move right 9 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 478 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 16 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + 0.0, + 0.0, + 0.0, + 0.019999999552965164, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.21642856299877167, + -0.009285714477300644, + 0.0, + 0.0, + 0.20714285969734192, + -0.018571428954601288, + 1.0 + ], + "delta_full_state_norm": [ + 0.7257381596426413, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.5875215585991822, + 0.49691351839842945, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 216 mm; move right 9 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 478 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 16 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 178, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 218 mm; move right 11 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 11 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 469 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + 0.0, + 0.0, + 0.0, + 0.019999999552965164, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.2175000011920929, + -0.011428571306169033, + 0.0, + 0.0, + 0.19142857193946838, + -0.014285714365541935, + 1.0 + ], + "delta_full_state_norm": [ + 0.7362867028216586, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.5875215585991822, + 0.49691351839842945, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 218 mm; move right 11 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 11 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 469 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 179, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 218 mm; move right 14 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 459 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + 0.0, + 0.0, + 0.0, + 0.015714285895228386, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.21821430325508118, + -0.01428571529686451, + 0.0, + 0.0, + 0.17571425437927246, + -0.009999999776482582, + 1.0 + ], + "delta_full_state_norm": [ + 0.7257381596426413, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.535528502347097, + 0.49691351839842945, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 218 mm; move right 14 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 459 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 14 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 180, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 219 mm; move right 18 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 449 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + 0.0, + 0.0, + 0.0, + 0.015714285895228386, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.21857140958309174, + -0.017500001937150955, + 0.0, + 0.0, + 0.15999995172023773, + -0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + 0.7468352184932616, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.535528502347097, + 0.5123456143741134, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 219 mm; move right 18 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 449 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 181, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 218 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 439 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + 0.0, + 0.0, + 0.0, + 0.015714285895228386, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.2182142585515976, + -0.02142857387661934, + 0.0, + 0.0, + 0.1442856788635254, + -0.0028571428265422583, + 1.0 + ], + "delta_full_state_norm": [ + 0.7573837341648646, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.535528502347097, + 0.5123456143741134, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 218 mm; move right 21 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 439 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 182, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 217 mm; move right 26 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 428 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + 0.0, + 0.0, + 0.0, + 0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2174999713897705, + -0.025714287534356117, + 0.0, + 0.0, + 0.12857142090797424, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7573837341648646, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.4835354347964722, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 217 mm; move right 26 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 428 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 183, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 216 mm; move right 30 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 417 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + 0.0, + 0.0, + 0.0, + 0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2157142609357834, + -0.03035714291036129, + 0.0, + 0.0, + 0.11714285612106323, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7890293086870876, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.4835354347964722, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 216 mm; move right 30 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 417 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 184, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 213 mm; move right 35 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 405 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + 0.0, + 0.0, + 0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21250000596046448, + -0.03500000014901161, + 0.0, + 0.0, + 0.10571428388357162, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8101263400302936, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.4835354347964722, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 213 mm; move right 35 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 405 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 185, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 210 mm; move right 40 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 393 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + 0.0, + 0.0, + 0.012857142835855484, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20964287221431732, + -0.039642855525016785, + 0.0, + 0.0, + 0.09428571164608002, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8206748832093107, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.5008664573133472, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 210 mm; move right 40 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 393 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 186, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 207 mm; move right 45 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 380 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + 0.0, + 0.0, + 0.012857142835855484, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2071428745985031, + -0.0446428582072258, + 0.0, + 0.0, + 0.08142857253551483, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8206748832093107, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.5008664573133472, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 207 mm; move right 45 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 380 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 187, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 205 mm; move right 50 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 367 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + 0.0, + 0.0, + 0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2053571492433548, + -0.049642857164144516, + 0.0, + 0.0, + 0.06857143342494965, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8101263400302936, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.4662044122795972, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 205 mm; move right 50 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 367 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 188, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 205 mm; move right 55 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 355 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + 0.0, + 0.0, + 0.0, + 0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20500002801418304, + -0.05464285612106323, + 0.0, + 0.0, + 0.06000000610947609, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7995778243586906, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.4662044122795972, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 205 mm; move right 55 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 355 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 189, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 206 mm; move right 59 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 343 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + 0.0, + 0.0, + 0.0, + 0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20571430027484894, + -0.059285711497068405, + 0.0, + 0.0, + 0.05285714566707611, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7890293086870876, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.4662044122795972, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 206 mm; move right 59 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 343 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 190, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 208 mm; move right 64 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 331 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + 0.0, + 0.0, + 0.0, + 0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2078571617603302, + -0.06428571790456772, + 0.0, + 0.0, + 0.045714281499385834, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7890293086870876, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.4662044122795972, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 208 mm; move right 64 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 331 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 191, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 211 mm; move right 70 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 319 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + 0.0, + 0.0, + 0.0071428571827709675, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2110714465379715, + -0.06964285671710968, + 0.0, + 0.0, + 0.04285713657736778, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7784807655080705, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.4315423728951171, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 211 mm; move right 70 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 319 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 192, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 216 mm; move right 75 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 307 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + -0.0007142857066355646, + 0.0, + 0.0, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21642856299877167, + -0.07535713911056519, + 0.0, + 0.0, + 0.045714281499385834, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7257381596426413, + 0.44469480066413714, + -0.857493903553592, + 0.3966345685813204, + 0.39688032786136707, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 216 mm; move right 75 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 307 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 193, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 224 mm; move right 80 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 298 mm; move right 100 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007857142947614193, + -0.0017857144121080637, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22428572177886963, + -0.07999999821186066, + 0.0, + 0.0, + 0.051428571343421936, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6729955537772123, + 0.37697472699678314, + -0.857493903553592, + 0.3966345685813204, + 0.3448872659600122, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 224 mm; move right 80 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 298 mm; move right 100 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 194, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 234 mm; move right 83 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 290 mm; move right 99 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008214286528527737, + -0.0017857144121080637, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2339285910129547, + -0.08321428298950195, + 0.0, + 0.0, + 0.05999999865889549, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6835440969562294, + 0.37697472699678314, + -0.857493903553592, + 0.3966345685813204, + 0.3448872659600122, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 234 mm; move right 83 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 290 mm; move right 99 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 195, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 244 mm; move right 86 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 282 mm; move right 97 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + -0.002500000176951289, + 0.0, + 0.0, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.24392858147621155, + -0.08642857521772385, + 0.0, + 0.0, + 0.06714285910129547, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7257381596426413, + 0.33182801367123926, + -0.857493903553592, + 0.3966345685813204, + 0.39688032786136707, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 244 mm; move right 86 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 282 mm; move right 97 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 196, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 253 mm; move right 89 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 272 mm; move right 94 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + -0.002500000176951289, + 0.0, + 0.0, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2532142698764801, + -0.0892857164144516, + 0.0, + 0.0, + 0.07000000029802322, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7468352184932616, + 0.33182801367123926, + -0.857493903553592, + 0.3966345685813204, + 0.39688032786136707, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 253 mm; move right 89 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 272 mm; move right 94 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 197, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 262 mm; move right 92 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 262 mm; move right 92 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + -0.0021428572945296764, + 0.0, + 0.0, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.26178571581840515, + -0.0917857214808464, + 0.0, + 0.0, + 0.07000000029802322, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7573837341648646, + 0.3544013703340112, + -0.857493903553592, + 0.3966345685813204, + 0.39688032786136707, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 262 mm; move right 92 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 262 mm; move right 92 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 198, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 270 mm; move right 95 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 251 mm; move right 90 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + -0.0028571428265422583, + 0.0, + 0.0, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.26999998092651367, + -0.0949999988079071, + 0.0, + 0.0, + 0.07000000029802322, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7573837341648646, + 0.30925467172461985, + -0.857493903553592, + 0.3966345685813204, + 0.39688032786136707, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 270 mm; move right 95 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 251 mm; move right 90 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 199, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 278 mm; move right 97 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 240 mm; move right 87 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + -0.0032142859417945147, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.27821430563926697, + -0.09749999642372131, + 0.0, + 0.0, + 0.07000000029802322, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7362867028216586, + 0.2866813003456954, + -0.857493903553592, + 0.3966345685813204, + 0.3448872659600122, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 278 mm; move right 97 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 240 mm; move right 87 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 200, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 287 mm; move right 100 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 230 mm; move right 84 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + -0.0039285714738070965, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2871428430080414, + -0.09964285045862198, + 0.0, + 0.0, + 0.07428571581840515, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7362867028216586, + 0.24153460173630403, + -0.857493903553592, + 0.3966345685813204, + 0.3448872659600122, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 287 mm; move right 100 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 230 mm; move right 84 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 201, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 296 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 220 mm; move right 80 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2964285910129547, + -0.10071428120136261, + 0.0, + 0.0, + 0.07857143133878708, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7362867028216586, + 0.21896123035737958, + -0.857493903553592, + 0.3966345685813204, + 0.3448872659600122, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 296 mm; move right 101 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 220 mm; move right 80 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 202, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 306 mm; move right 100 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 210 mm; move right 75 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008928571827709675, + -0.004642857238650322, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.30571433901786804, + -0.09999999403953552, + 0.0, + 0.0, + 0.082857146859169, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7046411282994354, + 0.19638788841076016, + -0.857493903553592, + 0.3966345685813204, + 0.3448872659600122, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 306 mm; move right 100 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 210 mm; move right 75 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 203, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 315 mm; move right 98 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 201 mm; move right 71 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008571429178118706, + -0.004642857238650322, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3150000274181366, + -0.0982142835855484, + 0.0, + 0.0, + 0.08714286237955093, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6940926126278324, + 0.19638788841076016, + -0.857493903553592, + 0.3966345685813204, + 0.3448872659600122, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 315 mm; move right 98 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 201 mm; move right 71 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 204, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 323 mm; move right 96 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 193 mm; move right 66 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + -0.004642857238650322, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3225000202655792, + -0.0957142785191536, + 0.0, + 0.0, + 0.09000000357627869, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7257381596426413, + 0.19638788841076016, + -0.857493903553592, + 0.3966345685813204, + 0.3448872659600122, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 323 mm; move right 96 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 193 mm; move right 66 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 205, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 326 mm; move right 91 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 183 mm; move right 61 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + -0.005000000353902578, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3257143199443817, + -0.09142857044935226, + 0.0, + 0.0, + 0.09285714477300644, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7468352184932616, + 0.1738145170318357, + -0.857493903553592, + 0.3966345685813204, + 0.3448872659600122, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 326 mm; move right 91 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 183 mm; move right 61 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 206, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 323 mm; move right 86 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 173 mm; move right 56 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + -0.005000000353902578, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3232143223285675, + -0.08642857521772385, + 0.0, + 0.0, + 0.09571428596973419, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7679322498364676, + 0.1738145170318357, + -0.857493903553592, + 0.3966345685813204, + 0.3448872659600122, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 323 mm; move right 86 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 173 mm; move right 56 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 207, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 312 mm; move right 81 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 162 mm; move right 51 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + -0.005000000353902578, + 0.0, + 0.0, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.31214287877082825, + -0.08142857253551483, + 0.0, + 0.0, + 0.10000000149011612, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7995778243586906, + 0.1738145170318357, + -0.857493903553592, + 0.3966345685813204, + 0.3622182870645696, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 312 mm; move right 81 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 162 mm; move right 51 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 208, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 300 mm; move right 76 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 150 mm; move right 46 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + -0.004642857238650322, + 0.0, + 0.0, + 0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.30000004172325134, + -0.07642857730388641, + 0.0, + 0.0, + 0.09857142716646194, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8206748832093107, + 0.19638788841076016, + -0.857493903553592, + 0.3966345685813204, + 0.379549308169127, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 300 mm; move right 76 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 150 mm; move right 46 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 209, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 272 mm; move right 72 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 137 mm; move right 42 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.005000000353902578, + 0.0, + 0.0, + 0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.27214285731315613, + -0.07178571820259094, + 0.0, + 0.0, + 0.09571428596973419, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8523204302241196, + 0.1738145170318357, + -0.857493903553592, + 0.3966345685813204, + 0.379549308169127, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 272 mm; move right 72 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 137 mm; move right 42 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 210, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 232 mm; move right 65 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 123 mm; move right 37 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0071428571827709675, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2321428805589676, + -0.06535714119672775, + 0.0, + 0.0, + 0.09285714477300644, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8839660047463427, + 0.15124117508521628, + -0.857493903553592, + 0.3966345685813204, + 0.4315423728951171, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 232 mm; move right 65 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 123 mm; move right 37 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 211, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 17 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 184 mm; move right 58 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 31 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.016785714775323868, + -0.0057142856530845165, + 0.0, + 0.0, + 0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1842857301235199, + -0.05750000476837158, + 0.0, + 0.0, + 0.08714286237955093, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9367086106117717, + 0.12866783313859687, + -0.857493903553592, + 0.3966345685813204, + 0.4662044122795972, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 17 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 184 mm; move right 58 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 31 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 212, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 130 mm; move right 49 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 91 mm; move right 26 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.017500000074505806, + -0.0053571430034935474, + 0.0, + 0.0, + 0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1300000101327896, + -0.048928577452898026, + 0.0, + 0.0, + 0.07857143878936768, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9578056419549776, + 0.15124117508521628, + -0.857493903553592, + 0.3966345685813204, + 0.4662044122795972, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 18 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 130 mm; move right 49 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 91 mm; move right 26 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 213, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 69 mm; move right 38 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 74 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.017500000074505806, + -0.005000000353902578, + 0.0, + 0.0, + 0.008571428246796131, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.06928570568561554, + -0.03821428865194321, + 0.0, + 0.0028571428265422583, + 0.07000000774860382, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9578056419549776, + 0.1738145170318357, + -0.857493903553592, + 0.3966345685813204, + 0.4488733897627222, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 18 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 69 mm; move right 38 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 74 mm; move right 20 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 214, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 4 mm; move right 26 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 56 mm; move right 15 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018214285373687744, + -0.005000000353902578, + 0.0, + 0.0, + 0.0071428571827709675, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.003928554244339466, + -0.02607143297791481, + 0.0, + 0.029999999329447746, + 0.06857142597436905, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9789026732981838, + 0.1738145170318357, + -0.857493903553592, + 0.3966345685813204, + 0.4315423728951171, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 18 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 4 mm; move right 26 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 56 mm; move right 15 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 215, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 63 mm; move right 13 mm; move downward 0 mm; roll upward 4 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 38 mm; move right 10 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018928570672869682, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0071428571827709675, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.06321429461240768, + -0.012857145629823208, + 0.0, + 0.07428571581840515, + 0.07714284956455231, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9999997046413898, + 0.15124117508521628, + -0.857493903553592, + 0.3966345685813204, + 0.4315423728951171, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 19 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 63 mm; move right 13 mm; move downward 0 mm; roll upward 4 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 38 mm; move right 10 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 216, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 131 mm; move left 1 mm; move downward 0 mm; roll upward 7 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 19 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018928570672869682, + -0.005000000353902578, + 0.0, + 0.0, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.13107143342494965, + 0.0007142841932363808, + 0.0, + 0.12714286148548126, + 0.08857142180204391, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9999997046413898, + 0.1738145170318357, + -0.857493903553592, + 0.3966345685813204, + 0.39688032786136707, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 19 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 131 mm; move left 1 mm; move downward 0 mm; roll upward 7 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 19 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 217, + "segment_id": 10300, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave and is retracting upwards and to the right, moving clear of the appliance after completing the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 199 mm; move left 14 mm; move downward 1 mm; roll upward 11 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018928570672869682, + -0.0053571430034935474, + 0.0, + 0.0, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.1989285796880722, + 0.013928571715950966, + -0.0014285714132711291, + 0.19285714626312256, + 0.10999999195337296, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9999997046413898, + 0.15124117508521628, + -0.857493903553592, + 0.3966345685813204, + 0.39688032786136707, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 19 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 199 mm; move left 14 mm; move downward 1 mm; roll upward 11 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 218, + "segment_id": 10518, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, indicating it has reached the target and is performing the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, indicating it has reached the target and is performing the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 266 mm; move left 27 mm; move downward 4 mm; roll upward 15 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 131 mm; move right 25 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018928570672869682, + -0.0053571430034935474, + 0.0, + 0.0, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.26642856001853943, + 0.027142858132719994, + -0.0039285714738070965, + 0.2685714364051819, + 0.1371428519487381, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9999997046413898, + 0.15124117508521628, + -0.857493903553592, + 0.3966345685813204, + 0.39688032786136707, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 19 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 266 mm; move left 27 mm; move downward 4 mm; roll upward 15 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 131 mm; move right 25 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 219, + "segment_id": 10518, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, indicating it has reached the target and is performing the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, indicating it has reached the target and is performing the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 333 mm; move left 40 mm; move downward 7 mm; roll upward 20 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 113 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018928570672869682, + -0.0053571430034935474, + 0.0, + 0.0, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.33321425318717957, + 0.04000000283122063, + -0.006785714533179998, + 0.3500000238418579, + 0.16857142746448517, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9999997046413898, + 0.15124117508521628, + -0.857493903553592, + 0.3966345685813204, + 0.39688032786136707, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 19 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 333 mm; move left 40 mm; move downward 7 mm; roll upward 20 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 113 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 220, + "segment_id": 10518, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, indicating it has reached the target and is performing the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, indicating it has reached the target and is performing the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 399 mm; move left 53 mm; move downward 10 mm; roll upward 25 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 94 mm; move right 14 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.019285714253783226, + -0.005000000353902578, + 0.0, + 0.0, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.39892858266830444, + 0.052500005811452866, + -0.009642857126891613, + 0.4342857301235199, + 0.19999998807907104, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.1738145170318357, + -0.857493903553592, + 0.3966345685813204, + 0.39688032786136707, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 19 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 399 mm; move left 53 mm; move downward 10 mm; roll upward 25 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 94 mm; move right 14 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 221, + "segment_id": 10518, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, indicating it has reached the target and is performing the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, indicating it has reached the target and is performing the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 464 mm; move left 65 mm; move downward 13 mm; roll upward 30 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 74 mm; move right 9 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.019285714253783226, + -0.0035714288242161274, + 0.0, + 0.0, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.46392855048179626, + 0.06464286893606186, + -0.012857143767178059, + 0.5171428918838501, + 0.23142856359481812, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.26410794368292345, + -0.857493903553592, + 0.3966345685813204, + 0.39688032786136707, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 19 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 464 mm; move left 65 mm; move downward 13 mm; roll upward 30 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 74 mm; move right 9 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 222, + "segment_id": 10518, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, indicating it has reached the target and is performing the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, indicating it has reached the target and is performing the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 483 mm; move left 68 mm; move downward 13 mm; roll upward 30 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 55 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018214285373687744, + -0.0028571428265422583, + 0.0, + 0.0, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.48321428894996643, + 0.0682142898440361, + -0.012857143767178059, + 0.5171428918838501, + 0.2271428406238556, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9789026732981838, + 0.30925467172461985, + -0.857493903553592, + 0.3966345685813204, + 0.39688032786136707, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 18 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 483 mm; move left 68 mm; move downward 13 mm; roll upward 30 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 55 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 223, + "segment_id": 10518, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, indicating it has reached the target and is performing the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, indicating it has reached the target and is performing the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 501 mm; move left 71 mm; move downward 13 mm; roll upward 30 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 37 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01607142947614193, + -0.0021428572945296764, + 0.0, + 0.0, + 0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.5014286041259766, + 0.07107143849134445, + -0.012857143767178059, + 0.5171428918838501, + 0.22285713255405426, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9156115792685657, + 0.3544013703340112, + -0.857493903553592, + 0.3966345685813204, + 0.379549308169127, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 501 mm; move left 71 mm; move downward 13 mm; roll upward 30 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 37 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 224, + "segment_id": 10518, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, indicating it has reached the target and is performing the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, indicating it has reached the target and is performing the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 518 mm; move left 73 mm; move downward 13 mm; roll upward 30 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 21 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.5175000429153442, + 0.07321429252624512, + -0.012857143767178059, + 0.5171428918838501, + 0.2199999988079071, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8206748832093107, + 0.46726815548738987, + -0.857493903553592, + 0.3966345685813204, + 0.379549308169127, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 518 mm; move left 73 mm; move downward 13 mm; roll upward 30 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 21 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 225, + "segment_id": 10518, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, indicating it has reached the target and is performing the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, indicating it has reached the target and is performing the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 530 mm; move left 74 mm; move downward 13 mm; roll upward 30 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007857142947614193, + 0.0, + 0.0, + 0.0, + 0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.5303571820259094, + 0.07357143610715866, + -0.012857143767178059, + 0.5171428918838501, + 0.21714285016059875, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6729955537772123, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.379549308169127, + 0.543209808840627, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 530 mm; move left 74 mm; move downward 13 mm; roll upward 30 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 226, + "segment_id": 10518, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, indicating it has reached the target and is performing the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, indicating it has reached the target and is performing the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 538 mm; move left 74 mm; move downward 13 mm; roll upward 30 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.5382143259048462, + 0.07357143610715866, + -0.012857143767178059, + 0.5171428918838501, + 0.2142857164144516, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.39688032786136707, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 538 mm; move left 74 mm; move downward 13 mm; roll upward 30 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 227, + "segment_id": 10518, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, indicating it has reached the target and is performing the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, indicating it has reached the target and is performing the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 538 mm; move left 74 mm; move downward 13 mm; roll upward 30 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.5382143259048462, + 0.07357143610715866, + -0.012857143767178059, + 0.5171428918838501, + 0.20999999344348907, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.3448872659600122, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 538 mm; move left 74 mm; move downward 13 mm; roll upward 30 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 228, + "segment_id": 10518, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, indicating it has reached the target and is performing the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, indicating it has reached the target and is performing the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 538 mm; move left 74 mm; move downward 13 mm; roll upward 30 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.015000000596046448, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.5382143259048462, + 0.07357143610715866, + -0.012857143767178059, + 0.5171428918838501, + 0.20999999344348907, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0021098618165912297, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.3448872659600122, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 538 mm; move left 74 mm; move downward 13 mm; roll upward 30 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 229, + "segment_id": 10529, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly over the microwave's control panel and remains stationary, indicating it is actively holding the stop button down.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave's control panel and remains stationary, indicating it is actively holding the stop button down.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 26 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 523 mm; move left 74 mm; move downward 13 mm; roll upward 30 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 285 mm; move left 36 mm; move downward 0 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02607142925262451, + 0.0014285714132711291, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.5232142806053162, + 0.07357143610715866, + -0.012857143767178059, + 0.5171428918838501, + 0.20999999344348907, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.329114040188183, + 0.5801349296036542, + -0.857493903553592, + 0.3966345685813204, + 0.3448872659600122, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 26 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 523 mm; move left 74 mm; move downward 13 mm; roll upward 30 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 285 mm; move left 36 mm; move downward 0 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 230, + "segment_id": 10529, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly over the microwave's control panel and remains stationary, indicating it is actively holding the stop button down.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave's control panel and remains stationary, indicating it is actively holding the stop button down.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 33 mm; move left 3 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 497 mm; move left 72 mm; move downward 13 mm; roll upward 30 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 259 mm; move left 34 mm; move downward 0 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03285714611411095, + 0.002500000176951289, + 0.0, + 0.0, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.49714288115501404, + 0.07214286178350449, + -0.012857143767178059, + 0.5171428918838501, + 0.20999999344348907, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.5295360305005389, + 0.6478550069500464, + -0.857493903553592, + 0.3966345685813204, + 0.3622182870645696, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 33 mm; move left 3 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 497 mm; move left 72 mm; move downward 13 mm; roll upward 30 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 259 mm; move left 34 mm; move downward 0 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 231, + "segment_id": 10529, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly over the microwave's control panel and remains stationary, indicating it is actively holding the stop button down.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave's control panel and remains stationary, indicating it is actively holding the stop button down.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 38 mm; move left 3 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 464 mm; move left 70 mm; move downward 13 mm; roll upward 30 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 226 mm; move left 32 mm; move downward 0 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03750000149011612, + 0.0028571428265422583, + 0.0, + 0.0, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4642857015132904, + 0.06964286416769028, + -0.012857143767178059, + 0.5171428918838501, + 0.2085714191198349, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.6666667617387919, + 0.6704283488966656, + -0.857493903553592, + 0.3966345685813204, + 0.3622182870645696, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 38 mm; move left 3 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 464 mm; move left 70 mm; move downward 13 mm; roll upward 30 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 226 mm; move left 32 mm; move downward 0 mm; roll upward 7 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 232, + "segment_id": 10529, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly over the microwave's control panel and remains stationary, indicating it is actively holding the stop button down.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave's control panel and remains stationary, indicating it is actively holding the stop button down.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 43 mm; move left 5 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 427 mm; move left 67 mm; move downward 13 mm; roll upward 30 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 189 mm; move left 29 mm; move downward 0 mm; roll upward 7 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.04321428760886192, + 0.0053571430034935474, + 0.0, + 0.0028571428265422583, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4267857074737549, + 0.06678572297096252, + -0.012857143767178059, + 0.5171428918838501, + 0.20714285969734192, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8354431225140964, + 0.8284418455360691, + -0.857493903553592, + 0.42067302910854854, + 0.3622182870645696, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 43 mm; move left 5 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 427 mm; move left 67 mm; move downward 13 mm; roll upward 30 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 189 mm; move left 29 mm; move downward 0 mm; roll upward 7 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 233, + "segment_id": 10529, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly over the microwave's control panel and remains stationary, indicating it is actively holding the stop button down.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave's control panel and remains stationary, indicating it is actively holding the stop button down.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 48 mm; move left 7 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 384 mm; move left 61 mm; move downward 13 mm; roll upward 29 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 146 mm; move left 24 mm; move downward 0 mm; roll upward 7 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.047857142984867096, + 0.007142857648432255, + 0.0, + 0.027142856270074844, + 0.0071428571827709675, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.38357141613960266, + 0.061428576707839966, + -0.012857143767178059, + 0.5142857432365417, + 0.20571428537368774, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.9725738537523494, + 0.9413086435660816, + -0.857493903553592, + 0.6249999386927094, + 0.4315423728951171, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 48 mm; move left 7 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 384 mm; move left 61 mm; move downward 13 mm; roll upward 29 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 146 mm; move left 24 mm; move downward 0 mm; roll upward 7 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 234, + "segment_id": 10529, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly over the microwave's control panel and remains stationary, indicating it is actively holding the stop button down.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave's control panel and remains stationary, indicating it is actively holding the stop button down.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 49 mm; move left 8 mm; move downward 0 mm; roll upward 3 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 336 mm; move left 54 mm; move downward 13 mm; roll upward 28 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 98 mm; move left 16 mm; move downward 0 mm; roll upward 6 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.04892857000231743, + 0.008214286528527737, + 0.0, + 0.044285714626312256, + 0.015714285895228386, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.33571428060531616, + 0.05428571626543999, + -0.012857143767178059, + 0.4871428310871124, + 0.19857142865657806, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 1.0, + -0.857493903553592, + 0.7692307136095484, + 0.535528502347097, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 49 mm; move left 8 mm; move downward 0 mm; roll upward 3 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 336 mm; move left 54 mm; move downward 13 mm; roll upward 28 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 98 mm; move left 16 mm; move downward 0 mm; roll upward 6 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 235, + "segment_id": 10529, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly over the microwave's control panel and remains stationary, indicating it is actively holding the stop button down.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave's control panel and remains stationary, indicating it is actively holding the stop button down.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 49 mm; move left 8 mm; move downward 0 mm; roll upward 3 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 287 mm; move left 46 mm; move downward 13 mm; roll upward 25 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 49 mm; move left 8 mm; move downward 0 mm; roll upward 3 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.04892857000231743, + 0.008214286528527737, + 0.0, + 0.05285714194178581, + 0.018571428954601288, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.28678572177886963, + 0.046071428805589676, + -0.012857143767178059, + 0.44285711646080017, + 0.18285714089870453, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 1.0, + -0.857493903553592, + 0.841346085396675, + 0.5701905473808471, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 49 mm; move left 8 mm; move downward 0 mm; roll upward 3 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 287 mm; move left 46 mm; move downward 13 mm; roll upward 25 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 49 mm; move left 8 mm; move downward 0 mm; roll upward 3 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 236, + "segment_id": 10529, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly over the microwave's control panel and remains stationary, indicating it is actively holding the stop button down.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave's control panel and remains stationary, indicating it is actively holding the stop button down.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 49 mm; move left 8 mm; move downward 1 mm; roll upward 4 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 238 mm; move left 38 mm; move downward 13 mm; roll upward 22 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.04892857000231743, + 0.008214286528527737, + -0.0014285714132711291, + 0.0657142847776413, + 0.025714285671710968, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2378571480512619, + 0.03785714507102966, + -0.012857143767178059, + 0.38999998569488525, + 0.16428571939468384, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 1.0, + -0.9557739642687981, + 0.9495191587486578, + 0.656845648666682, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 49 mm; move left 8 mm; move downward 1 mm; roll upward 4 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 238 mm; move left 38 mm; move downward 13 mm; roll upward 22 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 237, + "segment_id": 529, + "subtask": "move away from the microwave", + "reason": "The end-effector has released contact with the microwave and is retracting from the appliance, indicating the completion of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The end-effector has released contact with the microwave and is retracting from the appliance, indicating the completion of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 49 mm; move left 8 mm; move downward 3 mm; roll upward 4 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 189 mm; move left 30 mm; move downward 11 mm; roll upward 19 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 143 mm; move left 22 mm; move downward 8 mm; roll upward 14 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.04857143014669418, + 0.007857142947614193, + -0.002500000176951289, + 0.07571428269147873, + 0.03142857179045677, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.18892857432365417, + 0.029642855748534203, + -0.011428572237491608, + 0.32428568601608276, + 0.13857142627239227, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.9936709401103836, + 0.9864553274593202, + -1.0, + 1.0, + 0.7261697387341821, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 49 mm; move left 8 mm; move downward 3 mm; roll upward 4 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 189 mm; move left 30 mm; move downward 11 mm; roll upward 19 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 143 mm; move left 22 mm; move downward 8 mm; roll upward 14 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 238, + "segment_id": 529, + "subtask": "move away from the microwave", + "reason": "The end-effector has released contact with the microwave and is retracting from the appliance, indicating the completion of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The end-effector has released contact with the microwave and is retracting from the appliance, indicating the completion of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 48 mm; move left 8 mm; move downward 3 mm; roll upward 5 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 140 mm; move left 22 mm; move downward 9 mm; roll upward 14 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 95 mm; move left 15 mm; move downward 6 mm; roll upward 9 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.047857142984867096, + 0.007500000298023224, + -0.0028571428265422583, + 0.08142857253551483, + 0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.1403571367263794, + 0.021785715594887733, + -0.008928571827709675, + 0.24857142567634583, + 0.1071428656578064, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.9725738537523494, + 0.963881985512701, + -1.0, + 1.0, + 0.778162817583347, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 48 mm; move left 8 mm; move downward 3 mm; roll upward 5 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 140 mm; move left 22 mm; move downward 9 mm; roll upward 14 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 95 mm; move left 15 mm; move downward 6 mm; roll upward 9 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 239, + "segment_id": 529, + "subtask": "move away from the microwave", + "reason": "The end-effector has released contact with the microwave and is retracting from the appliance, indicating the completion of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The end-effector has released contact with the microwave and is retracting from the appliance, indicating the completion of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 47 mm; move left 7 mm; move downward 3 mm; roll upward 5 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 93 mm; move left 14 mm; move downward 6 mm; roll upward 10 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 47 mm; move left 7 mm; move downward 3 mm; roll upward 5 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.04678571596741676, + 0.007142857648432255, + -0.0028571428265422583, + 0.08428571373224258, + 0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.0925000011920929, + 0.01428571529686451, + -0.00607142923399806, + 0.167142853140831, + 0.0714285746216774, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.9409283342449546, + 0.9413086435660816, + -1.0, + 1.0, + 0.778162817583347, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 47 mm; move left 7 mm; move downward 3 mm; roll upward 5 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 93 mm; move left 14 mm; move downward 6 mm; roll upward 10 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 47 mm; move left 7 mm; move downward 3 mm; roll upward 5 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 240, + "segment_id": 529, + "subtask": "move away from the microwave", + "reason": "The end-effector has released contact with the microwave and is retracting from the appliance, indicating the completion of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The end-effector has released contact with the microwave and is retracting from the appliance, indicating the completion of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 46 mm; move left 7 mm; move downward 3 mm; roll upward 5 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.04571428522467613, + 0.007142857648432255, + -0.0032142859417945147, + 0.08285713940858841, + 0.0357142873108387, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4409280714648758, + 0.4898415103106428, + -0.857493903553592, + 0.3966345685813204, + 0.3448872659600122, + 0.543209808840627, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 46 mm; move left 7 mm; move downward 3 mm; roll upward 5 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + } + ], + "all_object_names": [ + "obj_container", + "obj" + ], + "obj_cat": "obj_container", + "distr_cats": [ + "obj" + ], + "grounding_camera": "robot0_agentview_left", + "grounding_method": "self_render_selfconsistent" +} \ No newline at end of file diff --git a/grounding_cot/TurnOffMicrowave/extras/episode_000004/cot_annotations.json b/grounding_cot/TurnOffMicrowave/extras/episode_000004/cot_annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..12da26e121c63a69017d57fab24dd601b2c66818 --- /dev/null +++ b/grounding_cot/TurnOffMicrowave/extras/episode_000004/cot_annotations.json @@ -0,0 +1,13377 @@ +{ + "sample_key": "TurnOffMicrowave|4", + "subtask_list": [ + "approach the microwave", + "reach for the stop button", + "press the stop button", + "move away from the microwave" + ], + "segment_labels_raw": { + "1": [ + "press the stop button", + "The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction." + ], + "2": [ + "press the stop button", + "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pressing posture against the interface." + ], + "3": [ + "press the stop button", + "The robot's end-effector is in sustained contact with the microwave control panel, maintaining a static pose consistent with the action of pressing or holding a button." + ], + "4": [ + "press the stop button", + "The robot's end-effector is shown in direct contact with the microwave's control panel, specifically positioned over the stop button area." + ], + "5": [ + "press the stop button", + "The robot's end-effector is in direct contact with the microwave's control panel, specifically hovering over or pressing the 'Stop/Cancel' button area. The arm maintains this static interaction pose throughout the segment." + ], + "6": [ + "move away from the microwave", + "The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction." + ], + "7": [ + "press the stop button", + "The robot's end-effector is positioned directly against the microwave control panel. The gripper maintains contact with the interface, indicating an active pressing or manipulation attempt." + ], + "8": [ + "press the stop button", + "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pressing posture consistent with the execution of the action." + ], + "9": [ + "press the stop button", + "The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function." + ], + "10": [ + "press the stop button", + "The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button." + ], + "11": [ + "press the stop button", + "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion." + ], + "12": [ + "move away from the microwave", + "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction." + ], + "13": [ + "press the stop button", + "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located." + ], + "14": [ + "move away from the microwave", + "The robot arm has retracted from the control panel and is moving backward, indicating it is retreating from the appliance after interaction." + ], + "15": [ + "move away from the microwave", + "The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction." + ], + "16": [ + "move away from the microwave", + "The robot's end-effector is visible at the bottom of the frame, having just released contact with the appliance. The arm is retracting and moving downward/away from the microwave interface, consistent with the completion of an interaction." + ] + }, + "instruction": "press the stop button on the microwave", + "suite": "TurnOffMicrowave", + "num_frames": 276, + "segment_count": 16, + "movement_statistics": { + "mean": [ + 0.004540631599029175, + -0.00046972050725910947, + 0.003887163688373023, + -0.021682194435371734, + -0.026428571326043995, + -0.008317805273269398, + 0.927536231884058 + ], + "std": [ + 0.012222677991168164, + 0.01317312132384764, + 0.005722298586769838, + 0.049030251534778975, + 0.03521252070195728, + 0.03176140109791335, + 0.373733245166014 + ], + "Q1": [ + -0.029732142109423876, + -0.02428571507334709, + -0.006071428768336773, + -0.1785714328289032, + -0.09857142716646194, + -0.11142857372760773, + -1.0 + ], + "Q99": [ + 0.03214285895228386, + 0.05000000074505806, + 0.018660714384168386, + 0.15892857685685158, + 0.060357142239809036, + 0.05250000022351742, + 1.0 + ] + }, + "frames": [ + { + "frame_index": 0, + "segment_id": 40500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 60 mm; move left 8 mm; move upward 76 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 60 mm; move left 8 mm; move upward 76 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.05964285880327225, + 0.008214286528527737, + 0.07571429014205933, + 0.0, + -0.08285713940858841, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.33653854343685174, + -0.5090254592150795, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 60 mm; move left 8 mm; move upward 76 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 60 mm; move left 8 mm; move upward 76 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 1, + "segment_id": 40500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 73 mm; move left 8 mm; move upward 93 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 60 mm; move left 8 mm; move upward 76 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0010714286472648382, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.07285714149475098, + 0.007857142947614193, + 0.09285714477300644, + 0.0, + -0.11857143044471741, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.3173077750468878, + -0.5090254592150795, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 73 mm; move left 8 mm; move upward 93 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 60 mm; move left 8 mm; move upward 76 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 2, + "segment_id": 40500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 86 mm; move left 7 mm; move upward 110 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 60 mm; move left 7 mm; move upward 76 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0010714286472648382, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.08642857521772385, + 0.006785714533179998, + 0.1103571429848671, + 0.0, + -0.15714286267757416, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.3173077750468878, + -0.5090254592150795, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 86 mm; move left 7 mm; move upward 110 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 60 mm; move left 7 mm; move upward 76 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 3, + "segment_id": 40500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 100 mm; move left 6 mm; move upward 127 mm; roll downward 0 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 60 mm; move left 6 mm; move upward 76 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0014285714132711291, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.10000000149011612, + 0.0057142856530845165, + 0.12714286148548126, + 0.0, + -0.19285714626312256, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.30769239437794627, + -0.5090254592150795, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 100 mm; move left 6 mm; move upward 127 mm; roll downward 0 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 60 mm; move left 6 mm; move upward 76 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 4, + "segment_id": 40500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 114 mm; move left 4 mm; move upward 144 mm; roll downward 0 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 60 mm; move left 4 mm; move upward 76 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0014285714132711291, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.11392857134342194, + 0.004285714589059353, + 0.14392857253551483, + 0.0, + -0.23000000417232513, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.30769239437794627, + -0.5090254592150795, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 114 mm; move left 4 mm; move upward 144 mm; roll downward 0 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 60 mm; move left 4 mm; move upward 76 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 5, + "segment_id": 40500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 129 mm; move left 3 mm; move upward 161 mm; roll downward 0 degrees; pitch downward 16 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 60 mm; move left 3 mm; move upward 76 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0014285714132711291, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.12928572297096252, + 0.0028571428265422583, + 0.1614285707473755, + 0.0, + -0.2728571593761444, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.30769239437794627, + -0.5090254592150795, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 129 mm; move left 3 mm; move upward 161 mm; roll downward 0 degrees; pitch downward 16 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 60 mm; move left 3 mm; move upward 76 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 6, + "segment_id": 40500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 145 mm; move left 1 mm; move upward 179 mm; roll downward 0 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 60 mm; move left 1 mm; move upward 76 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0014285714132711291, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.14500001072883606, + 0.0014285714132711291, + 0.17892856895923615, + 0.0, + -0.3157142996788025, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.30769239437794627, + -0.5090254592150795, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 145 mm; move left 1 mm; move upward 179 mm; roll downward 0 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 60 mm; move left 1 mm; move upward 76 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 7, + "segment_id": 40500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 161 mm; move right 0 mm; move upward 197 mm; roll downward 0 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 60 mm; move right 0 mm; move upward 76 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.1607142984867096, + 0.0, + 0.19678571820259094, + 0.0, + -0.3614285886287689, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.3461539264564869, + -0.5090254592150795, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 161 mm; move right 0 mm; move upward 197 mm; roll downward 0 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 60 mm; move right 0 mm; move upward 76 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 8, + "segment_id": 40500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 174 mm; move right 0 mm; move upward 215 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 60 mm; move right 0 mm; move upward 76 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.17428572475910187, + 0.0, + 0.21535713970661163, + 0.0, + -0.415714293718338, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.3461539264564869, + -0.5090254592150795, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 174 mm; move right 0 mm; move upward 215 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 60 mm; move right 0 mm; move upward 76 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 9, + "segment_id": 40500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 187 mm; move right 0 mm; move upward 234 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 60 mm; move right 0 mm; move upward 76 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0003571428533177823, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.1867857277393341, + 0.0, + 0.23428571224212646, + 0.0, + -0.47857144474983215, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.3461539264564869, + -0.48014460512077217, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 187 mm; move right 0 mm; move upward 234 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 60 mm; move right 0 mm; move upward 76 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 10, + "segment_id": 40500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 199 mm; move right 0 mm; move upward 254 mm; roll downward 0 degrees; pitch downward 32 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 60 mm; move right 0 mm; move upward 75 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0028571428265422583, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.1989285796880722, + 0.0, + 0.2542857229709625, + 0.0, + -0.550000011920929, + 0.009999999776482582, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.3461539264564869, + -0.2779786264606209, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 199 mm; move right 0 mm; move upward 254 mm; roll downward 0 degrees; pitch downward 32 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 60 mm; move right 0 mm; move upward 75 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 11, + "segment_id": 40500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 210 mm; move right 0 mm; move upward 270 mm; roll downward 0 degrees; pitch downward 35 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 60 mm; move right 0 mm; move upward 73 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0039285714738070965, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.21000002324581146, + 0.0, + 0.2703571319580078, + 0.0, + -0.6185714602470398, + 0.03285714238882065, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.3461539264564869, + -0.19133605711713353, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 210 mm; move right 0 mm; move upward 270 mm; roll downward 0 degrees; pitch downward 35 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 60 mm; move right 0 mm; move upward 73 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 12, + "segment_id": 40500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 0 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 220 mm; move right 0 mm; move upward 284 mm; roll downward 0 degrees; pitch downward 39 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move backward 60 mm; move right 0 mm; move upward 69 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0028571428265422583, + 0.0, + 0.004642857238650322, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.22035716474056244, + 0.0, + 0.2835714519023895, + 0.0, + -0.6842857599258423, + 0.05714285746216774, + 1.0 + ], + "delta_full_state_norm": [ + -0.1313133097922432, + -0.3461539264564869, + -0.1335743442214754, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 3 mm; move right 0 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 220 mm; move right 0 mm; move upward 284 mm; roll downward 0 degrees; pitch downward 39 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move backward 60 mm; move right 0 mm; move upward 69 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 13, + "segment_id": 40500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 228 mm; move right 0 mm; move upward 295 mm; roll downward 0 degrees; pitch downward 43 degrees; yaw counterclockwise 5 degrees; open gripper;\nSubtask Movement: move backward 57 mm; move right 0 mm; move upward 64 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0032142859417945147, + 0.0, + 0.0057142856530845165, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2282143086194992, + 0.0, + 0.2953571379184723, + 0.0, + -0.7500000596046448, + 0.09000000357627869, + 1.0 + ], + "delta_full_state_norm": [ + -0.14285732761540215, + -0.3461539264564869, + -0.046931793706162184, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 3 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 228 mm; move right 0 mm; move upward 295 mm; roll downward 0 degrees; pitch downward 43 degrees; yaw counterclockwise 5 degrees; open gripper;", + "subtask_movement_text": "move backward 57 mm; move right 0 mm; move upward 64 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 14, + "segment_id": 40500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 236 mm; move right 0 mm; move upward 305 mm; roll downward 0 degrees; pitch downward 47 degrees; yaw counterclockwise 7 degrees; open gripper;\nSubtask Movement: move backward 54 mm; move right 0 mm; move upward 58 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0039285714738070965, + 0.0, + 0.006071428768336773, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.23607145249843597, + 0.0, + 0.304999977350235, + 0.0, + -0.8157143592834473, + 0.1257142871618271, + 1.0 + ], + "delta_full_state_norm": [ + -0.1659453406842072, + -0.3461539264564869, + -0.018050918430158935, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 4 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 236 mm; move right 0 mm; move upward 305 mm; roll downward 0 degrees; pitch downward 47 degrees; yaw counterclockwise 7 degrees; open gripper;", + "subtask_movement_text": "move backward 54 mm; move right 0 mm; move upward 58 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 15, + "segment_id": 40500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 0 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 244 mm; move right 0 mm; move upward 315 mm; roll downward 0 degrees; pitch downward 51 degrees; yaw counterclockwise 9 degrees; open gripper;\nSubtask Movement: move backward 50 mm; move right 0 mm; move upward 52 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0057142856530845165, + 0.0, + 0.007142857648432255, + 0.0, + -0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2435714453458786, + 0.0, + 0.3149999976158142, + 0.0, + -0.8857143521308899, + 0.1614285707473755, + 1.0 + ], + "delta_full_state_norm": [ + -0.2236653846449762, + -0.3461539264564869, + 0.06859166974150255, + 0.05820102170761654, + 0.2044943042653662, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 6 mm; move right 0 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 244 mm; move right 0 mm; move upward 315 mm; roll downward 0 degrees; pitch downward 51 degrees; yaw counterclockwise 9 degrees; open gripper;", + "subtask_movement_text": "move backward 50 mm; move right 0 mm; move upward 52 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 16, + "segment_id": 40500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 250 mm; move right 0 mm; move upward 324 mm; roll downward 0 degrees; pitch downward 55 degrees; yaw counterclockwise 11 degrees; open gripper;\nSubtask Movement: move backward 44 mm; move right 0 mm; move upward 45 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008214286528527737, + 0.0, + 0.008928571827709675, + 0.0, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.24964287877082825, + 0.0, + 0.323928564786911, + 0.0, + -0.9542858004570007, + 0.20000000298023224, + 1.0 + ], + "delta_full_state_norm": [ + -0.30447347930373847, + -0.3461539264564869, + 0.21299593315247378, + 0.05820102170761654, + 0.1146066707557134, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 8 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 250 mm; move right 0 mm; move upward 324 mm; roll downward 0 degrees; pitch downward 55 degrees; yaw counterclockwise 11 degrees; open gripper;", + "subtask_movement_text": "move backward 44 mm; move right 0 mm; move upward 45 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 17, + "segment_id": 40500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 254 mm; move right 1 mm; move upward 331 mm; roll downward 0 degrees; pitch downward 58 degrees; yaw counterclockwise 14 degrees; open gripper;\nSubtask Movement: move backward 36 mm; move right 0 mm; move upward 36 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.010714286006987095, + 0.0, + 0.010000000707805157, + 0.0, + -0.017142856493592262, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.25357145071029663, + -0.0014285714132711291, + 0.33071431517601013, + 0.0, + -1.0171430110931396, + 0.24285714328289032, + 1.0 + ], + "delta_full_state_norm": [ + -0.3852815288074749, + -0.3461539264564869, + 0.29963852132413527, + 0.05820102170761654, + 0.024719040176063967, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 11 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 254 mm; move right 1 mm; move upward 331 mm; roll downward 0 degrees; pitch downward 58 degrees; yaw counterclockwise 14 degrees; open gripper;", + "subtask_movement_text": "move backward 36 mm; move right 0 mm; move upward 36 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 18, + "segment_id": 40500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 255 mm; move right 5 mm; move upward 336 mm; roll downward 0 degrees; pitch downward 62 degrees; yaw counterclockwise 17 degrees; open gripper;\nSubtask Movement: move backward 25 mm; move right 0 mm; move upward 26 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012142857536673546, + 0.0, + 0.011428571306169033, + 0.0, + -0.022857142612338066, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.25535714626312256, + -0.0053571430034935474, + 0.33642861247062683, + 0.0, + -1.075714349746704, + 0.2914285659790039, + 1.0 + ], + "delta_full_state_norm": [ + -0.4314575699967602, + -0.3461539264564869, + 0.415161871802755, + 0.05820102170761654, + -0.047191073663666594, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 12 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 255 mm; move right 5 mm; move upward 336 mm; roll downward 0 degrees; pitch downward 62 degrees; yaw counterclockwise 17 degrees; open gripper;", + "subtask_movement_text": "move backward 25 mm; move right 0 mm; move upward 26 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 19, + "segment_id": 40500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 255 mm; move right 10 mm; move upward 340 mm; roll downward 0 degrees; pitch downward 65 degrees; yaw counterclockwise 20 degrees; open gripper;\nSubtask Movement: move backward 13 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012857143767178059, + 0.0, + 0.014642857015132904, + 0.0, + -0.029999999329447746, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.25535714626312256, + -0.010357143357396126, + 0.3400000333786011, + 0.0, + -1.1285713911056519, + 0.34285712242126465, + 1.0 + ], + "delta_full_state_norm": [ + -0.4545456056430781, + -0.3461539264564869, + 0.6750895610050427, + 0.05820102170761654, + -0.13707870424331603, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 13 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 255 mm; move right 10 mm; move upward 340 mm; roll downward 0 degrees; pitch downward 65 degrees; yaw counterclockwise 20 degrees; open gripper;", + "subtask_movement_text": "move backward 13 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 20, + "segment_id": 40500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel with a static pose, indicating it has reached the target location and is executing the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 255 mm; move right 17 mm; move upward 340 mm; roll downward 0 degrees; pitch downward 67 degrees; yaw counterclockwise 23 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013214285485446453, + 0.0, + 0.01714285835623741, + 0.0, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2549999952316284, + -0.016785714775323868, + 0.33964288234710693, + 0.0, + -1.1757142543792725, + 0.3985714018344879, + 1.0 + ], + "delta_full_state_norm": [ + -0.46608957831121123, + -0.3461539264564869, + 0.8772556502807174, + 0.05820102170761654, + -0.2089888415230743, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 13 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 255 mm; move right 17 mm; move upward 340 mm; roll downward 0 degrees; pitch downward 67 degrees; yaw counterclockwise 23 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 21, + "segment_id": 50500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pressing posture against the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pressing posture against the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 254 mm; move right 25 mm; move upward 336 mm; roll downward 0 degrees; pitch downward 70 degrees; yaw counterclockwise 26 degrees; open gripper;\nSubtask Movement: move backward 56 mm; move right 0 mm; move upward 69 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013571429066359997, + 0.0, + 0.017500000074505806, + 0.0, + -0.03857142850756645, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2542857229709625, + -0.02500000037252903, + 0.33642861247062683, + 0.0, + -1.2171428203582764, + 0.45571425557136536, + 1.0 + ], + "delta_full_state_norm": [ + -0.4776336111860455, + -0.3461539264564869, + 0.9061364125876756, + 0.05820102170761654, + -0.24494387500291182, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 14 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 254 mm; move right 25 mm; move upward 336 mm; roll downward 0 degrees; pitch downward 70 degrees; yaw counterclockwise 26 degrees; open gripper;", + "subtask_movement_text": "move backward 56 mm; move right 0 mm; move upward 69 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 22, + "segment_id": 50500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pressing posture against the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pressing posture against the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 252 mm; move right 34 mm; move upward 332 mm; roll downward 0 degrees; pitch downward 72 degrees; yaw counterclockwise 29 degrees; open gripper;\nSubtask Movement: move backward 43 mm; move right 0 mm; move upward 51 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013571429066359997, + 0.0, + 0.016785714775323868, + 0.0, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.25214287638664246, + -0.03428571671247482, + 0.33178576827049255, + 0.0, + -1.2571427822113037, + 0.5128571391105652, + 1.0 + ], + "delta_full_state_norm": [ + -0.4776336111860455, + -0.3461539264564869, + 0.8483747373483657, + 0.05820102170761654, + -0.2089888415230743, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 14 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 252 mm; move right 34 mm; move upward 332 mm; roll downward 0 degrees; pitch downward 72 degrees; yaw counterclockwise 29 degrees; open gripper;", + "subtask_movement_text": "move backward 43 mm; move right 0 mm; move upward 51 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 23, + "segment_id": 50500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pressing posture against the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pressing posture against the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 249 mm; move right 46 mm; move upward 328 mm; roll downward 0 degrees; pitch downward 75 degrees; yaw counterclockwise 32 degrees; open gripper;\nSubtask Movement: move backward 29 mm; move right 0 mm; move upward 34 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013928571715950966, + 0.0, + 0.016785714775323868, + 0.0, + -0.037142857909202576, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.24857142567634583, + -0.04571428522467613, + 0.32785719633102417, + 0.0, + -1.3028571605682373, + 0.5614285469055176, + 1.0 + ], + "delta_full_state_norm": [ + -0.48917761395752923, + -0.3461539264564869, + 0.8483747373483657, + 0.05820102170761654, + -0.22696635826299305, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 14 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 249 mm; move right 46 mm; move upward 328 mm; roll downward 0 degrees; pitch downward 75 degrees; yaw counterclockwise 32 degrees; open gripper;", + "subtask_movement_text": "move backward 29 mm; move right 0 mm; move upward 34 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 24, + "segment_id": 50500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pressing posture against the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pressing posture against the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 244 mm; move right 58 mm; move upward 324 mm; roll downward 0 degrees; pitch downward 77 degrees; yaw counterclockwise 35 degrees; open gripper;\nSubtask Movement: move backward 15 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 155, + 98 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.015357143245637417, + 0.0, + 0.017500000074505806, + 0.0, + -0.04285714402794838, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.24392858147621155, + -0.05785714462399483, + 0.3239285945892334, + 0.0, + -1.3485714197158813, + 0.604285717010498, + 1.0 + ], + "delta_full_state_norm": [ + -0.5353536551468145, + -0.3461539264564869, + 0.9061364125876756, + 0.05820102170761654, + -0.2988764721027236, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 15 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 244 mm; move right 58 mm; move upward 324 mm; roll downward 0 degrees; pitch downward 77 degrees; yaw counterclockwise 35 degrees; open gripper;", + "subtask_movement_text": "move backward 15 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 25, + "segment_id": 50500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pressing posture against the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pressing posture against the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 237 mm; move right 72 mm; move upward 318 mm; roll downward 0 degrees; pitch downward 80 degrees; yaw counterclockwise 37 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 155, + 98 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.015714285895228386, + 0.0, + 0.017500000074505806, + 0.0, + -0.04285714402794838, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.23678569495677948, + -0.07178571075201035, + 0.3175000250339508, + 0.0, + -1.3885713815689087, + 0.6428571343421936, + 1.0 + ], + "delta_full_state_norm": [ + -0.5468976579182983, + -0.3461539264564869, + 0.9061364125876756, + 0.05820102170761654, + -0.2988764721027236, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 16 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 237 mm; move right 72 mm; move upward 318 mm; roll downward 0 degrees; pitch downward 80 degrees; yaw counterclockwise 37 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 26, + "segment_id": 30500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, maintaining a static pose consistent with the action of pressing or holding a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, maintaining a static pose consistent with the action of pressing or holding a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 229 mm; move right 87 mm; move upward 311 mm; roll downward 0 degrees; pitch downward 82 degrees; yaw counterclockwise 39 degrees; open gripper;\nSubtask Movement: move backward 42 mm; move right 0 mm; move upward 55 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 156, + 97 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.015714285895228386, + 0.0, + 0.01785714365541935, + 0.0, + -0.04571428522467613, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.22857141494750977, + -0.08714285492897034, + 0.3110714554786682, + -0.0071428571827709675, + -1.428571343421936, + 0.6785714030265808, + 1.0 + ], + "delta_full_state_norm": [ + -0.5468976579182983, + -0.3461539264564869, + 0.9350173255200271, + 0.05820102170761654, + -0.33483150558256125, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 16 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 229 mm; move right 87 mm; move upward 311 mm; roll downward 0 degrees; pitch downward 82 degrees; yaw counterclockwise 39 degrees; open gripper;", + "subtask_movement_text": "move backward 42 mm; move right 0 mm; move upward 55 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 27, + "segment_id": 30500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, maintaining a static pose consistent with the action of pressing or holding a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, maintaining a static pose consistent with the action of pressing or holding a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 221 mm; move right 103 mm; move upward 304 mm; roll downward 1 degrees; pitch downward 84 degrees; yaw counterclockwise 41 degrees; open gripper;\nSubtask Movement: move backward 26 mm; move right 0 mm; move upward 38 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 156, + 97 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013571429066359997, + 0.0, + 0.018571428954601288, + 0.0, + -0.05428571254014969, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.22107143700122833, + -0.10285713523626328, + 0.3042857348918915, + -0.018571428954601288, + -1.46999990940094, + 0.7114285230636597, + 1.0 + ], + "delta_full_state_norm": [ + -0.4776336111860455, + -0.3461539264564869, + 0.9927790007593371, + 0.05820102170761654, + -0.44269665290212945, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 14 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 221 mm; move right 103 mm; move upward 304 mm; roll downward 1 degrees; pitch downward 84 degrees; yaw counterclockwise 41 degrees; open gripper;", + "subtask_movement_text": "move backward 26 mm; move right 0 mm; move upward 38 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 28, + "segment_id": 30500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, maintaining a static pose consistent with the action of pressing or holding a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, maintaining a static pose consistent with the action of pressing or holding a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 216 mm; move right 120 mm; move upward 295 mm; roll downward 1 degrees; pitch downward 86 degrees; yaw counterclockwise 42 degrees; open gripper;\nSubtask Movement: move backward 13 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 96 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012500000186264515, + 0.0, + 0.018928570672869682, + 0.0, + -0.06285714358091354, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.21571429073810577, + -0.11964285373687744, + 0.2953571677207947, + -0.018571428954601288, + -1.5, + 0.7399999499320984, + 1.0 + ], + "delta_full_state_norm": [ + -0.4430015727682439, + -0.3461539264564869, + 1.0, + 0.05820102170761654, + -0.550561847101753, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 13 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 216 mm; move right 120 mm; move upward 295 mm; roll downward 1 degrees; pitch downward 86 degrees; yaw counterclockwise 42 degrees; open gripper;", + "subtask_movement_text": "move backward 13 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 29, + "segment_id": 30500, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, maintaining a static pose consistent with the action of pressing or holding a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, maintaining a static pose consistent with the action of pressing or holding a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 211 mm; move right 138 mm; move upward 287 mm; roll downward 1 degrees; pitch downward 87 degrees; yaw counterclockwise 44 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 96 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012142857536673546, + 0.0, + 0.020357143133878708, + 0.0, + -0.0714285746216774, + 0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + -0.2110714167356491, + -0.13785713911056519, + 0.28678572177886963, + -0.022857142612338066, + -1.5242855548858643, + 0.764285683631897, + 1.0 + ], + "delta_full_state_norm": [ + -0.4314575699967602, + -0.3461539264564869, + 1.0, + 0.05820102170761654, + -0.6584270413013766, + 0.48148139363289943, + 0.9999999900000001 + ], + "movement_text": "move backward 12 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 211 mm; move right 138 mm; move upward 287 mm; roll downward 1 degrees; pitch downward 87 degrees; yaw counterclockwise 44 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 30, + "segment_id": 30600, + "subtask": "press the stop button", + "reason": "The robot's end-effector is shown in direct contact with the microwave's control panel, specifically positioned over the stop button area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is shown in direct contact with the microwave's control panel, specifically positioned over the stop button area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 206 mm; move right 157 mm; move upward 278 mm; roll downward 2 degrees; pitch downward 88 degrees; yaw counterclockwise 44 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 158, + 95 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011071428656578064, + 0.0, + 0.018928570672869682, + 0.0, + -0.06857142597436905, + 0.022857142612338066, + 1.0 + ], + "delta_next_20": [ + -0.20642857253551483, + -0.15678571164608002, + 0.2782142758369446, + -0.034285712987184525, + -1.5414284467697144, + 0.7757142782211304, + 1.0 + ], + "delta_full_state_norm": [ + -0.3968255315789585, + -0.3461539264564869, + 1.0, + 0.05820102170761654, + -0.6224719140614283, + 0.6383441264884313, + 0.9999999900000001 + ], + "movement_text": "move backward 11 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 206 mm; move right 157 mm; move upward 278 mm; roll downward 2 degrees; pitch downward 88 degrees; yaw counterclockwise 44 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 31, + "segment_id": 20600, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave's control panel, specifically hovering over or pressing the 'Stop/Cancel' button area. The arm maintains this static interaction pose throughout the segment.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave's control panel, specifically hovering over or pressing the 'Stop/Cancel' button area. The arm maintains this static interaction pose throughout the segment.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 203 mm; move right 176 mm; move upward 272 mm; roll downward 3 degrees; pitch downward 90 degrees; yaw counterclockwise 44 degrees; open gripper;\nSubtask Movement: move backward 117 mm; move right 25 mm; move upward 156 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 24 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 158, + 94 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.010357143357396126, + 0.0, + 0.01714285835623741, + 0.0, + -0.0657142847776413, + 0.02428571507334709, + 1.0 + ], + "delta_next_20": [ + -0.2028571367263794, + -0.176071435213089, + 0.2724999785423279, + -0.04999999701976776, + -1.5628571510314941, + 0.772857129573822, + 1.0 + ], + "delta_full_state_norm": [ + -0.3737375260359912, + -0.3461539264564869, + 0.8772556502807174, + 0.05820102170761654, + -0.5865168805815906, + 0.6557733316529797, + 0.9999999900000001 + ], + "movement_text": "move backward 10 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 203 mm; move right 176 mm; move upward 272 mm; roll downward 3 degrees; pitch downward 90 degrees; yaw counterclockwise 44 degrees; open gripper;", + "subtask_movement_text": "move backward 117 mm; move right 25 mm; move upward 156 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 24 degrees; open gripper;" + }, + { + "frame_index": 32, + "segment_id": 20600, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave's control panel, specifically hovering over or pressing the 'Stop/Cancel' button area. The arm maintains this static interaction pose throughout the segment.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave's control panel, specifically hovering over or pressing the 'Stop/Cancel' button area. The arm maintains this static interaction pose throughout the segment.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 199 mm; move right 196 mm; move upward 269 mm; roll downward 4 degrees; pitch downward 91 degrees; yaw counterclockwise 44 degrees; open gripper;\nSubtask Movement: move backward 107 mm; move right 25 mm; move upward 139 mm; roll downward 0 degrees; pitch downward 37 degrees; yaw counterclockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 158, + 93 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.010714286006987095, + 0.0, + 0.016428573057055473, + 0.0, + -0.0657142847776413, + 0.03285714238882065, + 1.0 + ], + "delta_next_20": [ + -0.19928571581840515, + -0.19571428000926971, + 0.26928573846817017, + -0.07571428269147873, + -1.5899999141693115, + 0.7671428322792053, + 1.0 + ], + "delta_full_state_norm": [ + -0.3852815288074749, + -0.3461539264564869, + 0.8194939750414074, + 0.05820102170761654, + -0.5865168805815906, + 0.7603484717399471, + 0.9999999900000001 + ], + "movement_text": "move backward 11 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 199 mm; move right 196 mm; move upward 269 mm; roll downward 4 degrees; pitch downward 91 degrees; yaw counterclockwise 44 degrees; open gripper;", + "subtask_movement_text": "move backward 107 mm; move right 25 mm; move upward 139 mm; roll downward 0 degrees; pitch downward 37 degrees; yaw counterclockwise 23 degrees; open gripper;" + }, + { + "frame_index": 33, + "segment_id": 20600, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave's control panel, specifically hovering over or pressing the 'Stop/Cancel' button area. The arm maintains this static interaction pose throughout the segment.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave's control panel, specifically hovering over or pressing the 'Stop/Cancel' button area. The arm maintains this static interaction pose throughout the segment.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 195 mm; move right 217 mm; move upward 268 mm; roll downward 7 degrees; pitch downward 93 degrees; yaw counterclockwise 43 degrees; open gripper;\nSubtask Movement: move backward 96 mm; move right 25 mm; move upward 122 mm; roll downward 0 degrees; pitch downward 34 degrees; yaw counterclockwise 21 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 159, + 93 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011071428656578064, + 0.0, + 0.015357143245637417, + 0.0, + -0.0657142847776413, + 0.0357142873108387, + 1.0 + ], + "delta_next_20": [ + -0.19464287161827087, + -0.2167857140302658, + 0.267857164144516, + -0.11714285612106323, + -1.6171427965164185, + 0.7514285445213318, + 1.0 + ], + "delta_full_state_norm": [ + -0.3968255315789585, + -0.3461539264564869, + 0.7328513115570492, + 0.05820102170761654, + -0.5865168805815906, + 0.7952068820690439, + 0.9999999900000001 + ], + "movement_text": "move backward 11 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 195 mm; move right 217 mm; move upward 268 mm; roll downward 7 degrees; pitch downward 93 degrees; yaw counterclockwise 43 degrees; open gripper;", + "subtask_movement_text": "move backward 96 mm; move right 25 mm; move upward 122 mm; roll downward 0 degrees; pitch downward 34 degrees; yaw counterclockwise 21 degrees; open gripper;" + }, + { + "frame_index": 34, + "segment_id": 20600, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave's control panel, specifically hovering over or pressing the 'Stop/Cancel' button area. The arm maintains this static interaction pose throughout the segment.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave's control panel, specifically hovering over or pressing the 'Stop/Cancel' button area. The arm maintains this static interaction pose throughout the segment.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 189 mm; move right 239 mm; move upward 266 mm; roll downward 9 degrees; pitch downward 94 degrees; yaw counterclockwise 42 degrees; open gripper;\nSubtask Movement: move backward 85 mm; move right 25 mm; move upward 107 mm; roll downward 0 degrees; pitch downward 30 degrees; yaw counterclockwise 19 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 159, + 92 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011428571306169033, + 0.0, + 0.01607142947614193, + 0.0, + -0.07000000029802322, + 0.0357142873108387, + 1.0 + ], + "delta_next_20": [ + -0.18928572535514832, + -0.238571435213089, + 0.2660714387893677, + -0.1542857140302658, + -1.6442856788635254, + 0.7285714149475098, + 1.0 + ], + "delta_full_state_norm": [ + -0.4083695343504422, + -0.3461539264564869, + 0.7906130621090559, + 0.05820102170761654, + -0.6404494776814025, + 0.7952068820690439, + 0.9999999900000001 + ], + "movement_text": "move backward 11 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 189 mm; move right 239 mm; move upward 266 mm; roll downward 9 degrees; pitch downward 94 degrees; yaw counterclockwise 42 degrees; open gripper;", + "subtask_movement_text": "move backward 85 mm; move right 25 mm; move upward 107 mm; roll downward 0 degrees; pitch downward 30 degrees; yaw counterclockwise 19 degrees; open gripper;" + }, + { + "frame_index": 35, + "segment_id": 20600, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave's control panel, specifically hovering over or pressing the 'Stop/Cancel' button area. The arm maintains this static interaction pose throughout the segment.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave's control panel, specifically hovering over or pressing the 'Stop/Cancel' button area. The arm maintains this static interaction pose throughout the segment.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 183 mm; move right 261 mm; move upward 263 mm; roll downward 11 degrees; pitch downward 95 degrees; yaw counterclockwise 40 degrees; open gripper;\nSubtask Movement: move backward 74 mm; move right 25 mm; move upward 91 mm; roll downward 0 degrees; pitch downward 26 degrees; yaw counterclockwise 17 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 160, + 92 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011785714887082577, + 0.0, + 0.01607142947614193, + 0.0, + -0.0714285746216774, + 0.03857142850756645, + 1.0 + ], + "delta_next_20": [ + -0.18321429193019867, + -0.2607142925262451, + 0.26250001788139343, + -0.18857142329216003, + -1.665714144706726, + 0.7028570771217346, + 1.0 + ], + "delta_full_state_norm": [ + -0.4199135672252765, + -0.3461539264564869, + 0.7906130621090559, + 0.05820102170761654, + -0.6584270413013766, + 0.8300652469479792, + 0.9999999900000001 + ], + "movement_text": "move backward 12 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 183 mm; move right 261 mm; move upward 263 mm; roll downward 11 degrees; pitch downward 95 degrees; yaw counterclockwise 40 degrees; open gripper;", + "subtask_movement_text": "move backward 74 mm; move right 25 mm; move upward 91 mm; roll downward 0 degrees; pitch downward 26 degrees; yaw counterclockwise 17 degrees; open gripper;" + }, + { + "frame_index": 36, + "segment_id": 20600, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave's control panel, specifically hovering over or pressing the 'Stop/Cancel' button area. The arm maintains this static interaction pose throughout the segment.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave's control panel, specifically hovering over or pressing the 'Stop/Cancel' button area. The arm maintains this static interaction pose throughout the segment.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 1 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 177 mm; move right 283 mm; move upward 259 mm; roll downward 13 degrees; pitch downward 97 degrees; yaw counterclockwise 38 degrees; open gripper;\nSubtask Movement: move backward 62 mm; move right 25 mm; move upward 75 mm; roll downward 0 degrees; pitch downward 22 degrees; yaw counterclockwise 15 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 160, + 91 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012142857536673546, + -0.0014285714132711291, + 0.015714285895228386, + 0.0, + -0.07285714149475098, + 0.04285714402794838, + 1.0 + ], + "delta_next_20": [ + -0.17714287340641022, + -0.28285714983940125, + 0.25857147574424744, + -0.2257142812013626, + -1.6871427297592163, + 0.6714285612106323, + 1.0 + ], + "delta_full_state_norm": [ + -0.4314575699967602, + -0.38461545853502743, + 0.7617321491767042, + 0.05820102170761654, + -0.67640451116124, + 0.8823528397165437, + 0.9999999900000001 + ], + "movement_text": "move backward 12 mm; move right 1 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 177 mm; move right 283 mm; move upward 259 mm; roll downward 13 degrees; pitch downward 97 degrees; yaw counterclockwise 38 degrees; open gripper;", + "subtask_movement_text": "move backward 62 mm; move right 25 mm; move upward 75 mm; roll downward 0 degrees; pitch downward 22 degrees; yaw counterclockwise 15 degrees; open gripper;" + }, + { + "frame_index": 37, + "segment_id": 20600, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave's control panel, specifically hovering over or pressing the 'Stop/Cancel' button area. The arm maintains this static interaction pose throughout the segment.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave's control panel, specifically hovering over or pressing the 'Stop/Cancel' button area. The arm maintains this static interaction pose throughout the segment.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 4 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 171 mm; move right 304 mm; move upward 255 mm; roll downward 15 degrees; pitch downward 98 degrees; yaw counterclockwise 36 degrees; open gripper;\nSubtask Movement: move backward 50 mm; move right 24 mm; move upward 59 mm; roll downward 0 degrees; pitch downward 18 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 160, + 90 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012500000186264515, + -0.0039285714738070965, + 0.015714285895228386, + 0.0, + -0.07571428269147873, + 0.04857143014669418, + 1.0 + ], + "delta_next_20": [ + -0.1714285910129547, + -0.30392858386039734, + 0.2549999952316284, + -0.2628571391105652, + -1.7114284038543701, + 0.632857084274292, + 1.0 + ], + "delta_full_state_norm": [ + -0.4430015727682439, + -0.4519231420231671, + 0.7617321491767042, + 0.05820102170761654, + -0.7123595446410776, + 0.9520696149245755, + 0.9999999900000001 + ], + "movement_text": "move backward 13 mm; move right 4 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 171 mm; move right 304 mm; move upward 255 mm; roll downward 15 degrees; pitch downward 98 degrees; yaw counterclockwise 36 degrees; open gripper;", + "subtask_movement_text": "move backward 50 mm; move right 24 mm; move upward 59 mm; roll downward 0 degrees; pitch downward 18 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 38, + "segment_id": 20600, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave's control panel, specifically hovering over or pressing the 'Stop/Cancel' button area. The arm maintains this static interaction pose throughout the segment.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave's control panel, specifically hovering over or pressing the 'Stop/Cancel' button area. The arm maintains this static interaction pose throughout the segment.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 5 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 165 mm; move right 323 mm; move upward 250 mm; roll downward 17 degrees; pitch downward 99 degrees; yaw counterclockwise 34 degrees; open gripper;\nSubtask Movement: move backward 37 mm; move right 20 mm; move upward 43 mm; roll downward 0 degrees; pitch downward 13 degrees; yaw counterclockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 161, + 90 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012142857536673546, + -0.005000000353902578, + 0.015000000596046448, + 0.0, + -0.07571428269147873, + 0.051428571343421936, + 1.0 + ], + "delta_next_20": [ + -0.16464287042617798, + -0.3232142925262451, + 0.25, + -0.29571428894996643, + -1.7299997806549072, + 0.5857142210006714, + 1.0 + ], + "delta_full_state_norm": [ + -0.4314575699967602, + -0.48076929970128246, + 0.7039704739373944, + 0.05820102170761654, + -0.7123595446410776, + 0.9869279798035109, + 0.9999999900000001 + ], + "movement_text": "move backward 12 mm; move right 5 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 165 mm; move right 323 mm; move upward 250 mm; roll downward 17 degrees; pitch downward 99 degrees; yaw counterclockwise 34 degrees; open gripper;", + "subtask_movement_text": "move backward 37 mm; move right 20 mm; move upward 43 mm; roll downward 0 degrees; pitch downward 13 degrees; yaw counterclockwise 9 degrees; open gripper;" + }, + { + "frame_index": 39, + "segment_id": 20600, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave's control panel, specifically hovering over or pressing the 'Stop/Cancel' button area. The arm maintains this static interaction pose throughout the segment.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave's control panel, specifically hovering over or pressing the 'Stop/Cancel' button area. The arm maintains this static interaction pose throughout the segment.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 6 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 159 mm; move right 343 mm; move upward 246 mm; roll downward 19 degrees; pitch downward 100 degrees; yaw counterclockwise 31 degrees; open gripper;\nSubtask Movement: move backward 25 mm; move right 15 mm; move upward 28 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw counterclockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 162, + 89 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012500000186264515, + -0.006428571883589029, + 0.01428571529686451, + 0.0, + -0.0771428570151329, + 0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + -0.15892858803272247, + -0.3425000309944153, + 0.24571429193019867, + -0.3328571319580078, + -1.752856969833374, + 0.5342856645584106, + 1.0 + ], + "delta_full_state_norm": [ + -0.4430015727682439, + -0.5192308349140812, + 0.6462087986980845, + 0.05820102170761654, + -0.7303371082610518, + 1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 13 mm; move right 6 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 159 mm; move right 343 mm; move upward 246 mm; roll downward 19 degrees; pitch downward 100 degrees; yaw counterclockwise 31 degrees; open gripper;", + "subtask_movement_text": "move backward 25 mm; move right 15 mm; move upward 28 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw counterclockwise 6 degrees; open gripper;" + }, + { + "frame_index": 40, + "segment_id": 20600, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave's control panel, specifically hovering over or pressing the 'Stop/Cancel' button area. The arm maintains this static interaction pose throughout the segment.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave's control panel, specifically hovering over or pressing the 'Stop/Cancel' button area. The arm maintains this static interaction pose throughout the segment.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 8 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 153 mm; move right 360 mm; move upward 242 mm; roll downward 21 degrees; pitch downward 102 degrees; yaw counterclockwise 27 degrees; open gripper;\nSubtask Movement: move backward 13 mm; move right 8 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 163, + 88 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012500000186264515, + -0.008214286528527737, + 0.013928571715950966, + 0.0, + -0.0771428570151329, + 0.05714285746216774, + 1.0 + ], + "delta_next_20": [ + -0.15321429073810577, + -0.3603571653366089, + 0.24178574979305267, + -0.3742856979370117, + -1.7742855548858643, + 0.47857147455215454, + 1.0 + ], + "delta_full_state_norm": [ + -0.4430015727682439, + -0.567307760198596, + 0.6173278857657329, + 0.05820102170761654, + -0.7303371082610518, + 1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 13 mm; move right 8 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 153 mm; move right 360 mm; move upward 242 mm; roll downward 21 degrees; pitch downward 102 degrees; yaw counterclockwise 27 degrees; open gripper;", + "subtask_movement_text": "move backward 13 mm; move right 8 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 41, + "segment_id": 20600, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave's control panel, specifically hovering over or pressing the 'Stop/Cancel' button area. The arm maintains this static interaction pose throughout the segment.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave's control panel, specifically hovering over or pressing the 'Stop/Cancel' button area. The arm maintains this static interaction pose throughout the segment.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 9 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 148 mm; move right 376 mm; move upward 237 mm; roll downward 24 degrees; pitch downward 103 degrees; yaw counterclockwise 24 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 163, + 88 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011428571306169033, + -0.009285714477300644, + 0.012857143767178059, + 0.0, + -0.07857143133878708, + 0.05714285746216774, + 1.0 + ], + "delta_next_20": [ + -0.14750002324581146, + -0.37642860412597656, + 0.237142875790596, + -0.41428568959236145, + -1.7957141399383545, + 0.4214286208152771, + 1.0 + ], + "delta_full_state_norm": [ + -0.4083695343504422, + -0.596153892802646, + 0.5306853729067682, + 0.05820102170761654, + -0.748314671881026, + 1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 11 mm; move right 9 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 148 mm; move right 376 mm; move upward 237 mm; roll downward 24 degrees; pitch downward 103 degrees; yaw counterclockwise 24 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 42, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 11 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 143 mm; move right 391 mm; move upward 233 mm; roll downward 26 degrees; pitch downward 104 degrees; yaw counterclockwise 21 degrees; open gripper;\nSubtask Movement: move backward 93 mm; move right 204 mm; move upward 146 mm; roll downward 9 degrees; pitch downward 60 degrees; yaw counterclockwise 20 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 164, + 87 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.010000000707805157, + -0.011428571306169033, + 0.012857143767178059, + 0.0, + -0.08142857253551483, + 0.04857143014669418, + 1.0 + ], + "delta_next_20": [ + -0.142857164144516, + -0.3914286196231842, + 0.23321428894996643, + -0.452857106924057, + -1.8157141208648682, + 0.36428576707839966, + 1.0 + ], + "delta_full_state_norm": [ + -0.3621935232645075, + -0.6538461830848113, + 0.5306853729067682, + 0.05820102170761654, + -0.7842697053608636, + 0.9520696149245755, + 0.9999999900000001 + ], + "movement_text": "move backward 10 mm; move right 11 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 143 mm; move right 391 mm; move upward 233 mm; roll downward 26 degrees; pitch downward 104 degrees; yaw counterclockwise 21 degrees; open gripper;", + "subtask_movement_text": "move backward 93 mm; move right 204 mm; move upward 146 mm; roll downward 9 degrees; pitch downward 60 degrees; yaw counterclockwise 20 degrees; open gripper;" + }, + { + "frame_index": 43, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 12 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 139 mm; move right 404 mm; move upward 228 mm; roll downward 28 degrees; pitch downward 105 degrees; yaw counterclockwise 18 degrees; open gripper;\nSubtask Movement: move backward 83 mm; move right 193 mm; move upward 134 mm; roll downward 9 degrees; pitch downward 55 degrees; yaw counterclockwise 17 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 165, + 87 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.009285714477300644, + -0.012142857536673546, + 0.012857143767178059, + 0.0, + -0.08285713940858841, + 0.04285714402794838, + 1.0 + ], + "delta_next_20": [ + -0.1389285773038864, + -0.4035714566707611, + 0.22821426391601562, + -0.49142852425575256, + -1.8285712003707886, + 0.3157142996788025, + 1.0 + ], + "delta_full_state_norm": [ + -0.3391054876181895, + -0.6730769632282434, + 0.5306853729067682, + 0.05820102170761654, + -0.8022471752207271, + 0.8823528397165437, + 0.9999999900000001 + ], + "movement_text": "move backward 9 mm; move right 12 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 139 mm; move right 404 mm; move upward 228 mm; roll downward 28 degrees; pitch downward 105 degrees; yaw counterclockwise 18 degrees; open gripper;", + "subtask_movement_text": "move backward 83 mm; move right 193 mm; move upward 134 mm; roll downward 9 degrees; pitch downward 55 degrees; yaw counterclockwise 17 degrees; open gripper;" + }, + { + "frame_index": 44, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 14 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 135 mm; move right 415 mm; move upward 222 mm; roll downward 30 degrees; pitch downward 105 degrees; yaw counterclockwise 16 degrees; open gripper;\nSubtask Movement: move backward 74 mm; move right 181 mm; move upward 121 mm; roll downward 9 degrees; pitch downward 51 degrees; yaw counterclockwise 14 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 167, + 86 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008214286528527737, + -0.013928571715950966, + 0.011071428656578064, + 0.0, + -0.08285713940858841, + 0.03857142850756645, + 1.0 + ], + "delta_next_20": [ + -0.1346428543329239, + -0.414642870426178, + 0.22214284539222717, + -0.528571367263794, + -1.8357142210006714, + 0.2728571593761444, + 1.0 + ], + "delta_full_state_norm": [ + -0.30447347930373847, + -0.7211538759757254, + 0.3862810341831, + 0.05820102170761654, + -0.8022471752207271, + 0.8300652469479792, + 0.9999999900000001 + ], + "movement_text": "move backward 8 mm; move right 14 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 135 mm; move right 415 mm; move upward 222 mm; roll downward 30 degrees; pitch downward 105 degrees; yaw counterclockwise 16 degrees; open gripper;", + "subtask_movement_text": "move backward 74 mm; move right 181 mm; move upward 121 mm; roll downward 9 degrees; pitch downward 51 degrees; yaw counterclockwise 14 degrees; open gripper;" + }, + { + "frame_index": 45, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 15 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 131 mm; move right 423 mm; move upward 217 mm; roll downward 33 degrees; pitch downward 106 degrees; yaw counterclockwise 13 degrees; open gripper;\nSubtask Movement: move backward 65 mm; move right 167 mm; move upward 110 mm; roll downward 9 degrees; pitch downward 46 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 168, + 86 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007500000298023224, + -0.015357143245637417, + 0.011071428656578064, + -0.0071428571827709675, + -0.08285713940858841, + 0.0357142873108387, + 1.0 + ], + "delta_next_20": [ + -0.1307142823934555, + -0.42321428656578064, + 0.2174999713897705, + -0.5685713887214661, + -1.841428518295288, + 0.23428572714328766, + 1.0 + ], + "delta_full_state_norm": [ + -0.28138544365742046, + -0.7596154111885243, + 0.3862810341831, + 0.01587298161196471, + -0.8022471752207271, + 0.7952068820690439, + 0.9999999900000001 + ], + "movement_text": "move backward 8 mm; move right 15 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 131 mm; move right 423 mm; move upward 217 mm; roll downward 33 degrees; pitch downward 106 degrees; yaw counterclockwise 13 degrees; open gripper;", + "subtask_movement_text": "move backward 65 mm; move right 167 mm; move upward 110 mm; roll downward 9 degrees; pitch downward 46 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 46, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 16 mm; move upward 11 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 127 mm; move right 429 mm; move upward 211 mm; roll downward 35 degrees; pitch downward 105 degrees; yaw counterclockwise 11 degrees; open gripper;\nSubtask Movement: move backward 58 mm; move right 151 mm; move upward 99 mm; roll downward 8 degrees; pitch downward 41 degrees; yaw counterclockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 169, + 85 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008214286528527737, + -0.015714285895228386, + 0.011071428656578064, + -0.011428571306169033, + -0.08714285492897034, + 0.03285714238882065, + 1.0 + ], + "delta_next_20": [ + -0.12678571045398712, + -0.42928576469421387, + 0.21142856776714325, + -0.6057142615318298, + -1.8399999141693115, + 0.19857142865657806, + 1.0 + ], + "delta_full_state_norm": [ + -0.30447347930373847, + -0.7692307887232076, + 0.3862810341831, + -0.009523841341636863, + -0.8561797723205389, + 0.7603484717399471, + 0.9999999900000001 + ], + "movement_text": "move backward 8 mm; move right 16 mm; move upward 11 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 127 mm; move right 429 mm; move upward 211 mm; roll downward 35 degrees; pitch downward 105 degrees; yaw counterclockwise 11 degrees; open gripper;", + "subtask_movement_text": "move backward 58 mm; move right 151 mm; move upward 99 mm; roll downward 8 degrees; pitch downward 41 degrees; yaw counterclockwise 10 degrees; open gripper;" + }, + { + "frame_index": 47, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 17 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 121 mm; move right 434 mm; move upward 204 mm; roll downward 37 degrees; pitch downward 105 degrees; yaw counterclockwise 10 degrees; open gripper;\nSubtask Movement: move backward 50 mm; move right 136 mm; move upward 87 mm; roll downward 8 degrees; pitch downward 36 degrees; yaw counterclockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 170, + 85 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008214286528527737, + -0.016785714775323868, + 0.009642857126891613, + 0.0, + -0.08428571373224258, + 0.02857142873108387, + 1.0 + ], + "delta_next_20": [ + -0.12071428447961807, + -0.43392857909202576, + 0.20392858982086182, + -0.6371428370475769, + -1.8314285278320312, + 0.16857142746448517, + 1.0 + ], + "delta_full_state_norm": [ + -0.30447347930373847, + -0.798076946401323, + 0.27075760839178376, + 0.05820102170761654, + -0.8202247388407012, + 0.7080609016964634, + 0.9999999900000001 + ], + "movement_text": "move backward 8 mm; move right 17 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 121 mm; move right 434 mm; move upward 204 mm; roll downward 37 degrees; pitch downward 105 degrees; yaw counterclockwise 10 degrees; open gripper;", + "subtask_movement_text": "move backward 50 mm; move right 136 mm; move upward 87 mm; roll downward 8 degrees; pitch downward 36 degrees; yaw counterclockwise 8 degrees; open gripper;" + }, + { + "frame_index": 48, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 18 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 114 mm; move right 437 mm; move upward 197 mm; roll downward 39 degrees; pitch downward 105 degrees; yaw counterclockwise 8 degrees; open gripper;\nSubtask Movement: move backward 41 mm; move right 119 mm; move upward 78 mm; roll downward 8 degrees; pitch downward 31 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 172, + 84 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007857142947614193, + -0.018214285373687744, + 0.010357143357396126, + -0.004285714123398066, + -0.08714285492897034, + 0.02428571507334709, + 1.0 + ], + "delta_next_20": [ + -0.11392857134342194, + -0.43714284896850586, + 0.19749999046325684, + -0.6871428489685059, + -1.8271429538726807, + 0.14428570866584778, + 1.0 + ], + "delta_full_state_norm": [ + -0.29292944642890417, + -0.8365384565400563, + 0.32851935894379025, + 0.03280419875401508, + -0.8561797723205389, + 0.6557733316529797, + 0.9999999900000001 + ], + "movement_text": "move backward 8 mm; move right 18 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 114 mm; move right 437 mm; move upward 197 mm; roll downward 39 degrees; pitch downward 105 degrees; yaw counterclockwise 8 degrees; open gripper;", + "subtask_movement_text": "move backward 41 mm; move right 119 mm; move upward 78 mm; roll downward 8 degrees; pitch downward 31 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 49, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 19 mm; move upward 12 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 107 mm; move right 439 mm; move upward 190 mm; roll downward 42 degrees; pitch downward 104 degrees; yaw counterclockwise 7 degrees; open gripper;\nSubtask Movement: move backward 34 mm; move right 101 mm; move upward 68 mm; roll downward 8 degrees; pitch downward 26 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 173, + 83 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007500000298023224, + -0.018928570672869682, + 0.011785714887082577, + -0.011428571306169033, + -0.08857142925262451, + 0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + -0.1071428656578064, + -0.4385714530944824, + 0.18964284658432007, + -0.735714316368103, + -1.820000171661377, + 0.12428572028875351, + 1.0 + ], + "delta_full_state_norm": [ + -0.28138544365742046, + -0.855769211609423, + 0.4440427847351067, + -0.009523841341636863, + -0.874157335940513, + 0.6209149440489636, + 0.9999999900000001 + ], + "movement_text": "move backward 8 mm; move right 19 mm; move upward 12 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 107 mm; move right 439 mm; move upward 190 mm; roll downward 42 degrees; pitch downward 104 degrees; yaw counterclockwise 7 degrees; open gripper;", + "subtask_movement_text": "move backward 34 mm; move right 101 mm; move upward 68 mm; roll downward 8 degrees; pitch downward 26 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 50, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 19 mm; move upward 13 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 100 mm; move right 439 mm; move upward 180 mm; roll downward 45 degrees; pitch downward 104 degrees; yaw counterclockwise 6 degrees; open gripper;\nSubtask Movement: move backward 26 mm; move right 82 mm; move upward 56 mm; roll downward 7 degrees; pitch downward 21 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 175, + 83 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007500000298023224, + -0.019285714253783226, + 0.013214285485446453, + -0.015714285895228386, + -0.09000000357627869, + 0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + -0.10000001639127731, + -0.4392857253551483, + 0.17999999225139618, + -0.7800000309944153, + -1.8114287853240967, + 0.1071428656578064, + 1.0 + ], + "delta_full_state_norm": [ + -0.28138544365742046, + -0.8653846142181717, + 0.5595661352137262, + -0.03492066705471242, + -0.8921348995604871, + 0.6034857388844153, + 0.9999999900000001 + ], + "movement_text": "move backward 8 mm; move right 19 mm; move upward 13 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 100 mm; move right 439 mm; move upward 180 mm; roll downward 45 degrees; pitch downward 104 degrees; yaw counterclockwise 6 degrees; open gripper;", + "subtask_movement_text": "move backward 26 mm; move right 82 mm; move upward 56 mm; roll downward 7 degrees; pitch downward 21 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 51, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 20 mm; move upward 14 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 93 mm; move right 439 mm; move upward 169 mm; roll downward 47 degrees; pitch downward 103 degrees; yaw counterclockwise 5 degrees; open gripper;\nSubtask Movement: move backward 19 mm; move right 62 mm; move upward 43 mm; roll downward 6 degrees; pitch downward 16 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 176, + 82 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006785714533179998, + -0.01964285783469677, + 0.013928571715950966, + -0.025714285671710968, + -0.09285714477300644, + 0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + -0.09250002354383469, + -0.4392857551574707, + 0.16892856359481812, + -0.8214285969734192, + -1.8042858839035034, + 0.09142857789993286, + 1.0 + ], + "delta_full_state_norm": [ + -0.2582974230627778, + -0.8750000168269204, + 0.6173278857657329, + -0.09417992153294064, + -0.9280899330403247, + 0.5860565564449476, + 0.9999999900000001 + ], + "movement_text": "move backward 7 mm; move right 20 mm; move upward 14 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 93 mm; move right 439 mm; move upward 169 mm; roll downward 47 degrees; pitch downward 103 degrees; yaw counterclockwise 5 degrees; open gripper;", + "subtask_movement_text": "move backward 19 mm; move right 62 mm; move upward 43 mm; roll downward 6 degrees; pitch downward 16 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 52, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 21 mm; move upward 15 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 86 mm; move right 439 mm; move upward 157 mm; roll downward 49 degrees; pitch downward 103 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move backward 12 mm; move right 43 mm; move upward 29 mm; roll downward 5 degrees; pitch downward 11 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 178, + 82 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006071428768336773, + -0.021071428433060646, + 0.015000000596046448, + -0.041428569704294205, + -0.09285714477300644, + 0.017142856493592262, + 1.0 + ], + "delta_next_20": [ + -0.08571430295705795, + -0.43857142329216003, + 0.15714286267757416, + -0.8499999642372131, + -1.7928571701049805, + 0.07571428269147873, + 1.0 + ], + "delta_full_state_norm": [ + -0.23520940246813515, + -0.9134615269656537, + 0.7039704739373944, + -0.1873015992573731, + -0.9280899330403247, + 0.5686273512803992, + 0.9999999900000001 + ], + "movement_text": "move backward 6 mm; move right 21 mm; move upward 15 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 86 mm; move right 439 mm; move upward 157 mm; roll downward 49 degrees; pitch downward 103 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 12 mm; move right 43 mm; move upward 29 mm; roll downward 5 degrees; pitch downward 11 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 53, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 22 mm; move upward 14 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 80 mm; move right 435 mm; move upward 143 mm; roll downward 49 degrees; pitch downward 102 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move backward 6 mm; move right 22 mm; move upward 14 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 180, + 81 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0057142856530845165, + -0.021785713732242584, + 0.013571429066359997, + -0.037142857909202576, + -0.09285714477300644, + 0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + -0.0796428695321083, + -0.4350000023841858, + 0.14321428537368774, + -0.8557143211364746, + -1.78000009059906, + 0.058571428060531616, + 1.0 + ], + "delta_full_state_norm": [ + -0.2236653846449762, + -0.9326922820350204, + 0.588447048146078, + -0.16190479010114234, + -0.9280899330403247, + 0.5163397812369155, + 0.9999999900000001 + ], + "movement_text": "move backward 6 mm; move right 22 mm; move upward 14 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 80 mm; move right 435 mm; move upward 143 mm; roll downward 49 degrees; pitch downward 102 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move backward 6 mm; move right 22 mm; move upward 14 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 54, + "segment_id": 20300, + "subtask": "press the stop button", + "reason": "The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector has retracted from the microwave control panel and is moving back towards its resting position, indicating the completion of the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 22 mm; move upward 13 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 74 mm; move right 429 mm; move upward 130 mm; roll downward 49 degrees; pitch downward 101 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 181, + 80 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0053571430034935474, + -0.022142857313156128, + 0.012500000186264515, + -0.034285712987184525, + -0.09142857044935226, + 0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + -0.0739285871386528, + -0.4292856752872467, + 0.13035716116428375, + -0.8628571629524231, + -1.7671430110931396, + 0.04571428522467613, + 1.0 + ], + "delta_full_state_norm": [ + -0.2121213818734925, + -0.9423076846437692, + 0.5018044599744165, + -0.14497356192119537, + -0.9101123694203506, + 0.48148139363289943, + 0.9999999900000001 + ], + "movement_text": "move backward 5 mm; move right 22 mm; move upward 13 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 74 mm; move right 429 mm; move upward 130 mm; roll downward 49 degrees; pitch downward 101 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 55, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel. The gripper maintains contact with the interface, indicating an active pressing or manipulation attempt.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel. The gripper maintains contact with the interface, indicating an active pressing or manipulation attempt.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 22 mm; move upward 12 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 69 mm; move right 422 mm; move upward 118 mm; roll downward 50 degrees; pitch downward 100 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 31 mm; move right 116 mm; move upward 56 mm; roll downward 11 degrees; pitch downward 28 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 183, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0057142856530845165, + -0.022142857313156128, + 0.012142857536673546, + -0.037142857909202576, + -0.09285714477300644, + 0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + -0.06857144087553024, + -0.42249998450279236, + 0.11785715073347092, + -0.8728571534156799, + -1.7528572082519531, + 0.0357142835855484, + 1.0 + ], + "delta_full_state_norm": [ + -0.2236653846449762, + -0.9423076846437692, + 0.4729236223547615, + -0.16190479010114234, + -0.9280899330403247, + 0.4466230117101535, + 0.9999999900000001 + ], + "movement_text": "move backward 6 mm; move right 22 mm; move upward 12 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 69 mm; move right 422 mm; move upward 118 mm; roll downward 50 degrees; pitch downward 100 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 31 mm; move right 116 mm; move upward 56 mm; roll downward 11 degrees; pitch downward 28 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 56, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel. The gripper maintains contact with the interface, indicating an active pressing or manipulation attempt.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel. The gripper maintains contact with the interface, indicating an active pressing or manipulation attempt.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 22 mm; move upward 12 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 63 mm; move right 416 mm; move upward 106 mm; roll downward 50 degrees; pitch downward 100 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 25 mm; move right 94 mm; move upward 44 mm; roll downward 9 degrees; pitch downward 22 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 185, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006428571883589029, + -0.022499999031424522, + 0.012142857536673546, + -0.037142857909202576, + -0.09714286029338837, + 0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + -0.06285715103149414, + -0.4157143235206604, + 0.10571428388357162, + -0.8757143616676331, + -1.7371429204940796, + 0.02857142686843872, + 1.0 + ], + "delta_full_state_norm": [ + -0.2467534202912941, + -0.9519230371043871, + 0.4729236223547615, + -0.16190479010114234, + -0.9820225301401365, + 0.41176462410613746, + 0.9999999900000001 + ], + "movement_text": "move backward 6 mm; move right 22 mm; move upward 12 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 63 mm; move right 416 mm; move upward 106 mm; roll downward 50 degrees; pitch downward 100 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 25 mm; move right 94 mm; move upward 44 mm; roll downward 9 degrees; pitch downward 22 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 57, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel. The gripper maintains contact with the interface, indicating an active pressing or manipulation attempt.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel. The gripper maintains contact with the interface, indicating an active pressing or manipulation attempt.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 23 mm; move upward 11 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 56 mm; move right 408 mm; move upward 94 mm; roll downward 50 degrees; pitch downward 98 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 19 mm; move right 72 mm; move upward 32 mm; roll downward 6 degrees; pitch downward 17 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 187, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0057142856530845165, + -0.02321428619325161, + 0.010714286006987095, + -0.03285714238882065, + -0.09428571164608002, + 0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + -0.05642858147621155, + -0.4082143008708954, + 0.09357143193483353, + -0.8799999952316284, + -1.7185715436935425, + 0.024285713210701942, + 1.0 + ], + "delta_full_state_norm": [ + -0.2236653846449762, + -0.9711538423218846, + 0.35740019656344524, + -0.13650795886911837, + -0.9460674029001882, + 0.3769062407630741, + 0.9999999900000001 + ], + "movement_text": "move backward 6 mm; move right 23 mm; move upward 11 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 56 mm; move right 408 mm; move upward 94 mm; roll downward 50 degrees; pitch downward 98 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 19 mm; move right 72 mm; move upward 32 mm; roll downward 6 degrees; pitch downward 17 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 58, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel. The gripper maintains contact with the interface, indicating an active pressing or manipulation attempt.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel. The gripper maintains contact with the interface, indicating an active pressing or manipulation attempt.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 24 mm; move upward 11 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 51 mm; move right 401 mm; move upward 83 mm; roll downward 51 degrees; pitch downward 97 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 13 mm; move right 49 mm; move upward 21 mm; roll downward 5 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 189, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006428571883589029, + -0.02428571507334709, + 0.010714286006987095, + -0.037142857909202576, + -0.09857142716646194, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.050714291632175446, + -0.4010713994503021, + 0.08321429044008255, + -0.8842857480049133, + -1.6999999284744263, + 0.022857140749692917, + 1.0 + ], + "delta_full_state_norm": [ + -0.2467534202912941, + -1.0, + 0.35740019656344524, + -0.16190479010114234, + -1.0, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 6 mm; move right 24 mm; move upward 11 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 51 mm; move right 401 mm; move upward 83 mm; roll downward 51 degrees; pitch downward 97 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 13 mm; move right 49 mm; move upward 21 mm; roll downward 5 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 59, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel. The gripper maintains contact with the interface, indicating an active pressing or manipulation attempt.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel. The gripper maintains contact with the interface, indicating an active pressing or manipulation attempt.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 24 mm; move upward 10 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 44 mm; move right 392 mm; move upward 74 mm; roll downward 51 degrees; pitch downward 96 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 7 mm; move right 24 mm; move upward 10 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 191, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006785714533179998, + -0.02428571507334709, + 0.010357143357396126, + -0.041428569704294205, + -0.09857142716646194, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.044285718351602554, + -0.3921428620815277, + 0.07357143610715866, + -0.8828571438789368, + -1.678571343421936, + 0.022857140749692917, + 1.0 + ], + "delta_full_state_norm": [ + -0.2582974230627778, + -1.0, + 0.32851935894379025, + -0.1873015992573731, + -1.0, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 7 mm; move right 24 mm; move upward 10 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 44 mm; move right 392 mm; move upward 74 mm; roll downward 51 degrees; pitch downward 96 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 7 mm; move right 24 mm; move upward 10 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 60, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel. The gripper maintains contact with the interface, indicating an active pressing or manipulation attempt.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel. The gripper maintains contact with the interface, indicating an active pressing or manipulation attempt.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 24 mm; move upward 9 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 38 mm; move right 382 mm; move upward 64 mm; roll downward 50 degrees; pitch downward 95 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006785714533179998, + -0.02428571507334709, + 0.009285714477300644, + -0.03999999910593033, + -0.09857142716646194, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.03750000521540642, + -0.3821428716182709, + 0.06392858177423477, + -0.8728571534156799, + -1.6542856693267822, + 0.022857140749692917, + 1.0 + ], + "delta_full_state_norm": [ + -0.2582974230627778, + -1.0, + 0.24187677077212877, + -0.17883599620529622, + -1.0, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 7 mm; move right 24 mm; move upward 9 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 38 mm; move right 382 mm; move upward 64 mm; roll downward 50 degrees; pitch downward 95 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 61, + "segment_id": 10200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pressing posture consistent with the execution of the action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pressing posture consistent with the execution of the action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 24 mm; move upward 9 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 31 mm; move right 372 mm; move upward 55 mm; roll downward 49 degrees; pitch downward 93 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 13 mm; move right 48 mm; move upward 17 mm; roll downward 4 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 194, + 75 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006785714533179998, + -0.02428571507334709, + 0.008928571827709675, + -0.03857142850756645, + -0.09857142716646194, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.030714288353919983, + -0.3717857301235199, + 0.05535714700818062, + -0.8628571033477783, + -1.6285713911056519, + 0.022857140749692917, + 1.0 + ], + "delta_full_state_norm": [ + -0.2582974230627778, + -1.0, + 0.21299593315247378, + -0.17037039315321922, + -1.0, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 7 mm; move right 24 mm; move upward 9 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 31 mm; move right 372 mm; move upward 55 mm; roll downward 49 degrees; pitch downward 93 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 13 mm; move right 48 mm; move upward 17 mm; roll downward 4 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 62, + "segment_id": 10200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pressing posture consistent with the execution of the action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pressing posture consistent with the execution of the action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 24 mm; move upward 8 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 24 mm; move right 360 mm; move upward 48 mm; roll downward 49 degrees; pitch downward 92 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 6 mm; move right 24 mm; move upward 8 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 196, + 74 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006071428768336773, + -0.023571429774165154, + 0.007857142947614193, + -0.03857142850756645, + -0.09428571164608002, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.023928573355078697, + -0.3596428632736206, + 0.047500014305114746, + -0.8528571128845215, + -1.6014283895492554, + 0.022857140749692917, + 1.0 + ], + "delta_full_state_norm": [ + -0.23520940246813515, + -0.9807692449306333, + 0.1263533449808123, + -0.17037039315321922, + -0.9460674029001882, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 6 mm; move right 24 mm; move upward 8 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 24 mm; move right 360 mm; move upward 48 mm; roll downward 49 degrees; pitch downward 92 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 6 mm; move right 24 mm; move upward 8 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 63, + "segment_id": 10200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pressing posture consistent with the execution of the action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pressing posture consistent with the execution of the action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 23 mm; move upward 7 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 18 mm; move right 347 mm; move upward 41 mm; roll downward 48 degrees; pitch downward 90 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 74 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.005000000353902578, + -0.02321428619325161, + 0.006785714533179998, + -0.037142857909202576, + -0.09000000357627869, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.0178571455180645, + -0.34714287519454956, + 0.04071429744362831, + -0.8357142806053162, + -1.5742855072021484, + 0.022857140749692917, + 1.0 + ], + "delta_full_state_norm": [ + -0.2005773791020088, + -0.9711538423218846, + 0.0397107944654993, + -0.16190479010114234, + -0.8921348995604871, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 5 mm; move right 23 mm; move upward 7 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 18 mm; move right 347 mm; move upward 41 mm; roll downward 48 degrees; pitch downward 90 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 64, + "segment_id": 10400, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 22 mm; move upward 6 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 13 mm; move right 333 mm; move upward 37 mm; roll downward 46 degrees; pitch downward 89 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 13 mm; move right 301 mm; move upward 32 mm; roll downward 43 degrees; pitch downward 77 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.004285714589059353, + -0.022499999031424522, + 0.006428571883589029, + -0.03999999910593033, + -0.08857142925262451, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.012857143767178059, + -0.33321425318717957, + 0.03678572550415993, + -0.8100000619888306, + -1.5514283180236816, + 0.022857140749692917, + 1.0 + ], + "delta_full_state_norm": [ + -0.17748935850736614, + -0.9519230371043871, + 0.010829956845844313, + -0.17883599620529622, + -0.874157335940513, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 4 mm; move right 22 mm; move upward 6 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 13 mm; move right 333 mm; move upward 37 mm; roll downward 46 degrees; pitch downward 89 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 13 mm; move right 301 mm; move upward 32 mm; roll downward 43 degrees; pitch downward 77 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 65, + "segment_id": 10400, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 21 mm; move upward 5 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 9 mm; move right 319 mm; move upward 36 mm; roll downward 44 degrees; pitch downward 88 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 9 mm; move right 278 mm; move upward 25 mm; roll downward 41 degrees; pitch downward 72 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0035714288242161274, + -0.02142857201397419, + 0.005000000353902578, + -0.044285714626312256, + -0.08142857253551483, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.008571429178118706, + -0.3189285695552826, + 0.03607143089175224, + -0.7699999809265137, + -1.5314284563064575, + 0.022857140749692917, + 1.0 + ], + "delta_full_state_norm": [ + -0.15440133791272348, + -0.9230769295744026, + -0.10469346894547205, + -0.20423282743732007, + -0.7842697053608636, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 4 mm; move right 21 mm; move upward 5 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 9 mm; move right 319 mm; move upward 36 mm; roll downward 44 degrees; pitch downward 88 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 9 mm; move right 278 mm; move upward 25 mm; roll downward 41 degrees; pitch downward 72 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 66, + "segment_id": 10400, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 2 mm; move right 20 mm; move upward 4 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 5 mm; move right 304 mm; move upward 40 mm; roll downward 42 degrees; pitch downward 87 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 5 mm; move right 257 mm; move upward 20 mm; roll downward 38 degrees; pitch downward 67 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0021428572945296764, + -0.020357143133878708, + 0.0035714288242161274, + -0.04285714402794838, + -0.07857143133878708, + 0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + -0.005000000353902578, + -0.3042856752872467, + 0.03964286297559738, + -0.7257142663002014, + -1.5228570699691772, + 0.022857140749692917, + 1.0 + ], + "delta_full_state_norm": [ + -0.10822529672343817, + -0.8942307718962871, + -0.22021689473678852, + -0.1957672243852432, + -0.748314671881026, + 0.3943354331447646, + 0.9999999900000001 + ], + "movement_text": "move backward 2 mm; move right 20 mm; move upward 4 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 5 mm; move right 304 mm; move upward 40 mm; roll downward 42 degrees; pitch downward 87 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 5 mm; move right 257 mm; move upward 20 mm; roll downward 38 degrees; pitch downward 67 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 67, + "segment_id": 10400, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move right 20 mm; move upward 3 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 3 mm; move right 290 mm; move upward 46 mm; roll downward 39 degrees; pitch downward 87 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 3 mm; move right 236 mm; move upward 17 mm; roll downward 36 degrees; pitch downward 63 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0014285714132711291, + -0.020000001415610313, + 0.0032142859417945147, + -0.05000000074505806, + -0.07999999821186066, + 0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + -0.0028571428265422583, + -0.2896428406238556, + 0.04642857238650322, + -0.682857096195221, + -1.5199998617172241, + 0.019999999552965164, + 1.0 + ], + "delta_full_state_norm": [ + -0.08513727236587665, + -0.8846154194356692, + -0.24909775118461763, + -0.23809526172142093, + -0.7662921417408894, + 0.41176462410613746, + 0.9999999900000001 + ], + "movement_text": "move backward 1 mm; move right 20 mm; move upward 3 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 3 mm; move right 290 mm; move upward 46 mm; roll downward 39 degrees; pitch downward 87 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 3 mm; move right 236 mm; move upward 17 mm; roll downward 36 degrees; pitch downward 63 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 68, + "segment_id": 10400, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move right 20 mm; move upward 3 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 1 mm; move right 275 mm; move upward 54 mm; roll downward 36 degrees; pitch downward 87 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 1 mm; move right 216 mm; move upward 14 mm; roll downward 33 degrees; pitch downward 58 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0010714286472648382, + -0.01964285783469677, + 0.002500000176951289, + -0.05285714194178581, + -0.07999999821186066, + 0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + -0.0014285714132711291, + -0.2753571569919586, + 0.05428571626543999, + -0.6328571438789368, + -1.5157140493392944, + 0.015714285895228386, + 1.0 + ], + "delta_full_state_norm": [ + -0.07359326583147419, + -0.8750000168269204, + -0.30685946408027576, + -0.2550264678255748, + -0.7662921417408894, + 0.41176462410613746, + 0.9999999900000001 + ], + "movement_text": "move backward 1 mm; move right 20 mm; move upward 3 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 1 mm; move right 275 mm; move upward 54 mm; roll downward 36 degrees; pitch downward 87 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 1 mm; move right 216 mm; move upward 14 mm; roll downward 33 degrees; pitch downward 58 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 69, + "segment_id": 10400, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 20 mm; move upward 2 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 260 mm; move upward 63 mm; roll downward 33 degrees; pitch downward 87 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 197 mm; move upward 11 mm; roll downward 30 degrees; pitch downward 54 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0003571428533177823, + -0.01964285783469677, + 0.0021428572945296764, + -0.055714286863803864, + -0.07999999821186066, + 0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + -0.0003571428533177823, + -0.25999999046325684, + 0.06321429461240768, + -0.5800000429153442, + -1.5114283561706543, + 0.011428571306169033, + 1.0 + ], + "delta_full_state_norm": [ + -0.050505244296101814, + -0.8750000168269204, + -0.3357403205281049, + -0.2719576960055218, + -0.7662921417408894, + 0.41176462410613746, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 20 mm; move upward 2 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 260 mm; move upward 63 mm; roll downward 33 degrees; pitch downward 87 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 197 mm; move upward 11 mm; roll downward 30 degrees; pitch downward 54 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 70, + "segment_id": 10400, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 19 mm; move upward 2 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 243 mm; move upward 73 mm; roll downward 30 degrees; pitch downward 86 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 177 mm; move upward 9 mm; roll downward 27 degrees; pitch downward 49 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.019285714253783226, + 0.0021428572945296764, + -0.05714285746216774, + -0.08285713940858841, + 0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.2428571730852127, + 0.07250000536441803, + -0.5257142782211304, + -1.5071426630020142, + 0.00714285671710968, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.8653846142181717, + -0.3357403205281049, + -0.28042329905759866, + -0.8022471752207271, + 0.41176462410613746, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 19 mm; move upward 2 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 243 mm; move upward 73 mm; roll downward 30 degrees; pitch downward 86 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 177 mm; move upward 9 mm; roll downward 27 degrees; pitch downward 49 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 71, + "segment_id": 10400, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 19 mm; move upward 2 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 224 mm; move upward 82 mm; roll downward 27 degrees; pitch downward 86 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 158 mm; move upward 7 mm; roll downward 23 degrees; pitch downward 44 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.018928570672869682, + 0.0021428572945296764, + -0.05428571254014969, + -0.08142857253551483, + 0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.22392860054969788, + 0.08178571611642838, + -0.4699999988079071, + -1.4971425533294678, + 0.0028571428265422583, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.855769211609423, + -0.3357403205281049, + -0.2634920708776517, + -0.7842697053608636, + 0.3943354331447646, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 19 mm; move upward 2 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 224 mm; move upward 82 mm; roll downward 27 degrees; pitch downward 86 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 158 mm; move upward 7 mm; roll downward 23 degrees; pitch downward 44 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 72, + "segment_id": 10400, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move upward 1 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 205 mm; move upward 91 mm; roll downward 24 degrees; pitch downward 85 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 139 mm; move upward 5 mm; roll downward 20 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.017500000074505806, + 0.0010714286472648382, + -0.04714285582304001, + -0.07999999821186066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.20500002801418304, + 0.09071429073810577, + -0.4214285910129547, + -1.487142562866211, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.8173077014706897, + -0.4223828898715922, + -0.22116403354147396, + -0.7662921417408894, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move upward 1 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 205 mm; move upward 91 mm; roll downward 24 degrees; pitch downward 85 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 139 mm; move upward 5 mm; roll downward 20 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 73, + "segment_id": 10400, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 16 mm; move upward 1 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 187 mm; move upward 100 mm; roll downward 22 degrees; pitch downward 85 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 121 mm; move upward 4 mm; roll downward 17 degrees; pitch downward 35 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01607142947614193, + 0.0007142857066355646, + -0.044285714626312256, + -0.07999999821186066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.1874999850988388, + 0.10035713762044907, + -0.38428571820259094, + -1.475714087486267, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.7788461913319563, + -0.4512637510264649, + -0.20423282743732007, + -0.7662921417408894, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 16 mm; move upward 1 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 187 mm; move upward 100 mm; roll downward 22 degrees; pitch downward 85 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 121 mm; move upward 4 mm; roll downward 17 degrees; pitch downward 35 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 74, + "segment_id": 10400, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 171 mm; move upward 110 mm; roll downward 20 degrees; pitch downward 84 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 105 mm; move upward 3 mm; roll downward 15 degrees; pitch downward 31 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.015357143245637417, + 0.0, + -0.044285714626312256, + -0.0771428570151329, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.17142857611179352, + 0.11000000685453415, + -0.3499999940395355, + -1.4628570079803467, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.7596154111885243, + -0.5090254592150795, + -0.20423282743732007, + -0.7303371082610518, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 171 mm; move upward 110 mm; roll downward 20 degrees; pitch downward 84 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 105 mm; move upward 3 mm; roll downward 15 degrees; pitch downward 31 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 75, + "segment_id": 10400, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 156 mm; move upward 120 mm; roll downward 18 degrees; pitch downward 83 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 90 mm; move upward 3 mm; roll downward 12 degrees; pitch downward 26 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.015357143245637417, + 0.0, + -0.03999999910593033, + -0.0771428570151329, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.15607142448425293, + 0.12035714834928513, + -0.31142857670783997, + -1.4471427202224731, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.7596154111885243, + -0.5090254592150795, + -0.17883599620529622, + -0.7303371082610518, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 156 mm; move upward 120 mm; roll downward 18 degrees; pitch downward 83 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 90 mm; move upward 3 mm; roll downward 12 degrees; pitch downward 26 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 76, + "segment_id": 10400, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 141 mm; move upward 130 mm; roll downward 16 degrees; pitch downward 82 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 75 mm; move upward 3 mm; roll downward 10 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.015000000596046448, + 0.0, + -0.041428569704294205, + -0.07857143133878708, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.14071427285671234, + 0.12964285910129547, + -0.2799999713897705, + -1.428571343421936, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.7500000336538409, + -0.5090254592150795, + -0.1873015992573731, + -0.748314671881026, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 141 mm; move upward 130 mm; roll downward 16 degrees; pitch downward 82 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 75 mm; move upward 3 mm; roll downward 10 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 77, + "segment_id": 10400, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 16 mm; move upward 0 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 126 mm; move upward 137 mm; roll downward 14 degrees; pitch downward 80 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 60 mm; move upward 3 mm; roll downward 8 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01607142947614193, + 0.0003571428533177823, + -0.037142857909202576, + -0.07571428269147873, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.1257142722606659, + 0.13678571581840515, + -0.25, + -1.4042857885360718, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.7788461913319563, + -0.48014460512077217, + -0.16190479010114234, + -0.7123595446410776, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 16 mm; move upward 0 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 126 mm; move upward 137 mm; roll downward 14 degrees; pitch downward 80 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 60 mm; move upward 3 mm; roll downward 8 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 78, + "segment_id": 10400, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move upward 1 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 0 mm; move right 110 mm; move upward 141 mm; roll downward 13 degrees; pitch downward 79 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 44 mm; move upward 3 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.015357143245637417, + 0.0010714286472648382, + -0.0357142873108387, + -0.0771428570151329, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0003571428533177823, + -0.10964285582304001, + 0.14142857491970062, + -0.2257142812013626, + -1.3771429061889648, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.7596154111885243, + -0.4223828898715922, + -0.15343918704906534, + -0.7303371082610518, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move upward 1 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 0 mm; move right 110 mm; move upward 141 mm; roll downward 13 degrees; pitch downward 79 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 44 mm; move upward 3 mm; roll downward 6 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 79, + "segment_id": 10400, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move upward 1 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 1 mm; move right 94 mm; move upward 144 mm; roll downward 12 degrees; pitch downward 77 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 28 mm; move upward 1 mm; roll downward 4 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01428571529686451, + 0.0007142857066355646, + -0.03142857179045677, + -0.07428571581840515, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0014285714132711291, + -0.09428571909666061, + 0.1435714215040207, + -0.20428571105003357, + -1.3457143306732178, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.7307692785844743, + -0.4512637510264649, + -0.1280423558170415, + -0.6943820747812142, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move upward 1 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 1 mm; move right 94 mm; move upward 144 mm; roll downward 12 degrees; pitch downward 77 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 28 mm; move upward 1 mm; roll downward 4 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 80, + "segment_id": 10400, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move upward 1 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 3 mm; move right 80 mm; move upward 145 mm; roll downward 11 degrees; pitch downward 75 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 14 mm; move upward 1 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.013928571715950966, + 0.0007142857066355646, + -0.029999999329447746, + -0.07285714149475098, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0028571428265422583, + -0.08000000566244125, + 0.14500001072883606, + -0.18857142329216003, + -1.3142858743667603, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.7211538759757254, + -0.4512637510264649, + -0.119576741727068, + -0.67640451116124, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move upward 1 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 3 mm; move right 80 mm; move upward 145 mm; roll downward 11 degrees; pitch downward 75 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 14 mm; move upward 1 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 81, + "segment_id": 10400, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in sustained contact with the microwave control panel, specifically pressing the top-right button, which corresponds to the stop function.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 12 mm; move upward 1 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 7 mm; move right 66 mm; move upward 144 mm; roll downward 10 degrees; pitch downward 73 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.012142857536673546, + 0.0010714286472648382, + -0.02857142873108387, + -0.0714285746216774, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.006785714533179998, + -0.06607143580913544, + 0.14428572356700897, + -0.17428570985794067, + -1.274285912513733, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.6730769632282434, + -0.4223828898715922, + -0.11111113867499112, + -0.6584270413013766, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 12 mm; move upward 1 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 7 mm; move right 66 mm; move upward 144 mm; roll downward 10 degrees; pitch downward 73 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 82, + "segment_id": 10700, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 11 mm; move upward 1 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 12 mm; move right 54 mm; move upward 143 mm; roll downward 9 degrees; pitch downward 71 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 54 mm; move upward 133 mm; roll downward 5 degrees; pitch downward 59 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.011071428656578064, + 0.0010714286472648382, + -0.02142857201397419, + -0.06714285910129547, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.011785714887082577, + -0.053928572684526443, + 0.14321428537368774, + -0.16285714507102966, + -1.2314287424087524, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.644230805550128, + -0.4223828898715922, + -0.06878310133881327, + -0.6044944442015647, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 11 mm; move upward 1 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 12 mm; move right 54 mm; move upward 143 mm; roll downward 9 degrees; pitch downward 71 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 54 mm; move upward 133 mm; roll downward 5 degrees; pitch downward 59 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 83, + "segment_id": 10700, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 9 mm; move upward 3 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 19 mm; move right 43 mm; move upward 142 mm; roll downward 9 degrees; pitch downward 68 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 43 mm; move upward 132 mm; roll downward 4 degrees; pitch downward 55 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.009285714477300644, + 0.0028571428265422583, + -0.011428571306169033, + -0.06714285910129547, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.018571428954601288, + -0.04285714402794838, + 0.1421428620815277, + -0.15571428835391998, + -1.1885714530944824, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.596153892802646, + -0.2779786264606209, + -0.009523841341636863, + -0.6044944442015647, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 9 mm; move upward 3 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 19 mm; move right 43 mm; move upward 142 mm; roll downward 9 degrees; pitch downward 68 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 43 mm; move upward 132 mm; roll downward 4 degrees; pitch downward 55 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 84, + "segment_id": 10700, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 8 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 26 mm; move right 35 mm; move upward 139 mm; roll downward 9 degrees; pitch downward 65 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 34 mm; move upward 129 mm; roll downward 3 degrees; pitch downward 51 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.008214286528527737, + 0.0057142856530845165, + 0.0, + -0.06857142597436905, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.02607142925262451, + -0.03500000014901161, + 0.13928571343421936, + -0.16142858564853668, + -1.1414285898208618, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.567307760198596, + -0.046931793706162184, + 0.05820102170761654, + -0.6224719140614283, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 8 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 26 mm; move right 35 mm; move upward 139 mm; roll downward 9 degrees; pitch downward 65 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 34 mm; move upward 129 mm; roll downward 3 degrees; pitch downward 51 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 85, + "segment_id": 10700, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 7 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 35 mm; move right 30 mm; move upward 134 mm; roll downward 10 degrees; pitch downward 63 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 25 mm; move upward 123 mm; roll downward 3 degrees; pitch downward 48 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.006785714533179998, + 0.008571429178118706, + 0.0, + -0.07285714149475098, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.03464285656809807, + -0.03035714291036129, + 0.13357143104076385, + -0.1785714477300644, + -1.0914283990859985, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.5288462124487645, + 0.18411509553281902, + 0.05820102170761654, + -0.67640451116124, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 7 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 35 mm; move right 30 mm; move upward 134 mm; roll downward 10 degrees; pitch downward 63 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 25 mm; move upward 123 mm; roll downward 3 degrees; pitch downward 48 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 86, + "segment_id": 10700, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 6 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 44 mm; move right 28 mm; move upward 125 mm; roll downward 11 degrees; pitch downward 59 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 19 mm; move upward 115 mm; roll downward 3 degrees; pitch downward 43 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0057142856530845165, + 0.010357143357396126, + 0.0, + -0.07571428269147873, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.044285714626312256, + -0.02785714529454708, + 0.125, + -0.19857144355773926, + -1.032857060432434, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.5000000547706491, + 0.32851935894379025, + 0.05820102170761654, + -0.7123595446410776, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 6 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 44 mm; move right 28 mm; move upward 125 mm; roll downward 11 degrees; pitch downward 59 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 19 mm; move upward 115 mm; roll downward 3 degrees; pitch downward 43 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 87, + "segment_id": 10700, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 6 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 55 mm; move right 27 mm; move upward 115 mm; roll downward 12 degrees; pitch downward 55 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 13 mm; move upward 104 mm; roll downward 3 degrees; pitch downward 39 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0057142856530845165, + 0.011071428656578064, + 0.0, + -0.07571428269147873, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.055000003427267075, + -0.02678571455180645, + 0.11464285105466843, + -0.21285715699195862, + -0.9657142162322998, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.5000000547706491, + 0.3862810341831, + 0.05820102170761654, + -0.7123595446410776, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 6 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 55 mm; move right 27 mm; move upward 115 mm; roll downward 12 degrees; pitch downward 55 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 13 mm; move upward 104 mm; roll downward 3 degrees; pitch downward 39 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 88, + "segment_id": 10700, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 4 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 66 mm; move right 26 mm; move upward 104 mm; roll downward 13 degrees; pitch downward 51 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 7 mm; move upward 93 mm; roll downward 3 degrees; pitch downward 35 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.004285714589059353, + 0.011428571306169033, + 0.0, + -0.07571428269147873, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.06642857193946838, + -0.025714287534356117, + 0.10357142984867096, + -0.22714287042617798, + -0.8942856788635254, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.46153853209488305, + 0.415161871802755, + 0.05820102170761654, + -0.7123595446410776, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 4 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 66 mm; move right 26 mm; move upward 104 mm; roll downward 13 degrees; pitch downward 51 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 7 mm; move upward 93 mm; roll downward 3 degrees; pitch downward 35 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 89, + "segment_id": 10700, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 3 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 80 mm; move right 27 mm; move upward 92 mm; roll downward 14 degrees; pitch downward 47 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 3 mm; move upward 82 mm; roll downward 3 degrees; pitch downward 30 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.002500000176951289, + 0.011428571306169033, + -0.0014285714132711291, + -0.07571428269147873, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.07964285463094711, + -0.0267857164144516, + 0.09214286506175995, + -0.23571430146694183, + -0.8185713887214661, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.4134616130788846, + 0.415161871802755, + 0.04973541382645985, + -0.7123595446410776, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 3 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 80 mm; move right 27 mm; move upward 92 mm; roll downward 14 degrees; pitch downward 47 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 3 mm; move upward 82 mm; roll downward 3 degrees; pitch downward 30 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 90, + "segment_id": 10700, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 93 mm; move right 29 mm; move upward 81 mm; roll downward 14 degrees; pitch downward 43 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 70 mm; roll downward 3 degrees; pitch downward 26 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 227, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0003571428533177823, + 0.011428571306169033, + -0.0014285714132711291, + -0.07285714149475098, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.09285714477300644, + -0.029285717755556107, + 0.08071429282426834, + -0.24142858386039734, + -0.7428570985794067, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.35576930947612206, + 0.415161871802755, + 0.04973541382645985, + -0.67640451116124, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 93 mm; move right 29 mm; move upward 81 mm; roll downward 14 degrees; pitch downward 43 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 70 mm; roll downward 3 degrees; pitch downward 26 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 91, + "segment_id": 10700, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 106 mm; move right 34 mm; move upward 69 mm; roll downward 14 degrees; pitch downward 38 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 59 mm; roll downward 3 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 227, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.011071428656578064, + -0.0057142856530845165, + -0.0714285746216774, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.10607142746448517, + -0.033571429550647736, + 0.06928572058677673, + -0.24857144057750702, + -0.6700000166893005, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.3461539264564869, + 0.3862810341831, + 0.024338590182989783, + -0.6584270413013766, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 106 mm; move right 34 mm; move upward 69 mm; roll downward 14 degrees; pitch downward 38 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 59 mm; roll downward 3 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 92, + "segment_id": 10700, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 11 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 119 mm; move right 38 mm; move upward 58 mm; roll downward 14 degrees; pitch downward 34 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 48 mm; roll downward 3 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 228, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.010714286006987095, + -0.009999999776482582, + -0.06857142597436905, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.11892856657505035, + -0.03821428492665291, + 0.05821428820490837, + -0.2500000298023224, + -0.5985714793205261, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.3461539264564869, + 0.35740019656344524, + -0.0010582327706116779, + -0.6224719140614283, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 11 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 119 mm; move right 38 mm; move upward 58 mm; roll downward 14 degrees; pitch downward 34 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 48 mm; roll downward 3 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 93, + "segment_id": 10700, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 131 mm; move right 42 mm; move upward 48 mm; roll downward 14 degrees; pitch downward 30 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 37 mm; roll downward 2 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 228, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.010357143357396126, + -0.009999999776482582, + -0.06714285910129547, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1314285695552826, + -0.04178571328520775, + 0.04750000312924385, + -0.25, + -0.5300000309944153, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.3461539264564869, + 0.32851935894379025, + -0.0010582327706116779, + -0.6044944442015647, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 131 mm; move right 42 mm; move upward 48 mm; roll downward 14 degrees; pitch downward 30 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 37 mm; roll downward 2 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 94, + "segment_id": 10700, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 144 mm; move right 45 mm; move upward 37 mm; roll downward 14 degrees; pitch downward 27 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 27 mm; roll downward 1 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 228, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.010357143357396126, + -0.0057142856530845165, + -0.06142857298254967, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.14392857253551483, + -0.04535714536905289, + 0.037142857909202576, + -0.2514285743236542, + -0.4628571569919586, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.3461539264564869, + 0.32851935894379025, + 0.024338590182989783, + -0.5325843303618343, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 144 mm; move right 45 mm; move upward 37 mm; roll downward 14 degrees; pitch downward 27 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 27 mm; roll downward 1 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 95, + "segment_id": 10700, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 156 mm; move right 49 mm; move upward 27 mm; roll downward 15 degrees; pitch downward 23 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 16 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 228, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.009285714477300644, + -0.008571428246796131, + -0.058571428060531616, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.15642856061458588, + -0.04928571730852127, + 0.0267857164144516, + -0.2542857229709625, + -0.40142858028411865, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.3461539264564869, + 0.24187677077212877, + 0.007407375800413618, + -0.49662925000194125, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 156 mm; move right 49 mm; move upward 27 mm; roll downward 15 degrees; pitch downward 23 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 16 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 96, + "segment_id": 10700, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 7 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 168 mm; move right 53 mm; move upward 18 mm; roll downward 15 degrees; pitch downward 20 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move upward 7 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 229, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.007142857648432255, + -0.011428571306169033, + -0.05428571254014969, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.16821427643299103, + -0.05285714194178581, + 0.017500001937150955, + -0.2557142674922943, + -0.34285715222358704, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.3461539264564869, + 0.06859166974150255, + -0.009523841341636863, + -0.44269665290212945, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 7 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 168 mm; move right 53 mm; move upward 18 mm; roll downward 15 degrees; pitch downward 20 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move upward 7 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 97, + "segment_id": 10700, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, maintaining a static contact state consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 0 mm; move right 0 mm; move upward 5 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 180 mm; move right 56 mm; move upward 10 mm; roll downward 15 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 229, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0003571428533177823, + 0.0, + 0.005000000353902578, + -0.012857142835855484, + -0.04857143014669418, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17999999225139618, + -0.05607143044471741, + 0.010357143357396126, + -0.2542857229709625, + -0.28857141733169556, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.02741722558291848, + -0.3461539264564869, + -0.10469346894547205, + -0.017989449912662048, + -0.37078658594245417, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 0 mm; move right 0 mm; move upward 5 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 180 mm; move right 56 mm; move upward 10 mm; roll downward 15 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 98, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move upward 3 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 191 mm; move right 59 mm; move upward 5 mm; roll downward 14 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 965 mm; move right 93 mm; move upward 90 mm; roll downward 37 degrees; pitch downward 73 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 229, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0010714286472648382, + 0.0, + 0.0032142859417945147, + -0.014285714365541935, + -0.04571428522467613, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1907142847776413, + -0.059285718947649, + 0.005357143469154835, + -0.25, + -0.24000000953674316, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.004329204047546109, + -0.3461539264564869, + -0.24909775118461763, + -0.026455058483687233, + -0.33483150558256125, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move upward 3 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 191 mm; move right 59 mm; move upward 5 mm; roll downward 14 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 965 mm; move right 93 mm; move upward 90 mm; roll downward 37 degrees; pitch downward 73 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 99, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move upward 2 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 200 mm; move right 63 mm; move upward 2 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 964 mm; move right 93 mm; move upward 86 mm; roll downward 36 degrees; pitch downward 70 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 229, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0014285714132711291, + 0.0, + 0.0021428572945296764, + -0.015714285895228386, + -0.04285714402794838, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.19999998807907104, + -0.0625000074505806, + 0.0021428572945296764, + -0.24714286625385284, + -0.19428572058677673, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.007214802486856353, + -0.3461539264564869, + -0.3357403205281049, + -0.03492066705471242, + -0.2988764721027236, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move upward 2 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 200 mm; move right 63 mm; move upward 2 mm; roll downward 14 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 964 mm; move right 93 mm; move upward 86 mm; roll downward 36 degrees; pitch downward 70 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 100, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 209 mm; move right 65 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 963 mm; move right 93 mm; move upward 84 mm; roll downward 35 degrees; pitch downward 68 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 229, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0039285714738070965, + 0.0, + 0.0, + -0.015714285895228386, + -0.03285714238882065, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20892857015132904, + -0.06535714864730835, + 0.0, + -0.24285714328289032, + -0.15142856538295746, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.08802287080518689, + -0.3461539264564869, + -0.5090254592150795, + -0.03492066705471242, + -0.17303376116318125, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 209 mm; move right 65 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 963 mm; move right 93 mm; move upward 84 mm; roll downward 35 degrees; pitch downward 68 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 101, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 215 mm; move right 68 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 959 mm; move right 93 mm; move upward 84 mm; roll downward 34 degrees; pitch downward 66 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 229, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.005000000353902578, + 0.0, + 0.0, + -0.017142856493592262, + -0.02857142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21535713970661163, + -0.0682142898440361, + 0.0, + -0.24142856895923615, + -0.11857143044471741, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.1226549092229885, + -0.3461539264564869, + -0.5090254592150795, + -0.043386270106789415, + -0.11910118750339715, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 215 mm; move right 68 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 959 mm; move right 93 mm; move upward 84 mm; roll downward 34 degrees; pitch downward 66 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 102, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 220 mm; move right 71 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 954 mm; move right 93 mm; move upward 84 mm; roll downward 33 degrees; pitch downward 64 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 229, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006785714533179998, + 0.0, + 0.0, + -0.014285714365541935, + -0.02428571507334709, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22035713493824005, + -0.071428582072258, + 0.0, + -0.24142858386039734, + -0.09000000357627869, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.1803749531837575, + -0.3461539264564869, + -0.5090254592150795, + -0.026455058483687233, + -0.06516861384361305, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 220 mm; move right 71 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 954 mm; move right 93 mm; move upward 84 mm; roll downward 33 degrees; pitch downward 64 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 103, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 1 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 224 mm; move right 75 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 947 mm; move right 93 mm; move upward 84 mm; roll downward 32 degrees; pitch downward 63 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 228, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007500000298023224, + -0.0014285714132711291, + 0.0, + -0.017142856493592262, + -0.019999999552965164, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22357140481472015, + -0.07535715401172638, + 0.0, + -0.24285714328289032, + -0.0657142847776413, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.20346297377840017, + -0.38461545853502743, + -0.5090254592150795, + -0.043386270106789415, + -0.011236016743801258, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move right 1 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 224 mm; move right 75 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 947 mm; move right 93 mm; move upward 84 mm; roll downward 32 degrees; pitch downward 63 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 104, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 226 mm; move right 78 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 940 mm; move right 91 mm; move upward 84 mm; roll downward 31 degrees; pitch downward 62 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 228, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008571429178118706, + -0.0035714288242161274, + 0.0, + -0.017142856493592262, + -0.018571428954601288, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2264285534620285, + -0.07821430265903473, + 0.0, + -0.24142858386039734, + -0.04571428522467613, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.23809501219620177, + -0.44230776448848375, + -0.5090254592150795, + -0.043386270106789415, + 0.006741499996117506, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 226 mm; move right 78 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 940 mm; move right 91 mm; move upward 84 mm; roll downward 31 degrees; pitch downward 62 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 105, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 229 mm; move right 79 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 931 mm; move right 88 mm; move upward 84 mm; roll downward 30 degrees; pitch downward 61 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 228, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + -0.004285714589059353, + 0.0, + -0.019999999552965164, + -0.014285714365541935, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22857141494750977, + -0.07857144623994827, + 0.0, + -0.24142856895923615, + -0.027142856270074844, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.2727270205106529, + -0.46153853209488305, + -0.5090254592150795, + -0.060317487248839785, + 0.06067408537591534, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 229 mm; move right 79 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 931 mm; move right 88 mm; move upward 84 mm; roll downward 30 degrees; pitch downward 61 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 106, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 230 mm; move right 78 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 921 mm; move right 84 mm; move upward 84 mm; roll downward 29 degrees; pitch downward 60 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 227, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + -0.004642857238650322, + 0.0, + -0.014285714365541935, + -0.008571428246796131, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23000000417232513, + -0.07821430265903473, + 0.0, + -0.24000000953674316, + -0.012857142835855484, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3073590589284545, + -0.4711539096295664, + -0.5090254592150795, + -0.026455058483687233, + 0.13258419921564601, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 230 mm; move right 78 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 921 mm; move right 84 mm; move upward 84 mm; roll downward 29 degrees; pitch downward 60 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 107, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 230 mm; move right 78 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 911 mm; move right 79 mm; move upward 84 mm; roll downward 28 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 227, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + -0.004642857238650322, + 0.0, + -0.014285714365541935, + -0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2303571254014969, + -0.07785715907812119, + 0.0, + -0.2428571581840515, + -0.004285714123398066, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3304470644714219, + -0.4711539096295664, + -0.5090254592150795, + -0.026455058483687233, + 0.18651677873543715, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 230 mm; move right 78 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 911 mm; move right 79 mm; move upward 84 mm; roll downward 28 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 108, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 230 mm; move right 78 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 899 mm; move right 74 mm; move upward 84 mm; roll downward 27 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 227, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + -0.0053571430034935474, + 0.0, + -0.008571428246796131, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22999997437000275, + -0.07750000804662704, + 0.0, + -0.2442857325077057, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.38816710843219093, + -0.4903846772359658, + -0.5090254592150795, + 0.007407375800413618, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 230 mm; move right 78 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 899 mm; move right 74 mm; move upward 84 mm; roll downward 27 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 109, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 228 mm; move right 77 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 886 mm; move right 69 mm; move upward 84 mm; roll downward 27 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + -0.005000000353902578, + 0.0, + -0.0071428571827709675, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22785711288452148, + -0.07678572088479996, + 0.0, + -0.2500000298023224, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.38816710843219093, + -0.48076929970128246, + -0.5090254592150795, + 0.01587298161196471, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 228 mm; move right 77 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 886 mm; move right 69 mm; move upward 84 mm; roll downward 27 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 110, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 225 mm; move right 77 mm; move downward 0 mm; roll downward 15 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 873 mm; move right 64 mm; move upward 84 mm; roll downward 26 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + -0.004642857238650322, + 0.0, + -0.008571428246796131, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22535715997219086, + -0.0771428570151329, + 0.0, + -0.2557142972946167, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.38816710843219093, + -0.4711539096295664, + -0.5090254592150795, + 0.007407375800413618, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 225 mm; move right 77 mm; move downward 0 mm; roll downward 15 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 873 mm; move right 64 mm; move upward 84 mm; roll downward 26 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 111, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 223 mm; move right 78 mm; move downward 0 mm; roll downward 15 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 860 mm; move right 59 mm; move upward 84 mm; roll downward 26 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + -0.004642857238650322, + 0.0, + -0.0071428571827709675, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2232142984867096, + -0.07785714417695999, + 0.0, + -0.261428564786911, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3766231357640579, + -0.4711539096295664, + -0.5090254592150795, + 0.01587298161196471, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 223 mm; move right 78 mm; move downward 0 mm; roll downward 15 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 860 mm; move right 59 mm; move upward 84 mm; roll downward 26 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 112, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 221 mm; move right 78 mm; move downward 0 mm; roll downward 15 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 847 mm; move right 55 mm; move upward 84 mm; roll downward 26 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + -0.0035714288242161274, + 0.0, + -0.009999999776482582, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22107143700122833, + -0.07821428775787354, + 0.0, + -0.26571428775787354, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3650791028892235, + -0.44230776448848375, + -0.5090254592150795, + -0.0010582327706116779, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 221 mm; move right 78 mm; move downward 0 mm; roll downward 15 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 847 mm; move right 55 mm; move upward 84 mm; roll downward 26 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 113, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 219 mm; move right 80 mm; move downward 0 mm; roll downward 15 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 834 mm; move right 51 mm; move upward 84 mm; roll downward 25 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + -0.0035714288242161274, + 0.0, + -0.011428571306169033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2192857265472412, + -0.08000000566244125, + 0.0, + -0.264285683631897, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3650791028892235, + -0.44230776448848375, + -0.5090254592150795, + -0.009523841341636863, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 219 mm; move right 80 mm; move downward 0 mm; roll downward 15 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 834 mm; move right 51 mm; move upward 84 mm; roll downward 25 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 114, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 218 mm; move right 82 mm; move downward 0 mm; roll downward 15 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 822 mm; move right 47 mm; move upward 84 mm; roll downward 24 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + -0.0039285714738070965, + 0.0, + -0.008571428246796131, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2175000160932541, + -0.08178570866584778, + 0.0, + -0.25999999046325684, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3650791028892235, + -0.4519231420231671, + -0.5090254592150795, + 0.007407375800413618, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 218 mm; move right 82 mm; move downward 0 mm; roll downward 15 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 822 mm; move right 47 mm; move upward 84 mm; roll downward 24 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 115, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 216 mm; move right 83 mm; move downward 0 mm; roll downward 15 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 809 mm; move right 44 mm; move upward 84 mm; roll downward 24 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + -0.0035714288242161274, + 0.0, + -0.009999999776482582, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21607141196727753, + -0.08321427553892136, + 0.0, + -0.2571428716182709, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3419910973462561, + -0.44230776448848375, + -0.5090254592150795, + -0.0010582327706116779, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 216 mm; move right 83 mm; move downward 0 mm; roll downward 15 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 809 mm; move right 44 mm; move upward 84 mm; roll downward 24 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 116, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 215 mm; move right 85 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 798 mm; move right 40 mm; move upward 84 mm; roll downward 23 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + -0.0032142859417945147, + 0.0, + -0.009999999776482582, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21535713970661163, + -0.08535713702440262, + 0.0, + -0.25, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3419910973462561, + -0.43269238068528404, + -0.5090254592150795, + -0.0010582327706116779, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 215 mm; move right 85 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 798 mm; move right 40 mm; move upward 84 mm; roll downward 23 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 117, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 214 mm; move right 87 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 786 mm; move right 37 mm; move upward 84 mm; roll downward 23 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + -0.0032142859417945147, + 0.0, + -0.008571428246796131, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21392856538295746, + -0.08749999105930328, + -0.0003571428533177823, + -0.24142856895923615, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3189030616999382, + -0.43269238068528404, + -0.5090254592150795, + 0.007407375800413618, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 214 mm; move right 87 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 786 mm; move right 37 mm; move upward 84 mm; roll downward 23 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 118, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 214 mm; move right 90 mm; move downward 1 mm; roll downward 13 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 775 mm; move right 34 mm; move upward 84 mm; roll downward 22 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + -0.0032142859417945147, + 0.0, + -0.011428571306169033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2135714292526245, + -0.08964284509420395, + -0.0010714286472648382, + -0.23428571224212646, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.2958150561569708, + -0.43269238068528404, + -0.5090254592150795, + -0.009523841341636863, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 214 mm; move right 90 mm; move downward 1 mm; roll downward 13 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 775 mm; move right 34 mm; move upward 84 mm; roll downward 22 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 119, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 214 mm; move right 92 mm; move downward 3 mm; roll downward 13 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 764 mm; move right 30 mm; move upward 84 mm; roll downward 22 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + -0.0028571428265422583, + 0.0, + -0.011428571306169033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2135714292526245, + -0.09178569912910461, + -0.002500000176951289, + -0.22285714745521545, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.2958150561569708, + -0.42307699061356796, + -0.5090254592150795, + -0.009523841341636863, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 214 mm; move right 92 mm; move downward 3 mm; roll downward 13 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 764 mm; move right 30 mm; move upward 84 mm; roll downward 22 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 120, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 214 mm; move right 94 mm; move downward 5 mm; roll downward 12 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 754 mm; move right 27 mm; move upward 84 mm; roll downward 21 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + -0.0028571428265422583, + 0.0, + -0.014285714365541935, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2142857164144516, + -0.09357141703367233, + -0.004642857238650322, + -0.21142856776714325, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.2958150561569708, + -0.42307699061356796, + -0.5090254592150795, + -0.026455058483687233, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 214 mm; move right 94 mm; move downward 5 mm; roll downward 12 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 754 mm; move right 27 mm; move upward 84 mm; roll downward 21 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 121, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 215 mm; move right 95 mm; move downward 7 mm; roll downward 11 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 744 mm; move right 25 mm; move upward 84 mm; roll downward 20 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + -0.0032142859417945147, + 0.0, + -0.017142856493592262, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2149999886751175, + -0.09464284777641296, + -0.006785714533179998, + -0.1971428543329239, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.2842710533854871, + -0.43269238068528404, + -0.5090254592150795, + -0.043386270106789415, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 215 mm; move right 95 mm; move downward 7 mm; roll downward 11 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 744 mm; move right 25 mm; move upward 84 mm; roll downward 20 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 122, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 216 mm; move right 95 mm; move downward 9 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 734 mm; move right 21 mm; move upward 84 mm; roll downward 19 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + -0.0039285714738070965, + 0.0, + -0.015714285895228386, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21642856299877167, + -0.09464284777641296, + -0.008928571827709675, + -0.18142858147621155, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.2842710533854871, + -0.4519231420231671, + -0.5090254592150795, + -0.03492066705471242, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 216 mm; move right 95 mm; move downward 9 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 734 mm; move right 21 mm; move upward 84 mm; roll downward 19 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 123, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 217 mm; move right 93 mm; move downward 11 mm; roll downward 9 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 724 mm; move right 17 mm; move upward 84 mm; roll downward 18 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + -0.004285714589059353, + 0.0, + -0.015714285895228386, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21714286506175995, + -0.09321427345275879, + -0.011428571306169033, + -0.165714293718338, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.2958150561569708, + -0.46153853209488305, + -0.5090254592150795, + -0.03492066705471242, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 217 mm; move right 93 mm; move downward 11 mm; roll downward 9 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 724 mm; move right 17 mm; move upward 84 mm; roll downward 18 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 124, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 218 mm; move right 91 mm; move downward 14 mm; roll downward 9 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 713 mm; move right 13 mm; move upward 84 mm; roll downward 17 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + -0.0039285714738070965, + 0.0, + -0.017142856493592262, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2175000160932541, + -0.09107141941785812, + -0.013928571715950966, + -0.15000000596046448, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3073590589284545, + -0.4519231420231671, + -0.5090254592150795, + -0.043386270106789415, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 218 mm; move right 91 mm; move downward 14 mm; roll downward 9 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 713 mm; move right 13 mm; move upward 84 mm; roll downward 17 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 125, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 218 mm; move right 89 mm; move downward 17 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 703 mm; move right 9 mm; move upward 84 mm; roll downward 16 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + -0.0039285714738070965, + 0.0, + -0.018571428954601288, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2175000011920929, + -0.08892857283353806, + -0.01714285835623741, + -0.13285715878009796, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3189030616999382, + -0.4519231420231671, + -0.5090254592150795, + -0.0518518841967629, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 218 mm; move right 89 mm; move downward 17 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 703 mm; move right 9 mm; move upward 84 mm; roll downward 16 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 126, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 217 mm; move right 85 mm; move downward 23 mm; roll downward 7 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 691 mm; move right 5 mm; move upward 84 mm; roll downward 15 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + -0.004285714589059353, + 0.0, + -0.017142856493592262, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21714286506175995, + -0.08500000089406967, + -0.02250000089406967, + -0.11428572237491608, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3189030616999382, + -0.46153853209488305, + -0.5090254592150795, + -0.043386270106789415, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 217 mm; move right 85 mm; move downward 23 mm; roll downward 7 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 691 mm; move right 5 mm; move upward 84 mm; roll downward 15 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 127, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 217 mm; move right 81 mm; move downward 29 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 680 mm; move right 1 mm; move upward 84 mm; roll downward 14 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + -0.004285714589059353, + 0.0, + -0.015714285895228386, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2167857140302658, + -0.08071427792310715, + -0.028928572311997414, + -0.09714286029338837, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3189030616999382, + -0.46153853209488305, + -0.5090254592150795, + -0.03492066705471242, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 217 mm; move right 81 mm; move downward 29 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 680 mm; move right 1 mm; move upward 84 mm; roll downward 14 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 128, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 216 mm; move right 76 mm; move downward 35 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 669 mm; move left 3 mm; move upward 84 mm; roll downward 13 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + -0.004642857238650322, + 0.0, + -0.014285714365541935, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21607141196727753, + -0.07642856985330582, + -0.035357143729925156, + -0.08142857253551483, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3189030616999382, + -0.4711539096295664, + -0.5090254592150795, + -0.026455058483687233, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 216 mm; move right 76 mm; move downward 35 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 669 mm; move left 3 mm; move upward 84 mm; roll downward 13 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 129, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 215 mm; move right 72 mm; move downward 41 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 658 mm; move left 8 mm; move upward 84 mm; roll downward 13 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + -0.0053571430034935474, + 0.0, + -0.012857142835855484, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2149999886751175, + -0.07178571075201035, + -0.0414285734295845, + -0.06714286655187607, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3073590589284545, + -0.4903846772359658, + -0.5090254592150795, + -0.017989449912662048, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 215 mm; move right 72 mm; move downward 41 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 658 mm; move left 8 mm; move upward 84 mm; roll downward 13 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 130, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 214 mm; move right 66 mm; move downward 47 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 647 mm; move left 13 mm; move upward 84 mm; roll downward 12 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + -0.0053571430034935474, + 0.0, + -0.014285714365541935, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21392856538295746, + -0.06642857193946838, + -0.04749999940395355, + -0.05428570881485939, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3189030616999382, + -0.4903846772359658, + -0.5090254592150795, + -0.026455058483687233, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 214 mm; move right 66 mm; move downward 47 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 647 mm; move left 13 mm; move upward 84 mm; roll downward 12 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 131, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 212 mm; move right 61 mm; move downward 53 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 636 mm; move left 19 mm; move upward 84 mm; roll downward 11 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + -0.005000000353902578, + 0.0, + -0.011428571306169033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2124999761581421, + -0.06107143312692642, + -0.05285714194178581, + -0.03999999538064003, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3073590589284545, + -0.48076929970128246, + -0.5090254592150795, + -0.009523841341636863, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 212 mm; move right 61 mm; move downward 53 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 636 mm; move left 19 mm; move upward 84 mm; roll downward 11 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 132, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 211 mm; move right 56 mm; move downward 57 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 626 mm; move left 24 mm; move upward 84 mm; roll downward 10 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + -0.0053571430034935474, + 0.0, + -0.008571428246796131, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2110714167356491, + -0.05607142671942711, + -0.05714286118745804, + -0.02857142686843872, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3073590589284545, + -0.4903846772359658, + -0.5090254592150795, + 0.007407375800413618, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 211 mm; move right 56 mm; move downward 57 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 626 mm; move left 24 mm; move upward 84 mm; roll downward 10 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 133, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 209 mm; move right 51 mm; move downward 61 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 615 mm; move left 29 mm; move upward 84 mm; roll downward 10 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + -0.0053571430034935474, + 0.0, + -0.0071428571827709675, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2092856913805008, + -0.050714291632175446, + -0.06071428582072258, + -0.019999997690320015, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3073590589284545, + -0.4903846772359658, + -0.5090254592150795, + 0.01587298161196471, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 209 mm; move right 51 mm; move downward 61 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 615 mm; move left 29 mm; move upward 84 mm; roll downward 10 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 134, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 208 mm; move right 45 mm; move downward 63 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 604 mm; move left 34 mm; move upward 84 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + -0.0053571430034935474, + 0.0, + -0.0057142856530845165, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20750001072883606, + -0.04535714536905289, + -0.06321428716182709, + -0.012857142835855484, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3189030616999382, + -0.4903846772359658, + -0.5090254592150795, + 0.024338590182989783, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 208 mm; move right 45 mm; move downward 63 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 604 mm; move left 34 mm; move upward 84 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 135, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 205 mm; move right 40 mm; move downward 64 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 593 mm; move left 40 mm; move upward 84 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + -0.0057142856530845165, + 0.0, + -0.0028571428265422583, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20464284718036652, + -0.04000000283122063, + -0.06357143074274063, + -0.0071428571827709675, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3189030616999382, + -0.5000000547706491, + -0.5090254592150795, + 0.04126980594530316, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 205 mm; move right 40 mm; move downward 64 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 593 mm; move left 40 mm; move upward 84 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 136, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 201 mm; move right 34 mm; move downward 64 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 582 mm; move left 45 mm; move upward 84 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + -0.0053571430034935474, + -0.0003571428533177823, + -0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20071427524089813, + -0.03428571671247482, + -0.06357143074274063, + -0.004285714123398066, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.2958150561569708, + -0.4903846772359658, + -0.5379063133093869, + 0.04973541382645985, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 201 mm; move right 34 mm; move downward 64 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 582 mm; move left 45 mm; move upward 84 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 137, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 5 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 197 mm; move right 29 mm; move downward 63 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 572 mm; move left 51 mm; move upward 85 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + -0.0053571430034935474, + -0.0007142857066355646, + -0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.19749999046325684, + -0.028928572311997414, + -0.06321428716182709, + -0.0028571428265422583, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3073590589284545, + -0.4903846772359658, + -0.5667871674036942, + 0.04973541382645985, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 5 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 197 mm; move right 29 mm; move downward 63 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 572 mm; move left 51 mm; move upward 85 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 138, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 5 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 194 mm; move right 24 mm; move downward 62 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 561 mm; move left 56 mm; move upward 85 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + -0.0053571430034935474, + -0.0014285714132711291, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1939285844564438, + -0.023571429774165154, + -0.0625, + -0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.2958150561569708, + -0.4903846772359658, + -0.6245488755923088, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 5 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 194 mm; move right 24 mm; move downward 62 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 561 mm; move left 56 mm; move upward 85 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 139, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 5 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 191 mm; move right 18 mm; move downward 61 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 551 mm; move left 61 mm; move upward 87 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + -0.004642857238650322, + -0.0021428572945296764, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1907142847776413, + -0.018214287236332893, + -0.061071425676345825, + -0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3189030616999382, + -0.4711539096295664, + -0.6823105979020541, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 5 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 191 mm; move right 18 mm; move downward 61 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 551 mm; move left 61 mm; move upward 87 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 140, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 4 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 187 mm; move right 14 mm; move downward 59 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 540 mm; move left 66 mm; move upward 89 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + -0.0039285714738070965, + -0.0021428572945296764, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18678569793701172, + -0.013571429066359997, + -0.05892857536673546, + -0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3189030616999382, + -0.4519231420231671, + -0.6823105979020541, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 4 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 187 mm; move right 14 mm; move downward 59 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 540 mm; move left 66 mm; move upward 89 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 141, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 3 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 186 mm; move right 10 mm; move downward 57 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 529 mm; move left 70 mm; move upward 91 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + -0.0032142859417945147, + -0.0021428572945296764, + -0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18571428954601288, + -0.009642857126891613, + -0.056785713881254196, + -0.0014285714132711291, + -0.014285714365541935, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3304470644714219, + -0.43269238068528404, + -0.6823105979020541, + 0.04973541382645985, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 3 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 186 mm; move right 10 mm; move downward 57 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 529 mm; move left 70 mm; move upward 91 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 142, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 3 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 185 mm; move right 6 mm; move downward 55 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 517 mm; move left 73 mm; move upward 93 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + -0.002500000176951289, + -0.002500000176951289, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18535713851451874, + -0.006428571883589029, + -0.05464285612106323, + 0.0, + -0.02857142873108387, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3073590589284545, + -0.4134616130788846, + -0.7111914543498832, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 3 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 185 mm; move right 6 mm; move downward 55 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 517 mm; move left 73 mm; move upward 93 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 143, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 2 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 186 mm; move right 4 mm; move downward 52 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 506 mm; move left 76 mm; move upward 96 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + -0.0021428572945296764, + -0.002500000176951289, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18571428954601288, + -0.0039285714738070965, + -0.05214285850524902, + 0.0, + -0.03999999910593033, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3073590589284545, + -0.40384622927568503, + -0.7111914543498832, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 2 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 186 mm; move right 4 mm; move downward 52 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 506 mm; move left 76 mm; move upward 96 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 144, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 2 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 186 mm; move right 2 mm; move downward 50 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 496 mm; move left 78 mm; move upward 98 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + -0.0017857144121080637, + -0.0032142859417945147, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18607144057750702, + -0.0017857144121080637, + -0.049642857164144516, + 0.0, + -0.051428571343421936, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3073590589284545, + -0.3942308454724853, + -0.7689531672455414, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 2 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 186 mm; move right 2 mm; move downward 50 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 496 mm; move left 78 mm; move upward 98 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 145, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 186 mm; move right 0 mm; move downward 46 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 485 mm; move left 80 mm; move upward 101 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + 0.0, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18642857670783997, + 0.0, + -0.04642857238650322, + 0.0, + -0.06285714358091354, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3073590589284545, + -0.3461539264564869, + -0.9422382871043418, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 186 mm; move right 0 mm; move downward 46 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 485 mm; move left 80 mm; move upward 101 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 146, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 187 mm; move right 0 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 474 mm; move left 80 mm; move upward 107 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + 0.0, + -0.006428571883589029, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1867857277393341, + 0.0, + -0.04107142984867096, + 0.0, + -0.07285714149475098, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3073590589284545, + -0.3461539264564869, + -1.0, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 187 mm; move right 0 mm; move downward 41 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 474 mm; move left 80 mm; move upward 107 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 147, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 187 mm; move right 0 mm; move downward 35 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 464 mm; move left 80 mm; move upward 113 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + 0.0, + -0.006428571883589029, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18714289367198944, + 0.0, + -0.03464286029338837, + 0.0, + -0.08285713940858841, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.2958150561569708, + -0.3461539264564869, + -1.0, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 187 mm; move right 0 mm; move downward 35 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 464 mm; move left 80 mm; move upward 113 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 148, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 188 mm; move right 0 mm; move downward 28 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 453 mm; move left 80 mm; move upward 120 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + 0.0, + -0.006071428768336773, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18785718083381653, + 0.0, + -0.028214285150170326, + 0.0, + -0.09285713732242584, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.2842710533854871, + -0.3461539264564869, + -1.0, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 188 mm; move right 0 mm; move downward 28 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 453 mm; move left 80 mm; move upward 120 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 149, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 189 mm; move right 0 mm; move downward 22 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 443 mm; move left 80 mm; move upward 126 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + 0.0, + -0.006071428768336773, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18892860412597656, + 0.0, + -0.022142859175801277, + 0.0, + -0.10428570955991745, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.2727270205106529, + -0.3461539264564869, + -1.0, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 189 mm; move right 0 mm; move downward 22 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 443 mm; move left 80 mm; move upward 126 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 150, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 190 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 434 mm; move left 80 mm; move upward 132 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + 0.0, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18964289128780365, + 0.0, + -0.01607142947614193, + 0.0, + -0.11857142299413681, + -0.0014285714132711291, + 1.0 + ], + "delta_full_state_norm": [ + 0.2727270205106529, + -0.3461539264564869, + -0.9422382871043418, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 190 mm; move right 0 mm; move downward 16 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 434 mm; move left 80 mm; move upward 132 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 151, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 189 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 424 mm; move left 80 mm; move upward 137 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + 0.0, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1892857402563095, + 0.0, + -0.010714286006987095, + 0.0, + -0.13571427762508392, + -0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.2611830177391692, + -0.3461539264564869, + -0.8555957365890287, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 189 mm; move right 0 mm; move downward 11 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 424 mm; move left 80 mm; move upward 137 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 152, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 188 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 415 mm; move left 80 mm; move upward 141 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008928571827709675, + 0.0, + -0.0035714288242161274, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18821430206298828, + 0.0, + -0.006428571883589029, + 0.0, + -0.1557142734527588, + -0.008571428246796131, + 1.0 + ], + "delta_full_state_norm": [ + 0.24963901496768548, + -0.3461539264564869, + -0.7978340236933705, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 188 mm; move right 0 mm; move downward 6 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 415 mm; move left 80 mm; move upward 141 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 153, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 185 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 11 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 406 mm; move left 80 mm; move upward 145 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008928571827709675, + 0.0, + -0.002500000176951289, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18535715341567993, + 0.0, + 0.0, + 0.0, + -0.1842857003211975, + -0.015714285895228386, + 1.0 + ], + "delta_full_state_norm": [ + 0.24963901496768548, + -0.3461539264564869, + -0.7111914543498832, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 185 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 11 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 406 mm; move left 80 mm; move upward 145 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 154, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 182 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 12 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 397 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008214286528527737, + 0.0, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1817857325077057, + 0.0, + 0.00607142923399806, + 0.0, + -0.21571427583694458, + -0.02428571507334709, + 1.0 + ], + "delta_full_state_norm": [ + 0.22655100942471806, + -0.3461539264564869, + -0.5379063133093869, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 182 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 12 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 397 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 155, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 179 mm; move left 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 14 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 389 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007142857648432255, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17892859876155853, + 0.0003571428533177823, + 0.010000000707805157, + 0.0, + -0.24571427702903748, + -0.03428571671247482, + 1.0 + ], + "delta_full_state_norm": [ + 0.19191897100691646, + -0.3461539264564869, + -0.5090254592150795, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 179 mm; move left 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 14 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 389 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 156, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 178 mm; move left 1 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 16 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 381 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007142857648432255, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17750000953674316, + 0.0010714286472648382, + 0.013571429066359997, + 0.0, + -0.27571427822113037, + -0.04571428894996643, + 1.0 + ], + "delta_full_state_norm": [ + 0.19191897100691646, + -0.3461539264564869, + -0.5090254592150795, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 178 mm; move left 1 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 16 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 381 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 157, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 177 mm; move left 3 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 17 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 374 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007142857648432255, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17678573727607727, + 0.002857143059372902, + 0.01714285835623741, + 0.0, + -0.3042857050895691, + -0.06000000238418579, + 1.0 + ], + "delta_full_state_norm": [ + 0.19191897100691646, + -0.3461539264564869, + -0.5090254592150795, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 177 mm; move left 3 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 17 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 374 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 158, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 176 mm; move left 4 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 19 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 367 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007142857648432255, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17607145011425018, + 0.0035714288242161274, + 0.020357144996523857, + 0.0, + -0.334285706281662, + -0.07428571581840515, + 1.0 + ], + "delta_full_state_norm": [ + 0.19191897100691646, + -0.3461539264564869, + -0.5090254592150795, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 176 mm; move left 4 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 19 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 367 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 159, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 175 mm; move left 4 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 21 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 360 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007142857648432255, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1753571629524231, + 0.004285714589059353, + 0.023928573355078697, + 0.0, + -0.3642857074737549, + -0.09000000357627869, + 1.0 + ], + "delta_full_state_norm": [ + 0.19191897100691646, + -0.3461539264564869, + -0.5090254592150795, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 175 mm; move left 4 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 21 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 360 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 160, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 175 mm; move left 6 mm; move upward 27 mm; roll downward 0 degrees; pitch downward 23 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 353 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + 0.0, + 0.0, + 0.0, + -0.014285714365541935, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17500002682209015, + 0.0057142856530845165, + 0.027142858132719994, + 0.0, + -0.3942857086658478, + -0.10571429133415222, + 1.0 + ], + "delta_full_state_norm": [ + 0.2842710533854871, + -0.3461539264564869, + -0.5090254592150795, + 0.05820102170761654, + 0.06067408537591534, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 175 mm; move left 6 mm; move upward 27 mm; roll downward 0 degrees; pitch downward 23 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 353 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 59 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 161, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 172 mm; move left 8 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 23 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move forward 343 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 58 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + 0.0, + -0.014285714365541935, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1721428781747818, + 0.007500000298023224, + 0.031071430072188377, + 0.0, + -0.40857142210006714, + -0.12285714596509933, + 1.0 + ], + "delta_full_state_norm": [ + 0.3189030616999382, + -0.3461539264564869, + -0.5090254592150795, + 0.05820102170761654, + 0.06067408537591534, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 172 mm; move left 8 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 23 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 343 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 58 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 162, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 169 mm; move left 9 mm; move upward 35 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move forward 332 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 57 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + 0.0, + -0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1689285933971405, + 0.009285714477300644, + 0.03500000387430191, + 0.0, + -0.4242857098579407, + -0.1428571492433548, + 1.0 + ], + "delta_full_state_norm": [ + 0.3189030616999382, + -0.3461539264564869, + -0.5090254592150795, + 0.05820102170761654, + 0.09662914229578079, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 169 mm; move left 9 mm; move upward 35 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move forward 332 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 57 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 163, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 166 mm; move left 11 mm; move upward 40 mm; roll downward 0 degrees; pitch downward 26 degrees; yaw clockwise 9 degrees; open gripper;\nSubtask Movement: move forward 321 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 57 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + 0.0, + -0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1657143086194992, + 0.011071428656578064, + 0.03964285925030708, + -0.0014285714132711291, + -0.4457142949104309, + -0.16428571939468384, + 1.0 + ], + "delta_full_state_norm": [ + 0.3189030616999382, + -0.3461539264564869, + -0.5090254592150795, + 0.05820102170761654, + 0.09662914229578079, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 166 mm; move left 11 mm; move upward 40 mm; roll downward 0 degrees; pitch downward 26 degrees; yaw clockwise 9 degrees; open gripper;", + "subtask_movement_text": "move forward 321 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 57 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 164, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 164 mm; move left 13 mm; move upward 44 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 11 degrees; open gripper;\nSubtask Movement: move forward 310 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 56 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + 0.0, + -0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1639285832643509, + 0.012857143767178059, + 0.04357143118977547, + -0.0028571428265422583, + -0.46571430563926697, + -0.18571428954601288, + 1.0 + ], + "delta_full_state_norm": [ + 0.3189030616999382, + -0.3461539264564869, + -0.5090254592150795, + 0.05820102170761654, + 0.09662914229578079, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 164 mm; move left 13 mm; move upward 44 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw clockwise 11 degrees; open gripper;", + "subtask_movement_text": "move forward 310 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 56 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 165, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 163 mm; move left 15 mm; move upward 48 mm; roll downward 0 degrees; pitch downward 28 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 299 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 55 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + 0.0, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.16285714507102966, + 0.015000000596046448, + 0.047857146710157394, + -0.0028571428265422583, + -0.48571428656578064, + -0.2085714340209961, + 1.0 + ], + "delta_full_state_norm": [ + 0.3189030616999382, + -0.3461539264564869, + -0.5090254592150795, + 0.05820102170761654, + 0.1146066707557134, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 163 mm; move left 15 mm; move upward 48 mm; roll downward 0 degrees; pitch downward 28 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 299 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 55 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 166, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 162 mm; move left 17 mm; move upward 53 mm; roll downward 0 degrees; pitch downward 29 degrees; yaw clockwise 13 degrees; open gripper;\nSubtask Movement: move forward 287 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 55 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + 0.0, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.16178570687770844, + 0.01714285835623741, + 0.052500005811452866, + -0.0028571428265422583, + -0.508571445941925, + -0.23285715281963348, + 1.0 + ], + "delta_full_state_norm": [ + 0.3189030616999382, + -0.3461539264564869, + -0.5090254592150795, + 0.05820102170761654, + 0.1146066707557134, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 162 mm; move left 17 mm; move upward 53 mm; roll downward 0 degrees; pitch downward 29 degrees; yaw clockwise 13 degrees; open gripper;", + "subtask_movement_text": "move forward 287 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 55 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 167, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 161 mm; move left 20 mm; move upward 57 mm; roll downward 0 degrees; pitch downward 30 degrees; yaw clockwise 15 degrees; open gripper;\nSubtask Movement: move forward 276 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 54 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + 0.0, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1614285558462143, + 0.01964285783469677, + 0.05678572133183479, + -0.0028571428265422583, + -0.5285714268684387, + -0.25857144594192505, + 1.0 + ], + "delta_full_state_norm": [ + 0.3189030616999382, + -0.3461539264564869, + -0.5090254592150795, + 0.05820102170761654, + 0.1146066707557134, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 161 mm; move left 20 mm; move upward 57 mm; roll downward 0 degrees; pitch downward 30 degrees; yaw clockwise 15 degrees; open gripper;", + "subtask_movement_text": "move forward 276 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 54 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 168, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 162 mm; move left 23 mm; move upward 61 mm; roll downward 0 degrees; pitch downward 31 degrees; yaw clockwise 16 degrees; open gripper;\nSubtask Movement: move forward 265 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 54 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + 0.0, + -0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.16178570687770844, + 0.02250000089406967, + 0.061428576707839966, + -0.0028571428265422583, + -0.5485714077949524, + -0.28714287281036377, + 1.0 + ], + "delta_full_state_norm": [ + 0.3189030616999382, + -0.3461539264564869, + -0.5090254592150795, + 0.05820102170761654, + 0.09662914229578079, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 162 mm; move left 23 mm; move upward 61 mm; roll downward 0 degrees; pitch downward 31 degrees; yaw clockwise 16 degrees; open gripper;", + "subtask_movement_text": "move forward 265 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 54 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 169, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 163 mm; move left 26 mm; move upward 67 mm; roll downward 0 degrees; pitch downward 32 degrees; yaw clockwise 18 degrees; open gripper;\nSubtask Movement: move forward 254 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 53 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + 0.0, + 0.0, + 0.0, + -0.014285714365541935, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.16250000894069672, + 0.02607142925262451, + 0.06714286655187607, + -0.0028571428265422583, + -0.5671427845954895, + -0.31714287400245667, + 1.0 + ], + "delta_full_state_norm": [ + 0.2958150561569708, + -0.3461539264564869, + -0.5090254592150795, + 0.05820102170761654, + 0.06067408537591534, + 0.3420478559996931, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 163 mm; move left 26 mm; move upward 67 mm; roll downward 0 degrees; pitch downward 32 degrees; yaw clockwise 18 degrees; open gripper;", + "subtask_movement_text": "move forward 254 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 53 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 170, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 164 mm; move left 30 mm; move upward 74 mm; roll downward 0 degrees; pitch downward 33 degrees; yaw clockwise 20 degrees; open gripper;\nSubtask Movement: move forward 244 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 52 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + 0.0, + 0.0, + 0.0, + -0.017142856493592262, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.16357141733169556, + 0.0296428594738245, + 0.07357143610715866, + -0.0028571428265422583, + -0.5842856764793396, + -0.3457143008708954, + 1.0 + ], + "delta_full_state_norm": [ + 0.2611830177391692, + -0.3461539264564869, + -0.5090254592150795, + 0.05820102170761654, + 0.024719040176063967, + 0.3246186636180026, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 164 mm; move left 30 mm; move upward 74 mm; roll downward 0 degrees; pitch downward 33 degrees; yaw clockwise 20 degrees; open gripper;", + "subtask_movement_text": "move forward 244 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 52 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 171, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 165 mm; move left 33 mm; move upward 81 mm; roll downward 0 degrees; pitch downward 34 degrees; yaw clockwise 21 degrees; open gripper;\nSubtask Movement: move forward 235 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 51 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008214286528527737, + 0.0, + 0.0, + 0.0, + -0.019999999552965164, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.16499999165534973, + 0.03321428969502449, + 0.08107142895460129, + -0.0028571428265422583, + -0.6014285683631897, + -0.37285715341567993, + 1.0 + ], + "delta_full_state_norm": [ + 0.22655100942471806, + -0.3461539264564869, + -0.5090254592150795, + 0.05820102170761654, + -0.011236016743801258, + 0.30718947265662977, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 165 mm; move left 33 mm; move upward 81 mm; roll downward 0 degrees; pitch downward 34 degrees; yaw clockwise 21 degrees; open gripper;", + "subtask_movement_text": "move forward 235 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 51 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 172, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 165 mm; move left 39 mm; move upward 90 mm; roll downward 0 degrees; pitch downward 35 degrees; yaw clockwise 22 degrees; open gripper;\nSubtask Movement: move forward 226 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 50 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006071428768336773, + 0.0, + 0.0028571428265422583, + 0.0, + -0.02857142873108387, + -0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.16499999165534973, + 0.03857143223285675, + 0.08964285999536514, + -0.0028571428265422583, + -0.6185714602470398, + -0.3871428668498993, + 1.0 + ], + "delta_full_state_norm": [ + 0.15728693258911486, + -0.3461539264564869, + -0.2779786264606209, + 0.05820102170761654, + -0.11910118750339715, + 0.2723310850526137, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 165 mm; move left 39 mm; move upward 90 mm; roll downward 0 degrees; pitch downward 35 degrees; yaw clockwise 22 degrees; open gripper;", + "subtask_movement_text": "move forward 226 mm; move left 80 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 50 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 173, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 166 mm; move left 44 mm; move upward 96 mm; roll downward 1 degrees; pitch downward 36 degrees; yaw clockwise 22 degrees; open gripper;\nSubtask Movement: move forward 220 mm; move left 80 mm; move upward 145 mm; roll downward 9 degrees; pitch downward 48 degrees; yaw clockwise 22 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0053571430034935474, + 0.0, + 0.0035714288242161274, + 0.0, + -0.03142857179045677, + -0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + 0.16607141494750977, + 0.044285718351602554, + 0.09571428596973419, + -0.009999999776482582, + -0.6300000548362732, + -0.38857144117355347, + 1.0 + ], + "delta_full_state_norm": [ + 0.1341989119944722, + -0.3461539264564869, + -0.22021689473678852, + 0.05820102170761654, + -0.1550562444232625, + 0.2549018969318757, + 0.9999999900000001 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 166 mm; move left 44 mm; move upward 96 mm; roll downward 1 degrees; pitch downward 36 degrees; yaw clockwise 22 degrees; open gripper;", + "subtask_movement_text": "move forward 220 mm; move left 80 mm; move upward 145 mm; roll downward 9 degrees; pitch downward 48 degrees; yaw clockwise 22 degrees; open gripper;" + }, + { + "frame_index": 174, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move left 0 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 168 mm; move left 50 mm; move upward 100 mm; roll downward 1 degrees; pitch downward 36 degrees; yaw clockwise 22 degrees; open gripper;\nSubtask Movement: move forward 215 mm; move left 80 mm; move upward 141 mm; roll downward 9 degrees; pitch downward 47 degrees; yaw clockwise 22 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0053571430034935474, + 0.0003571428533177823, + 0.0035714288242161274, + 0.0, + -0.029999999329447746, + -0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + 0.16821427643299103, + 0.0503571443259716, + 0.10035713762044907, + -0.022857142612338066, + -0.6342857480049133, + -0.3799999952316284, + 1.0 + ], + "delta_full_state_norm": [ + 0.1341989119944722, + -0.33653854343685174, + -0.22021689473678852, + 0.05820102170761654, + -0.13707870424331603, + 0.2374727031298678, + 0.9999999900000001 + ], + "movement_text": "move forward 5 mm; move left 0 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 168 mm; move left 50 mm; move upward 100 mm; roll downward 1 degrees; pitch downward 36 degrees; yaw clockwise 22 degrees; open gripper;", + "subtask_movement_text": "move forward 215 mm; move left 80 mm; move upward 141 mm; roll downward 9 degrees; pitch downward 47 degrees; yaw clockwise 22 degrees; open gripper;" + }, + { + "frame_index": 175, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move left 1 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 171 mm; move left 55 mm; move upward 104 mm; roll downward 2 degrees; pitch downward 37 degrees; yaw clockwise 21 degrees; open gripper;\nSubtask Movement: move forward 210 mm; move left 79 mm; move upward 138 mm; roll downward 9 degrees; pitch downward 45 degrees; yaw clockwise 21 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0057142856530845165, + 0.0007142857066355646, + 0.0035714288242161274, + 0.0, + -0.029999999329447746, + -0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + 0.17107142508029938, + 0.05535714700818062, + 0.1039285659790039, + -0.03857142850756645, + -0.64000004529953, + -0.3700000047683716, + 1.0 + ], + "delta_full_state_norm": [ + 0.1457429147659559, + -0.3269231604172166, + -0.22021689473678852, + 0.05820102170761654, + -0.13707870424331603, + 0.22004350932785988, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move left 1 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 171 mm; move left 55 mm; move upward 104 mm; roll downward 2 degrees; pitch downward 37 degrees; yaw clockwise 21 degrees; open gripper;", + "subtask_movement_text": "move forward 210 mm; move left 79 mm; move upward 138 mm; roll downward 9 degrees; pitch downward 45 degrees; yaw clockwise 21 degrees; open gripper;" + }, + { + "frame_index": 176, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move left 2 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 175 mm; move left 60 mm; move upward 108 mm; roll downward 3 degrees; pitch downward 37 degrees; yaw clockwise 21 degrees; open gripper;\nSubtask Movement: move forward 204 mm; move left 79 mm; move upward 134 mm; roll downward 9 degrees; pitch downward 43 degrees; yaw clockwise 21 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006428571883589029, + 0.0017857144121080637, + 0.0035714288242161274, + 0.0, + -0.02857142873108387, + -0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + 0.17464284598827362, + 0.05964285880327225, + 0.10785714536905289, + -0.058571428060531616, + -0.6442857384681702, + -0.35857143998146057, + 1.0 + ], + "delta_full_state_norm": [ + 0.1688309504122738, + -0.2980770074404885, + -0.22021689473678852, + 0.05820102170761654, + -0.11910118750339715, + 0.18518512172384383, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move left 2 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 175 mm; move left 60 mm; move upward 108 mm; roll downward 3 degrees; pitch downward 37 degrees; yaw clockwise 21 degrees; open gripper;", + "subtask_movement_text": "move forward 204 mm; move left 79 mm; move upward 134 mm; roll downward 9 degrees; pitch downward 43 degrees; yaw clockwise 21 degrees; open gripper;" + }, + { + "frame_index": 177, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move left 1 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 177 mm; move left 63 mm; move upward 113 mm; roll downward 5 degrees; pitch downward 37 degrees; yaw clockwise 20 degrees; open gripper;\nSubtask Movement: move forward 198 mm; move left 77 mm; move upward 131 mm; roll downward 9 degrees; pitch downward 42 degrees; yaw clockwise 20 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006428571883589029, + 0.0007142857066355646, + 0.0032142859417945147, + 0.0, + -0.029999999329447746, + -0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + 0.17749999463558197, + 0.06321428716182709, + 0.11250000447034836, + -0.08571428060531616, + -0.6514285802841187, + -0.3442857265472412, + 1.0 + ], + "delta_full_state_norm": [ + 0.1688309504122738, + -0.3269231604172166, + -0.24909775118461763, + 0.05820102170761654, + -0.13707870424331603, + 0.18518512172384383, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move left 1 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 177 mm; move left 63 mm; move upward 113 mm; roll downward 5 degrees; pitch downward 37 degrees; yaw clockwise 20 degrees; open gripper;", + "subtask_movement_text": "move forward 198 mm; move left 77 mm; move upward 131 mm; roll downward 9 degrees; pitch downward 42 degrees; yaw clockwise 20 degrees; open gripper;" + }, + { + "frame_index": 178, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move left 1 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 181 mm; move left 69 mm; move upward 119 mm; roll downward 7 degrees; pitch downward 38 degrees; yaw clockwise 19 degrees; open gripper;\nSubtask Movement: move forward 191 mm; move left 76 mm; move upward 127 mm; roll downward 9 degrees; pitch downward 40 degrees; yaw clockwise 19 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006428571883589029, + 0.0007142857066355646, + 0.0035714288242161274, + 0.0, + -0.029999999329447746, + -0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + 0.1810714304447174, + 0.06892856955528259, + 0.11857142299413681, + -0.11857142299413681, + -0.6585714817047119, + -0.33000001311302185, + 1.0 + ], + "delta_full_state_norm": [ + 0.1688309504122738, + -0.3269231604172166, + -0.22021689473678852, + 0.05820102170761654, + -0.13707870424331603, + 0.1677559279218357, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move left 1 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 181 mm; move left 69 mm; move upward 119 mm; roll downward 7 degrees; pitch downward 38 degrees; yaw clockwise 19 degrees; open gripper;", + "subtask_movement_text": "move forward 191 mm; move left 76 mm; move upward 127 mm; roll downward 9 degrees; pitch downward 40 degrees; yaw clockwise 19 degrees; open gripper;" + }, + { + "frame_index": 179, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move left 1 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 185 mm; move left 75 mm; move upward 124 mm; roll downward 9 degrees; pitch downward 38 degrees; yaw clockwise 18 degrees; open gripper;\nSubtask Movement: move forward 185 mm; move left 75 mm; move upward 124 mm; roll downward 9 degrees; pitch downward 38 degrees; yaw clockwise 18 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006785714533179998, + 0.0014285714132711291, + 0.0032142859417945147, + 0.0, + -0.029999999329447746, + -0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + 0.18464285135269165, + 0.07535714656114578, + 0.12392856925725937, + -0.15142856538295746, + -0.6657143235206604, + -0.3142857253551483, + 1.0 + ], + "delta_full_state_norm": [ + 0.1803749531837575, + -0.30769239437794627, + -0.24909775118461763, + 0.05820102170761654, + -0.13707870424331603, + 0.1677559279218357, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move left 1 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 185 mm; move left 75 mm; move upward 124 mm; roll downward 9 degrees; pitch downward 38 degrees; yaw clockwise 18 degrees; open gripper;", + "subtask_movement_text": "move forward 185 mm; move left 75 mm; move upward 124 mm; roll downward 9 degrees; pitch downward 38 degrees; yaw clockwise 18 degrees; open gripper;" + }, + { + "frame_index": 180, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move left 2 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 189 mm; move left 80 mm; move upward 129 mm; roll downward 10 degrees; pitch downward 38 degrees; yaw clockwise 17 degrees; open gripper;\nSubtask Movement: move forward 178 mm; move left 74 mm; move upward 121 mm; roll downward 9 degrees; pitch downward 36 degrees; yaw clockwise 17 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007142857648432255, + 0.0017857144121080637, + 0.0039285714738070965, + 0.0, + -0.02857142873108387, + -0.017142856493592262, + 1.0 + ], + "delta_next_20": [ + 0.18857142329216003, + 0.0803571417927742, + 0.12892857193946838, + -0.178571417927742, + -0.6714285612106323, + -0.2985714375972748, + 1.0 + ], + "delta_full_state_norm": [ + 0.19191897100691646, + -0.2980770074404885, + -0.19133605711713353, + 0.05820102170761654, + -0.11910118750339715, + 0.15032674548236802, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move left 2 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 189 mm; move left 80 mm; move upward 129 mm; roll downward 10 degrees; pitch downward 38 degrees; yaw clockwise 17 degrees; open gripper;", + "subtask_movement_text": "move forward 178 mm; move left 74 mm; move upward 121 mm; roll downward 9 degrees; pitch downward 36 degrees; yaw clockwise 17 degrees; open gripper;" + }, + { + "frame_index": 181, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move left 2 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 192 mm; move left 85 mm; move upward 133 mm; roll downward 11 degrees; pitch downward 39 degrees; yaw clockwise 16 degrees; open gripper;\nSubtask Movement: move forward 171 mm; move left 72 mm; move upward 117 mm; roll downward 9 degrees; pitch downward 35 degrees; yaw clockwise 16 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007857142947614193, + 0.0017857144121080637, + 0.0039285714738070965, + 0.0, + -0.029999999329447746, + -0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + 0.19214284420013428, + 0.08464285731315613, + 0.13321428000926971, + -0.19999998807907104, + -0.6771429181098938, + -0.28142857551574707, + 1.0 + ], + "delta_full_state_norm": [ + 0.21500697654988388, + -0.2980770074404885, + -0.19133605711713353, + 0.05820102170761654, + -0.13707870424331603, + 0.11546835787835197, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move left 2 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 192 mm; move left 85 mm; move upward 133 mm; roll downward 11 degrees; pitch downward 39 degrees; yaw clockwise 16 degrees; open gripper;", + "subtask_movement_text": "move forward 171 mm; move left 72 mm; move upward 117 mm; roll downward 9 degrees; pitch downward 35 degrees; yaw clockwise 16 degrees; open gripper;" + }, + { + "frame_index": 182, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move left 2 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 195 mm; move left 89 mm; move upward 136 mm; roll downward 13 degrees; pitch downward 39 degrees; yaw clockwise 15 degrees; open gripper;\nSubtask Movement: move forward 163 mm; move left 70 mm; move upward 113 mm; roll downward 9 degrees; pitch downward 33 degrees; yaw clockwise 15 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007857142947614193, + 0.0017857144121080637, + 0.004642857238650322, + -0.0014285714132711291, + -0.03285714238882065, + -0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + 0.19499999284744263, + 0.08857142180204391, + 0.136428564786911, + -0.22285713255405426, + -0.6771429181098938, + -0.261428564786911, + 1.0 + ], + "delta_full_state_norm": [ + 0.21500697654988388, + -0.2980770074404885, + -0.1335743442214754, + 0.04973541382645985, + -0.17303376116318125, + 0.09803915271380359, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move left 2 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 195 mm; move left 89 mm; move upward 136 mm; roll downward 13 degrees; pitch downward 39 degrees; yaw clockwise 15 degrees; open gripper;", + "subtask_movement_text": "move forward 163 mm; move left 70 mm; move upward 113 mm; roll downward 9 degrees; pitch downward 33 degrees; yaw clockwise 15 degrees; open gripper;" + }, + { + "frame_index": 183, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 2 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 199 mm; move left 91 mm; move upward 138 mm; roll downward 14 degrees; pitch downward 39 degrees; yaw clockwise 14 degrees; open gripper;\nSubtask Movement: move forward 155 mm; move left 69 mm; move upward 108 mm; roll downward 9 degrees; pitch downward 31 degrees; yaw clockwise 14 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + 0.0017857144121080637, + 0.0039285714738070965, + -0.0014285714132711291, + -0.03142857179045677, + -0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + 0.198928564786911, + 0.09142857044935226, + 0.13821427524089813, + -0.2442857176065445, + -0.6728571653366089, + -0.23999999463558197, + 1.0 + ], + "delta_full_state_norm": [ + 0.2611830177391692, + -0.2980770074404885, + -0.19133605711713353, + 0.04973541382645985, + -0.1550562444232625, + 0.09803915271380359, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move left 2 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 199 mm; move left 91 mm; move upward 138 mm; roll downward 14 degrees; pitch downward 39 degrees; yaw clockwise 14 degrees; open gripper;", + "subtask_movement_text": "move forward 155 mm; move left 69 mm; move upward 108 mm; roll downward 9 degrees; pitch downward 31 degrees; yaw clockwise 14 degrees; open gripper;" + }, + { + "frame_index": 184, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move left 2 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 201 mm; move left 94 mm; move upward 141 mm; roll downward 15 degrees; pitch downward 39 degrees; yaw clockwise 13 degrees; open gripper;\nSubtask Movement: move forward 146 mm; move left 67 mm; move upward 104 mm; roll downward 9 degrees; pitch downward 29 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + 0.0021428572945296764, + 0.004285714589059353, + 0.0, + -0.03142857179045677, + -0.022857142612338066, + 1.0 + ], + "delta_next_20": [ + 0.20142856240272522, + 0.09357142448425293, + 0.14071428775787354, + -0.26571428775787354, + -0.6728571653366089, + -0.21857143938541412, + 1.0 + ], + "delta_full_state_norm": [ + 0.2842710533854871, + -0.2884616236372888, + -0.16245518184113028, + 0.05820102170761654, + -0.1550562444232625, + 0.08060997027433592, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move left 2 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 201 mm; move left 94 mm; move upward 141 mm; roll downward 15 degrees; pitch downward 39 degrees; yaw clockwise 13 degrees; open gripper;", + "subtask_movement_text": "move forward 146 mm; move left 67 mm; move upward 104 mm; roll downward 9 degrees; pitch downward 29 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 185, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move left 2 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 204 mm; move left 95 mm; move upward 143 mm; roll downward 17 degrees; pitch downward 38 degrees; yaw clockwise 11 degrees; open gripper;\nSubtask Movement: move forward 136 mm; move left 65 mm; move upward 100 mm; roll downward 9 degrees; pitch downward 28 degrees; yaw clockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + 0.0021428572945296764, + 0.004642857238650322, + 0.0, + -0.03285714238882065, + -0.02428571507334709, + 1.0 + ], + "delta_next_20": [ + 0.20392854511737823, + 0.09535714238882065, + 0.1428571492433548, + -0.28857141733169556, + -0.6700000166893005, + -0.19571428000926971, + 1.0 + ], + "delta_full_state_norm": [ + 0.2842710533854871, + -0.2884616236372888, + -0.1335743442214754, + 0.05820102170761654, + -0.17303376116318125, + 0.06318076510978754, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move left 2 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 204 mm; move left 95 mm; move upward 143 mm; roll downward 17 degrees; pitch downward 38 degrees; yaw clockwise 11 degrees; open gripper;", + "subtask_movement_text": "move forward 136 mm; move left 65 mm; move upward 100 mm; roll downward 9 degrees; pitch downward 28 degrees; yaw clockwise 11 degrees; open gripper;" + }, + { + "frame_index": 186, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move left 3 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 207 mm; move left 97 mm; move upward 145 mm; roll downward 18 degrees; pitch downward 38 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move forward 126 mm; move left 63 mm; move upward 95 mm; roll downward 9 degrees; pitch downward 26 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + 0.002500000176951289, + 0.004285714589059353, + 0.0, + -0.029999999329447746, + -0.025714285671710968, + 1.0 + ], + "delta_next_20": [ + 0.20678570866584778, + 0.09678571671247482, + 0.14500001072883606, + -0.3142856955528259, + -0.6671428680419922, + -0.17142857611179352, + 1.0 + ], + "delta_full_state_norm": [ + 0.3073590589284545, + -0.27884623983408907, + -0.16245518184113028, + 0.05820102170761654, + -0.13707870424331603, + 0.04575158267031987, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move left 3 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 207 mm; move left 97 mm; move upward 145 mm; roll downward 18 degrees; pitch downward 38 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 126 mm; move left 63 mm; move upward 95 mm; roll downward 9 degrees; pitch downward 26 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 187, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move left 3 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 209 mm; move left 96 mm; move upward 148 mm; roll downward 19 degrees; pitch downward 38 degrees; yaw clockwise 9 degrees; open gripper;\nSubtask Movement: move forward 115 mm; move left 60 mm; move upward 91 mm; roll downward 9 degrees; pitch downward 24 degrees; yaw clockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + 0.0028571428265422583, + 0.004642857238650322, + 0.0, + -0.029999999329447746, + -0.02857142873108387, + 1.0 + ], + "delta_next_20": [ + 0.2092856913805008, + 0.09607142955064774, + 0.14750000834465027, + -0.3399999737739563, + -0.6685714721679688, + -0.1485714465379715, + 1.0 + ], + "delta_full_state_norm": [ + 0.3304470644714219, + -0.26923086229940574, + -0.1335743442214754, + 0.05820102170761654, + -0.13707870424331603, + 0.010893195066303818, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move left 3 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 209 mm; move left 96 mm; move upward 148 mm; roll downward 19 degrees; pitch downward 38 degrees; yaw clockwise 9 degrees; open gripper;", + "subtask_movement_text": "move forward 115 mm; move left 60 mm; move upward 91 mm; roll downward 9 degrees; pitch downward 24 degrees; yaw clockwise 8 degrees; open gripper;" + }, + { + "frame_index": 188, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move left 4 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 212 mm; move left 95 mm; move upward 149 mm; roll downward 21 degrees; pitch downward 38 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move forward 104 mm; move left 57 mm; move upward 86 mm; roll downward 9 degrees; pitch downward 22 degrees; yaw clockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + 0.0035714288242161274, + 0.0057142856530845165, + 0.0, + -0.029999999329447746, + -0.029999999329447746, + 1.0 + ], + "delta_next_20": [ + 0.21214282512664795, + 0.09464286267757416, + 0.14892856776714325, + -0.37142854928970337, + -0.6714285612106323, + -0.12857142090797424, + 1.0 + ], + "delta_full_state_norm": [ + 0.3419910973462561, + -0.25000008842449006, + -0.046931793706162184, + 0.05820102170761654, + -0.13707870424331603, + -0.006535987373163854, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move left 4 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 212 mm; move left 95 mm; move upward 149 mm; roll downward 21 degrees; pitch downward 38 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 104 mm; move left 57 mm; move upward 86 mm; roll downward 9 degrees; pitch downward 22 degrees; yaw clockwise 7 degrees; open gripper;" + }, + { + "frame_index": 189, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move left 4 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 215 mm; move left 92 mm; move upward 149 mm; roll downward 23 degrees; pitch downward 39 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 92 mm; move left 54 mm; move upward 81 mm; roll downward 9 degrees; pitch downward 21 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + 0.0035714288242161274, + 0.006428571883589029, + 0.0, + -0.03142857179045677, + -0.029999999329447746, + 1.0 + ], + "delta_next_20": [ + 0.21535713970661163, + 0.0917857214808464, + 0.14892856776714325, + -0.4042856991291046, + -0.6728571057319641, + -0.11142857372760773, + 1.0 + ], + "delta_full_state_norm": [ + 0.3304470644714219, + -0.25000008842449006, + 0.010829956845844313, + 0.05820102170761654, + -0.1550562444232625, + -0.006535987373163854, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move left 4 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 215 mm; move left 92 mm; move upward 149 mm; roll downward 23 degrees; pitch downward 39 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 92 mm; move left 54 mm; move upward 81 mm; roll downward 9 degrees; pitch downward 21 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 190, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move left 4 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 219 mm; move left 88 mm; move upward 147 mm; roll downward 25 degrees; pitch downward 38 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 80 mm; move left 50 mm; move upward 74 mm; roll downward 9 degrees; pitch downward 19 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + 0.0035714288242161274, + 0.007500000298023224, + 0.0, + -0.034285712987184525, + -0.029999999329447746, + 1.0 + ], + "delta_next_20": [ + 0.21928571164608002, + 0.08821429312229156, + 0.14749999344348907, + -0.43857142329216003, + -0.6714285612106323, + -0.09714286029338837, + 1.0 + ], + "delta_full_state_norm": [ + 0.3073590589284545, + -0.25000008842449006, + 0.09747250736115753, + 0.05820102170761654, + -0.19101127790310013, + -0.006535987373163854, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move left 4 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 219 mm; move left 88 mm; move upward 147 mm; roll downward 25 degrees; pitch downward 38 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 80 mm; move left 50 mm; move upward 74 mm; roll downward 9 degrees; pitch downward 19 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 191, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move left 5 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 224 mm; move left 85 mm; move upward 145 mm; roll downward 27 degrees; pitch downward 38 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 70 mm; move left 46 mm; move upward 67 mm; roll downward 9 degrees; pitch downward 17 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008214286528527737, + 0.0053571430034935474, + 0.008571429178118706, + 0.0, + -0.037142857909202576, + -0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + 0.22428572177886963, + 0.08464285731315613, + 0.14464285969734192, + -0.47285714745521545, + -0.6657142639160156, + -0.08428571373224258, + 1.0 + ], + "delta_full_state_norm": [ + 0.22655100942471806, + -0.2019231756770079, + 0.18411509553281902, + 0.05820102170761654, + -0.22696635826299305, + 0.13289754031781964, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move left 5 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 224 mm; move left 85 mm; move upward 145 mm; roll downward 27 degrees; pitch downward 38 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 70 mm; move left 46 mm; move upward 67 mm; roll downward 9 degrees; pitch downward 17 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 192, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move left 6 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 231 mm; move left 79 mm; move upward 139 mm; roll downward 29 degrees; pitch downward 38 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 61 mm; move left 41 mm; move upward 58 mm; roll downward 9 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007142857648432255, + 0.0057142856530845165, + 0.008928571827709675, + -0.0071428571827709675, + -0.03999999910593033, + -0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + 0.23107145726680756, + 0.07928571850061417, + 0.13928571343421936, + -0.5128571391105652, + -0.6571428179740906, + -0.08571428060531616, + 1.0 + ], + "delta_full_state_norm": [ + 0.19191897100691646, + -0.19230779814232468, + 0.21299593315247378, + 0.01587298161196471, + -0.2629213917428307, + 0.2549018969318757, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move left 6 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 231 mm; move left 79 mm; move upward 139 mm; roll downward 29 degrees; pitch downward 38 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 61 mm; move left 41 mm; move upward 58 mm; roll downward 9 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 193, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move left 6 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 235 mm; move left 74 mm; move upward 130 mm; roll downward 31 degrees; pitch downward 36 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 54 mm; move left 35 mm; move upward 49 mm; roll downward 8 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007500000298023224, + 0.006071428768336773, + 0.008214286528527737, + -0.012857142835855484, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23500001430511475, + 0.07357143610715866, + 0.13035713136196136, + -0.5414285659790039, + -0.6328571438789368, + -0.1071428507566452, + 1.0 + ], + "delta_full_state_norm": [ + 0.20346297377840017, + -0.1826924080706086, + 0.15523425791316403, + -0.017989449912662048, + -0.2089888415230743, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move left 6 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 235 mm; move left 74 mm; move upward 130 mm; roll downward 31 degrees; pitch downward 36 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 54 mm; move left 35 mm; move upward 49 mm; roll downward 8 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 194, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move left 5 mm; move upward 7 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 235 mm; move left 68 mm; move upward 122 mm; roll downward 32 degrees; pitch downward 35 degrees; yaw clockwise 9 degrees; open gripper;\nSubtask Movement: move forward 47 mm; move left 29 mm; move upward 41 mm; roll downward 7 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008214286528527737, + 0.0053571430034935474, + 0.007142857648432255, + -0.015714285895228386, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2353571504354477, + 0.06750000268220901, + 0.12214285135269165, + -0.5671428442001343, + -0.6057143211364746, + -0.14999999105930328, + 1.0 + ], + "delta_full_state_norm": [ + 0.22655100942471806, + -0.2019231756770079, + 0.06859166974150255, + -0.03492066705471242, + -0.2089888415230743, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move left 5 mm; move upward 7 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 235 mm; move left 68 mm; move upward 122 mm; roll downward 32 degrees; pitch downward 35 degrees; yaw clockwise 9 degrees; open gripper;", + "subtask_movement_text": "move forward 47 mm; move left 29 mm; move upward 41 mm; roll downward 7 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 195, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 5 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 233 mm; move left 62 mm; move upward 115 mm; roll downward 34 degrees; pitch downward 33 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 39 mm; move left 24 mm; move upward 34 mm; roll downward 6 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + 0.005000000353902578, + 0.007500000298023224, + -0.019999999552965164, + -0.034285712987184525, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23285715281963348, + 0.062142856419086456, + 0.11500000208616257, + -0.5928571224212646, + -0.5700000524520874, + -0.20999999344348907, + 1.0 + ], + "delta_full_state_norm": [ + 0.2611830177391692, + -0.21153855321169124, + 0.09747250736115753, + -0.060317487248839785, + -0.19101127790310013, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move left 5 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 233 mm; move left 62 mm; move upward 115 mm; roll downward 34 degrees; pitch downward 33 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 39 mm; move left 24 mm; move upward 34 mm; roll downward 6 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 196, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 5 mm; move upward 8 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 228 mm; move left 57 mm; move upward 108 mm; roll downward 36 degrees; pitch downward 31 degrees; yaw clockwise 16 degrees; open gripper;\nSubtask Movement: move forward 29 mm; move left 19 mm; move upward 26 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + 0.0053571430034935474, + 0.008214286528527737, + -0.027142856270074844, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2282143086194992, + 0.05714286118745804, + 0.10750000923871994, + -0.6242856979370117, + -0.535714328289032, + -0.2800000011920929, + 1.0 + ], + "delta_full_state_norm": [ + 0.2611830177391692, + -0.2019231756770079, + 0.15523425791316403, + -0.10264552458501763, + -0.2089888415230743, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move left 5 mm; move upward 8 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 228 mm; move left 57 mm; move upward 108 mm; roll downward 36 degrees; pitch downward 31 degrees; yaw clockwise 16 degrees; open gripper;", + "subtask_movement_text": "move forward 29 mm; move left 19 mm; move upward 26 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 197, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move left 6 mm; move upward 9 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 223 mm; move left 52 mm; move upward 99 mm; roll downward 37 degrees; pitch downward 29 degrees; yaw clockwise 20 degrees; open gripper;\nSubtask Movement: move forward 20 mm; move left 14 mm; move upward 18 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + 0.006428571883589029, + 0.009285714477300644, + -0.03285714238882065, + -0.037142857909202576, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2232143133878708, + 0.05178571492433548, + 0.09928571432828903, + -0.654285728931427, + -0.5, + -0.35428571701049805, + 1.0 + ], + "delta_full_state_norm": [ + 0.2842710533854871, + -0.17307701799889252, + 0.24187677077212877, + -0.13650795886911837, + -0.22696635826299305, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move left 6 mm; move upward 9 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 223 mm; move left 52 mm; move upward 99 mm; roll downward 37 degrees; pitch downward 29 degrees; yaw clockwise 20 degrees; open gripper;", + "subtask_movement_text": "move forward 20 mm; move left 14 mm; move upward 18 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 198, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move left 7 mm; move upward 9 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 220 mm; move left 45 mm; move upward 90 mm; roll downward 40 degrees; pitch downward 27 degrees; yaw clockwise 25 degrees; open gripper;\nSubtask Movement: move forward 10 mm; move left 7 mm; move upward 9 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + 0.007142857648432255, + 0.008928571827709675, + -0.03285714238882065, + -0.037142857909202576, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21964287757873535, + 0.045357149094343185, + 0.09000001102685928, + -0.6914286017417908, + -0.4642857015132904, + -0.4357143044471741, + 1.0 + ], + "delta_full_state_norm": [ + 0.2842710533854871, + -0.15384625039249322, + 0.21299593315247378, + -0.13650795886911837, + -0.22696635826299305, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move left 7 mm; move upward 9 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 220 mm; move left 45 mm; move upward 90 mm; roll downward 40 degrees; pitch downward 27 degrees; yaw clockwise 25 degrees; open gripper;", + "subtask_movement_text": "move forward 10 mm; move left 7 mm; move upward 9 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 199, + "segment_id": 10800, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned at the microwave control panel, maintaining contact with the buttons and performing a pressing motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move left 6 mm; move upward 8 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 219 mm; move left 38 mm; move upward 81 mm; roll downward 42 degrees; pitch downward 25 degrees; yaw clockwise 30 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + 0.006428571883589029, + 0.008214286528527737, + -0.027142856270074844, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21857142448425293, + 0.03821428865194321, + 0.08107143640518188, + -0.7342857122421265, + -0.43142858147621155, + -0.5228571891784668, + 1.0 + ], + "delta_full_state_norm": [ + 0.3073590589284545, + -0.17307701799889252, + 0.15523425791316403, + -0.10264552458501763, + -0.2089888415230743, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move left 6 mm; move upward 8 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 219 mm; move left 38 mm; move upward 81 mm; roll downward 42 degrees; pitch downward 25 degrees; yaw clockwise 30 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 200, + "segment_id": 10900, + "subtask": "move away from the microwave", + "reason": "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move left 6 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 219 mm; move left 32 mm; move upward 73 mm; roll downward 45 degrees; pitch downward 23 degrees; yaw clockwise 35 degrees; open gripper;\nSubtask Movement: move forward 311 mm; move left 32 mm; move upward 73 mm; roll downward 70 degrees; pitch downward 27 degrees; yaw clockwise 62 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + 0.006071428768336773, + 0.008214286528527737, + -0.02142857201397419, + -0.034285712987184525, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21892857551574707, + 0.031785719096660614, + 0.07285714894533157, + -0.7828571796417236, + -0.4000000059604645, + -0.6114286184310913, + 1.0 + ], + "delta_full_state_norm": [ + 0.3073590589284545, + -0.1826924080706086, + 0.15523425791316403, + -0.06878310133881327, + -0.19101127790310013, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move left 6 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 219 mm; move left 32 mm; move upward 73 mm; roll downward 45 degrees; pitch downward 23 degrees; yaw clockwise 35 degrees; open gripper;", + "subtask_movement_text": "move forward 311 mm; move left 32 mm; move upward 73 mm; roll downward 70 degrees; pitch downward 27 degrees; yaw clockwise 62 degrees; open gripper;" + }, + { + "frame_index": 201, + "segment_id": 10900, + "subtask": "move away from the microwave", + "reason": "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move left 6 mm; move upward 7 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 221 mm; move left 26 mm; move upward 65 mm; roll downward 48 degrees; pitch downward 21 degrees; yaw clockwise 40 degrees; open gripper;\nSubtask Movement: move forward 301 mm; move left 26 mm; move upward 65 mm; roll downward 69 degrees; pitch downward 25 degrees; yaw clockwise 62 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + 0.0057142856530845165, + 0.007142857648432255, + -0.022857142612338066, + -0.029999999329447746, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22107143700122833, + 0.025714291259646416, + 0.06464286893606186, + -0.837142825126648, + -0.3728571832180023, + -0.7028571963310242, + 1.0 + ], + "delta_full_state_norm": [ + 0.3073590589284545, + -0.19230779814232468, + 0.06859166974150255, + -0.07724870439089027, + -0.13707870424331603, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move left 6 mm; move upward 7 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 221 mm; move left 26 mm; move upward 65 mm; roll downward 48 degrees; pitch downward 21 degrees; yaw clockwise 40 degrees; open gripper;", + "subtask_movement_text": "move forward 301 mm; move left 26 mm; move upward 65 mm; roll downward 69 degrees; pitch downward 25 degrees; yaw clockwise 62 degrees; open gripper;" + }, + { + "frame_index": 202, + "segment_id": 10900, + "subtask": "move away from the microwave", + "reason": "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move left 5 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 226 mm; move left 20 mm; move upward 58 mm; roll downward 51 degrees; pitch downward 20 degrees; yaw clockwise 46 degrees; open gripper;\nSubtask Movement: move forward 290 mm; move left 20 mm; move upward 58 mm; roll downward 68 degrees; pitch downward 24 degrees; yaw clockwise 62 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + 0.004642857238650322, + 0.006428571883589029, + -0.022857142612338066, + -0.02857142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2264285832643509, + 0.020000001415610313, + 0.05750000476837158, + -0.8985714316368103, + -0.35428574681282043, + -0.7971429228782654, + 1.0 + ], + "delta_full_state_norm": [ + 0.3419910973462561, + -0.22115394328340732, + 0.010829956845844313, + -0.07724870439089027, + -0.11910118750339715, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move left 5 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 226 mm; move left 20 mm; move upward 58 mm; roll downward 51 degrees; pitch downward 20 degrees; yaw clockwise 46 degrees; open gripper;", + "subtask_movement_text": "move forward 290 mm; move left 20 mm; move upward 58 mm; roll downward 68 degrees; pitch downward 24 degrees; yaw clockwise 62 degrees; open gripper;" + }, + { + "frame_index": 203, + "segment_id": 10900, + "subtask": "move away from the microwave", + "reason": "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move left 4 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 235 mm; move left 15 mm; move upward 51 mm; roll downward 55 degrees; pitch downward 20 degrees; yaw clockwise 51 degrees; open gripper;\nSubtask Movement: move forward 278 mm; move left 15 mm; move upward 51 mm; roll downward 66 degrees; pitch downward 22 degrees; yaw clockwise 62 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + 0.0039285714738070965, + 0.006428571883589029, + -0.022857142612338066, + -0.03142857179045677, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2346428632736206, + 0.015357144176959991, + 0.05107143148779869, + -0.9671428799629211, + -0.3442857563495636, + -0.8914286494255066, + 1.0 + ], + "delta_full_state_norm": [ + 0.3419910973462561, + -0.24038471088980673, + 0.010829956845844313, + -0.07724870439089027, + -0.1550562444232625, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move left 4 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 235 mm; move left 15 mm; move upward 51 mm; roll downward 55 degrees; pitch downward 20 degrees; yaw clockwise 51 degrees; open gripper;", + "subtask_movement_text": "move forward 278 mm; move left 15 mm; move upward 51 mm; roll downward 66 degrees; pitch downward 22 degrees; yaw clockwise 62 degrees; open gripper;" + }, + { + "frame_index": 204, + "segment_id": 10900, + "subtask": "move away from the microwave", + "reason": "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move left 4 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 244 mm; move left 11 mm; move upward 45 mm; roll downward 60 degrees; pitch downward 19 degrees; yaw clockwise 56 degrees; open gripper;\nSubtask Movement: move forward 266 mm; move left 11 mm; move upward 45 mm; roll downward 65 degrees; pitch downward 20 degrees; yaw clockwise 62 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + 0.0039285714738070965, + 0.006428571883589029, + -0.022857142612338066, + -0.02857142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.24392859637737274, + 0.011428571306169033, + 0.0446428582072258, + -1.0385714769363403, + -0.3328571617603302, + -0.9857143759727478, + 1.0 + ], + "delta_full_state_norm": [ + 0.3650791028892235, + -0.24038471088980673, + 0.010829956845844313, + -0.07724870439089027, + -0.11910118750339715, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move left 4 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 244 mm; move left 11 mm; move upward 45 mm; roll downward 60 degrees; pitch downward 19 degrees; yaw clockwise 56 degrees; open gripper;", + "subtask_movement_text": "move forward 266 mm; move left 11 mm; move upward 45 mm; roll downward 65 degrees; pitch downward 20 degrees; yaw clockwise 62 degrees; open gripper;" + }, + { + "frame_index": 205, + "segment_id": 10900, + "subtask": "move away from the microwave", + "reason": "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move left 4 mm; move upward 7 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 254 mm; move left 8 mm; move upward 38 mm; roll downward 64 degrees; pitch downward 19 degrees; yaw clockwise 62 degrees; open gripper;\nSubtask Movement: move forward 254 mm; move left 8 mm; move upward 38 mm; roll downward 64 degrees; pitch downward 19 degrees; yaw clockwise 62 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + 0.0035714288242161274, + 0.006785714533179998, + -0.025714285671710968, + -0.029999999329447746, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.25392860174179077, + 0.007500000298023224, + 0.03821428865194321, + -1.1128571033477783, + -0.3257143199443817, + -1.0771429538726807, + 1.0 + ], + "delta_full_state_norm": [ + 0.3766231357640579, + -0.25000008842449006, + 0.0397107944654993, + -0.09417992153294064, + -0.13707870424331603, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move left 4 mm; move upward 7 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 254 mm; move left 8 mm; move upward 38 mm; roll downward 64 degrees; pitch downward 19 degrees; yaw clockwise 62 degrees; open gripper;", + "subtask_movement_text": "move forward 254 mm; move left 8 mm; move upward 38 mm; roll downward 64 degrees; pitch downward 19 degrees; yaw clockwise 62 degrees; open gripper;" + }, + { + "frame_index": 206, + "segment_id": 10900, + "subtask": "move away from the microwave", + "reason": "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move left 2 mm; move upward 7 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 264 mm; move left 4 mm; move upward 31 mm; roll downward 68 degrees; pitch downward 18 degrees; yaw clockwise 67 degrees; open gripper;\nSubtask Movement: move forward 241 mm; move left 4 mm; move upward 31 mm; roll downward 62 degrees; pitch downward 17 degrees; yaw clockwise 62 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + 0.0017857144121080637, + 0.006785714533179998, + -0.025714285671710968, + -0.03142857179045677, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.26428574323654175, + 0.0039285714738070965, + 0.03142857179045677, + -1.1885714530944824, + -0.31857141852378845, + -1.1671429872512817, + 1.0 + ], + "delta_full_state_norm": [ + 0.38816710843219093, + -0.2980770074404885, + 0.0397107944654993, + -0.09417992153294064, + -0.1550562444232625, + 0.3246186636180026, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move left 2 mm; move upward 7 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 264 mm; move left 4 mm; move upward 31 mm; roll downward 68 degrees; pitch downward 18 degrees; yaw clockwise 67 degrees; open gripper;", + "subtask_movement_text": "move forward 241 mm; move left 4 mm; move upward 31 mm; roll downward 62 degrees; pitch downward 17 degrees; yaw clockwise 62 degrees; open gripper;" + }, + { + "frame_index": 207, + "segment_id": 10900, + "subtask": "move away from the microwave", + "reason": "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move left 1 mm; move upward 6 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 274 mm; move left 2 mm; move upward 25 mm; roll downward 72 degrees; pitch downward 18 degrees; yaw clockwise 72 degrees; open gripper;\nSubtask Movement: move forward 228 mm; move left 2 mm; move upward 25 mm; roll downward 61 degrees; pitch downward 15 degrees; yaw clockwise 62 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + 0.0014285714132711291, + 0.006071428768336773, + -0.03142857179045677, + -0.03285714238882065, + -0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + 0.27428576350212097, + 0.0021428572945296764, + 0.024642858654260635, + -1.2642855644226074, + -0.309999942779541, + -1.2514286041259766, + 1.0 + ], + "delta_full_state_norm": [ + 0.42279917695334324, + -0.30769239437794627, + -0.018050918430158935, + -0.1280423558170415, + -0.17303376116318125, + 0.2549018969318757, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move left 1 mm; move upward 6 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 274 mm; move left 2 mm; move upward 25 mm; roll downward 72 degrees; pitch downward 18 degrees; yaw clockwise 72 degrees; open gripper;", + "subtask_movement_text": "move forward 228 mm; move left 2 mm; move upward 25 mm; roll downward 61 degrees; pitch downward 15 degrees; yaw clockwise 62 degrees; open gripper;" + }, + { + "frame_index": 208, + "segment_id": 10900, + "subtask": "move away from the microwave", + "reason": "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move left 1 mm; move upward 6 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 281 mm; move left 1 mm; move upward 19 mm; roll downward 76 degrees; pitch downward 17 degrees; yaw clockwise 76 degrees; open gripper;\nSubtask Movement: move forward 214 mm; move left 1 mm; move upward 19 mm; roll downward 59 degrees; pitch downward 13 degrees; yaw clockwise 61 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + 0.0007142857066355646, + 0.0057142856530845165, + -0.03285714238882065, + -0.03142857179045677, + -0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + 0.28142857551574707, + 0.0007142857066355646, + 0.018571428954601288, + -1.3328570127487183, + -0.29857137799263, + -1.3271429538726807, + 1.0 + ], + "delta_full_state_norm": [ + 0.44588718249631043, + -0.3269231604172166, + -0.046931793706162184, + -0.13650795886911837, + -0.1550562444232625, + 0.20261431552585174, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move left 1 mm; move upward 6 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 281 mm; move left 1 mm; move upward 19 mm; roll downward 76 degrees; pitch downward 17 degrees; yaw clockwise 76 degrees; open gripper;", + "subtask_movement_text": "move forward 214 mm; move left 1 mm; move upward 19 mm; roll downward 59 degrees; pitch downward 13 degrees; yaw clockwise 61 degrees; open gripper;" + }, + { + "frame_index": 209, + "segment_id": 10900, + "subtask": "move away from the microwave", + "reason": "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move upward 5 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 287 mm; move right 0 mm; move upward 13 mm; roll downward 80 degrees; pitch downward 16 degrees; yaw clockwise 80 degrees; open gripper;\nSubtask Movement: move forward 199 mm; move right 0 mm; move upward 13 mm; roll downward 57 degrees; pitch downward 11 degrees; yaw clockwise 60 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + 0.0, + 0.005000000353902578, + -0.034285712987184525, + -0.029999999329447746, + -0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + 0.2874999940395355, + 0.0, + 0.012857143767178059, + -1.398571491241455, + -0.28714287281036377, + -1.394285798072815, + 1.0 + ], + "delta_full_state_norm": [ + 0.45743118526779414, + -0.3461539264564869, + -0.10469346894547205, + -0.14497356192119537, + -0.13707870424331603, + 0.1677559279218357, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move upward 5 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 287 mm; move right 0 mm; move upward 13 mm; roll downward 80 degrees; pitch downward 16 degrees; yaw clockwise 80 degrees; open gripper;", + "subtask_movement_text": "move forward 199 mm; move right 0 mm; move upward 13 mm; roll downward 57 degrees; pitch downward 11 degrees; yaw clockwise 60 degrees; open gripper;" + }, + { + "frame_index": 210, + "segment_id": 10900, + "subtask": "move away from the microwave", + "reason": "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move upward 5 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 293 mm; move right 0 mm; move upward 8 mm; roll downward 84 degrees; pitch downward 16 degrees; yaw clockwise 83 degrees; open gripper;\nSubtask Movement: move forward 183 mm; move right 0 mm; move upward 8 mm; roll downward 55 degrees; pitch downward 10 degrees; yaw clockwise 59 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015714285895228386, + 0.0, + 0.004642857238650322, + -0.034285712987184525, + -0.02857142873108387, + -0.017142856493592262, + 1.0 + ], + "delta_next_20": [ + 0.2928571403026581, + 0.0, + 0.007857142947614193, + -1.458571434020996, + -0.27714288234710693, + -1.457142949104309, + 1.0 + ], + "delta_full_state_norm": [ + 0.46897518803927785, + -0.3461539264564869, + -0.1335743442214754, + -0.14497356192119537, + -0.11910118750339715, + 0.15032674548236802, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move upward 5 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 293 mm; move right 0 mm; move upward 8 mm; roll downward 84 degrees; pitch downward 16 degrees; yaw clockwise 83 degrees; open gripper;", + "subtask_movement_text": "move forward 183 mm; move right 0 mm; move upward 8 mm; roll downward 55 degrees; pitch downward 10 degrees; yaw clockwise 59 degrees; open gripper;" + }, + { + "frame_index": 211, + "segment_id": 10900, + "subtask": "move away from the microwave", + "reason": "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move upward 3 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 297 mm; move right 0 mm; move upward 3 mm; roll downward 87 degrees; pitch downward 15 degrees; yaw clockwise 87 degrees; open gripper;\nSubtask Movement: move forward 168 mm; move right 0 mm; move upward 3 mm; roll downward 53 degrees; pitch downward 8 degrees; yaw clockwise 58 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + 0.0032142859417945147, + -0.03999999910593033, + -0.02857142873108387, + -0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + 0.2971428632736206, + 0.0, + 0.0032142859417945147, + -1.514285683631897, + -0.2671428620815277, + -1.5171430110931396, + 1.0 + ], + "delta_full_state_norm": [ + 0.44588718249631043, + -0.3461539264564869, + -0.24909775118461763, + -0.17883599620529622, + -0.11910118750339715, + 0.11546835787835197, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move upward 3 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 297 mm; move right 0 mm; move upward 3 mm; roll downward 87 degrees; pitch downward 15 degrees; yaw clockwise 87 degrees; open gripper;", + "subtask_movement_text": "move forward 168 mm; move right 0 mm; move upward 3 mm; roll downward 53 degrees; pitch downward 8 degrees; yaw clockwise 58 degrees; open gripper;" + }, + { + "frame_index": 212, + "segment_id": 10900, + "subtask": "move away from the microwave", + "reason": "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 302 mm; move right 0 mm; move downward 0 mm; roll downward 89 degrees; pitch downward 14 degrees; yaw clockwise 90 degrees; open gripper;\nSubtask Movement: move forward 153 mm; move right 0 mm; move downward 0 mm; roll downward 51 degrees; pitch downward 6 degrees; yaw clockwise 57 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + -0.0357142873108387, + -0.015714285895228386, + -0.029999999329447746, + 1.0 + ], + "delta_next_20": [ + 0.302142858505249, + 0.0, + 0.0, + -1.5585715770721436, + -0.2499999701976776, + -1.572857141494751, + 1.0 + ], + "delta_full_state_norm": [ + 0.3189030616999382, + -0.3461539264564869, + -0.5090254592150795, + -0.15343918704906534, + 0.04269655691598273, + -0.006535987373163854, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 302 mm; move right 0 mm; move downward 0 mm; roll downward 89 degrees; pitch downward 14 degrees; yaw clockwise 90 degrees; open gripper;", + "subtask_movement_text": "move forward 153 mm; move right 0 mm; move downward 0 mm; roll downward 51 degrees; pitch downward 6 degrees; yaw clockwise 57 degrees; open gripper;" + }, + { + "frame_index": 213, + "segment_id": 10900, + "subtask": "move away from the microwave", + "reason": "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 310 mm; move right 0 mm; move downward 0 mm; roll downward 91 degrees; pitch downward 14 degrees; yaw clockwise 92 degrees; open gripper;\nSubtask Movement: move forward 141 mm; move right 0 mm; move downward 0 mm; roll downward 49 degrees; pitch downward 6 degrees; yaw clockwise 56 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007857142947614193, + 0.0, + 0.0, + -0.03857142850756645, + -0.008571428246796131, + -0.04285714402794838, + 1.0 + ], + "delta_next_20": [ + 0.3100000321865082, + 0.0, + 0.0, + -1.5914287567138672, + -0.24142853915691376, + -1.6128572225570679, + 1.0 + ], + "delta_full_state_norm": [ + 0.21500697654988388, + -0.3461539264564869, + -0.5090254592150795, + -0.17037039315321922, + 0.13258419921564601, + -0.16339874295377632, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 310 mm; move right 0 mm; move downward 0 mm; roll downward 91 degrees; pitch downward 14 degrees; yaw clockwise 92 degrees; open gripper;", + "subtask_movement_text": "move forward 141 mm; move right 0 mm; move downward 0 mm; roll downward 49 degrees; pitch downward 6 degrees; yaw clockwise 56 degrees; open gripper;" + }, + { + "frame_index": 214, + "segment_id": 10900, + "subtask": "move away from the microwave", + "reason": "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 320 mm; move right 0 mm; move downward 0 mm; roll downward 92 degrees; pitch downward 13 degrees; yaw clockwise 94 degrees; open gripper;\nSubtask Movement: move forward 134 mm; move right 0 mm; move downward 0 mm; roll downward 47 degrees; pitch downward 5 degrees; yaw clockwise 53 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0057142856530845165, + 0.0, + 0.0, + -0.041428569704294205, + 0.0, + -0.05999999865889549, + 1.0 + ], + "delta_next_20": [ + 0.320000022649765, + 0.0, + 0.0, + -1.6114287376403809, + -0.23428569734096527, + -1.6357142925262451, + 1.0 + ], + "delta_full_state_norm": [ + 0.1457429147659559, + -0.3461539264564869, + -0.5090254592150795, + -0.1873015992573731, + 0.24044935825522806, + -0.3725490231277112, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 320 mm; move right 0 mm; move downward 0 mm; roll downward 92 degrees; pitch downward 13 degrees; yaw clockwise 94 degrees; open gripper;", + "subtask_movement_text": "move forward 134 mm; move right 0 mm; move downward 0 mm; roll downward 47 degrees; pitch downward 5 degrees; yaw clockwise 53 degrees; open gripper;" + }, + { + "frame_index": 215, + "segment_id": 10900, + "subtask": "move away from the microwave", + "reason": "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 330 mm; move right 0 mm; move downward 0 mm; roll downward 93 degrees; pitch downward 13 degrees; yaw clockwise 94 degrees; open gripper;\nSubtask Movement: move forward 128 mm; move right 0 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 5 degrees; yaw clockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004642857238650322, + 0.0, + 0.0, + -0.051428571343421936, + 0.0, + -0.07000000029802322, + 1.0 + ], + "delta_next_20": [ + 0.330357164144516, + 0.0, + 0.0, + -1.6185716390609741, + -0.23428569734096527, + -1.6357142925262451, + 1.0 + ], + "delta_full_state_norm": [ + 0.11111089139982955, + -0.3461539264564869, + -0.5090254592150795, + -0.2465608647734978, + 0.24044935825522806, + -0.49455339110430774, + 0.9999999900000001 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 330 mm; move right 0 mm; move downward 0 mm; roll downward 93 degrees; pitch downward 13 degrees; yaw clockwise 94 degrees; open gripper;", + "subtask_movement_text": "move forward 128 mm; move right 0 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 5 degrees; yaw clockwise 50 degrees; open gripper;" + }, + { + "frame_index": 216, + "segment_id": 10900, + "subtask": "move away from the microwave", + "reason": "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 338 mm; move right 0 mm; move downward 0 mm; roll downward 91 degrees; pitch downward 13 degrees; yaw clockwise 92 degrees; open gripper;\nSubtask Movement: move forward 123 mm; move right 0 mm; move downward 0 mm; roll downward 41 degrees; pitch downward 5 degrees; yaw clockwise 46 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004285714589059353, + 0.0, + 0.0, + -0.05714285746216774, + 0.0, + -0.07428571581840515, + 1.0 + ], + "delta_next_20": [ + 0.3378571569919586, + 0.0, + 0.0, + -1.5900001525878906, + -0.23428569734096527, + -1.6128571033477783, + 1.0 + ], + "delta_full_state_norm": [ + 0.09956688862834584, + -0.3461539264564869, + -0.5090254592150795, + -0.28042329905759866, + 0.24044935825522806, + -0.546840983872872, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 338 mm; move right 0 mm; move downward 0 mm; roll downward 91 degrees; pitch downward 13 degrees; yaw clockwise 92 degrees; open gripper;", + "subtask_movement_text": "move forward 123 mm; move right 0 mm; move downward 0 mm; roll downward 41 degrees; pitch downward 5 degrees; yaw clockwise 46 degrees; open gripper;" + }, + { + "frame_index": 217, + "segment_id": 10900, + "subtask": "move away from the microwave", + "reason": "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 346 mm; move right 0 mm; move downward 0 mm; roll downward 88 degrees; pitch downward 13 degrees; yaw clockwise 90 degrees; open gripper;\nSubtask Movement: move forward 119 mm; move right 0 mm; move downward 0 mm; roll downward 38 degrees; pitch downward 5 degrees; yaw clockwise 41 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006428571883589029, + 0.0, + 0.0, + -0.07000000029802322, + -0.0014285714132711291, + -0.08142857253551483, + 1.0 + ], + "delta_next_20": [ + 0.3457143008708954, + 0.0, + 0.0, + -1.5328574180603027, + -0.23428569734096527, + -1.5699999332427979, + 1.0 + ], + "delta_full_state_norm": [ + 0.1688309504122738, + -0.3461539264564869, + -0.5090254592150795, + -0.35661377067787725, + 0.22247183126029713, + -0.6339869415203718, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 346 mm; move right 0 mm; move downward 0 mm; roll downward 88 degrees; pitch downward 13 degrees; yaw clockwise 90 degrees; open gripper;", + "subtask_movement_text": "move forward 119 mm; move right 0 mm; move downward 0 mm; roll downward 38 degrees; pitch downward 5 degrees; yaw clockwise 41 degrees; open gripper;" + }, + { + "frame_index": 218, + "segment_id": 10900, + "subtask": "move away from the microwave", + "reason": "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 352 mm; move right 1 mm; move downward 0 mm; roll downward 84 degrees; pitch downward 13 degrees; yaw clockwise 87 degrees; open gripper;\nSubtask Movement: move forward 113 mm; move right 0 mm; move downward 0 mm; roll downward 34 degrees; pitch downward 5 degrees; yaw clockwise 37 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008928571827709675, + 0.0, + 0.0, + -0.07571428269147873, + -0.004285714123398066, + -0.08714285492897034, + 1.0 + ], + "delta_next_20": [ + 0.35249999165534973, + -0.0007142857066355646, + 0.0, + -1.4628573656082153, + -0.22428569197654724, + -1.5214284658432007, + 1.0 + ], + "delta_full_state_norm": [ + 0.24963901496768548, + -0.3461539264564869, + -0.5090254592150795, + -0.390476182886185, + 0.18651677873543715, + -0.7037036712782425, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 352 mm; move right 1 mm; move downward 0 mm; roll downward 84 degrees; pitch downward 13 degrees; yaw clockwise 87 degrees; open gripper;", + "subtask_movement_text": "move forward 113 mm; move right 0 mm; move downward 0 mm; roll downward 34 degrees; pitch downward 5 degrees; yaw clockwise 37 degrees; open gripper;" + }, + { + "frame_index": 219, + "segment_id": 10900, + "subtask": "move away from the microwave", + "reason": "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 350 mm; move right 1 mm; move downward 0 mm; roll downward 79 degrees; pitch downward 11 degrees; yaw clockwise 83 degrees; open gripper;\nSubtask Movement: move forward 104 mm; move right 0 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 5 degrees; yaw clockwise 32 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + -0.07571428269147873, + -0.004285714123398066, + -0.08857142925262451, + 1.0 + ], + "delta_next_20": [ + 0.35035714507102966, + -0.0007142857066355646, + 0.0, + -1.3871430158615112, + -0.19857142865657806, + -1.4514286518096924, + 1.0 + ], + "delta_full_state_norm": [ + 0.3189030616999382, + -0.3461539264564869, + -0.5090254592150795, + -0.390476182886185, + 0.18651677873543715, + -0.7211328991678716, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 350 mm; move right 1 mm; move downward 0 mm; roll downward 79 degrees; pitch downward 11 degrees; yaw clockwise 83 degrees; open gripper;", + "subtask_movement_text": "move forward 104 mm; move right 0 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 5 degrees; yaw clockwise 32 degrees; open gripper;" + }, + { + "frame_index": 220, + "segment_id": 10900, + "subtask": "move away from the microwave", + "reason": "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 344 mm; move right 1 mm; move downward 0 mm; roll downward 75 degrees; pitch downward 10 degrees; yaw clockwise 78 degrees; open gripper;\nSubtask Movement: move forward 92 mm; move right 0 mm; move downward 0 mm; roll downward 25 degrees; pitch downward 5 degrees; yaw clockwise 27 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + 0.0, + -0.07571428269147873, + -0.0071428571827709675, + -0.09142857044935226, + 1.0 + ], + "delta_next_20": [ + 0.3442856967449188, + -0.0007142857066355646, + 0.0, + -1.3071430921554565, + -0.167142853140831, + -1.3671427965164185, + 1.0 + ], + "delta_full_state_norm": [ + 0.3766231357640579, + -0.3461539264564869, + -0.5090254592150795, + -0.390476182886185, + 0.1505617218155717, + -0.7559912640468069, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 344 mm; move right 1 mm; move downward 0 mm; roll downward 75 degrees; pitch downward 10 degrees; yaw clockwise 78 degrees; open gripper;", + "subtask_movement_text": "move forward 92 mm; move right 0 mm; move downward 0 mm; roll downward 25 degrees; pitch downward 5 degrees; yaw clockwise 27 degrees; open gripper;" + }, + { + "frame_index": 221, + "segment_id": 10900, + "subtask": "move away from the microwave", + "reason": "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 336 mm; move right 1 mm; move downward 0 mm; roll downward 71 degrees; pitch downward 7 degrees; yaw clockwise 73 degrees; open gripper;\nSubtask Movement: move forward 80 mm; move right 0 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 4 degrees; yaw clockwise 21 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01607142947614193, + 0.0, + 0.0, + -0.08428571373224258, + -0.011428571306169033, + -0.09428571164608002, + 1.0 + ], + "delta_next_20": [ + 0.33571428060531616, + -0.0007142857066355646, + 0.0, + -1.2314287424087524, + -0.1300000101327896, + -1.2757142782211304, + 1.0 + ], + "delta_full_state_norm": [ + 0.48051922091411226, + -0.3461539264564869, + -0.5090254592150795, + -0.44126984535023284, + 0.09662914229578079, + -0.7908496289257423, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 336 mm; move right 1 mm; move downward 0 mm; roll downward 71 degrees; pitch downward 7 degrees; yaw clockwise 73 degrees; open gripper;", + "subtask_movement_text": "move forward 80 mm; move right 0 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 4 degrees; yaw clockwise 21 degrees; open gripper;" + }, + { + "frame_index": 222, + "segment_id": 10900, + "subtask": "move away from the microwave", + "reason": "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 324 mm; move right 1 mm; move downward 0 mm; roll downward 66 degrees; pitch downward 5 degrees; yaw clockwise 68 degrees; open gripper;\nSubtask Movement: move forward 64 mm; move right 0 mm; move downward 0 mm; roll downward 16 degrees; pitch downward 3 degrees; yaw clockwise 16 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.020000001415610313, + 0.0, + 0.0, + -0.09142857044935226, + -0.018571428954601288, + -0.09428571164608002, + 1.0 + ], + "delta_next_20": [ + 0.32357141375541687, + -0.0007142857066355646, + 0.0, + -1.147143006324768, + -0.08571427315473557, + -1.1814285516738892, + 1.0 + ], + "delta_full_state_norm": [ + 0.6075033417104845, + -0.3461539264564869, + -0.5090254592150795, + -0.4835978826864106, + 0.006741499996117506, + -0.7908496289257423, + 0.9999999900000001 + ], + "movement_text": "move forward 20 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 324 mm; move right 1 mm; move downward 0 mm; roll downward 66 degrees; pitch downward 5 degrees; yaw clockwise 68 degrees; open gripper;", + "subtask_movement_text": "move forward 64 mm; move right 0 mm; move downward 0 mm; roll downward 16 degrees; pitch downward 3 degrees; yaw clockwise 16 degrees; open gripper;" + }, + { + "frame_index": 223, + "segment_id": 10900, + "subtask": "move away from the microwave", + "reason": "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 21 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 306 mm; move right 1 mm; move downward 0 mm; roll downward 60 degrees; pitch downward 3 degrees; yaw clockwise 62 degrees; open gripper;\nSubtask Movement: move forward 44 mm; move right 0 mm; move downward 0 mm; roll downward 11 degrees; pitch downward 2 degrees; yaw clockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.021071428433060646, + 0.0, + 0.0, + -0.09428571164608002, + -0.019999999552965164, + -0.09428571164608002, + 1.0 + ], + "delta_next_20": [ + 0.30642858147621155, + -0.0007142857066355646, + 0.0, + -1.05571448802948, + -0.04571429640054703, + -1.087142825126648, + 1.0 + ], + "delta_full_state_norm": [ + 0.6421353199215849, + -0.3461539264564869, + -0.5090254592150795, + -0.5005290887905645, + -0.011236016743801258, + -0.7908496289257423, + 0.9999999900000001 + ], + "movement_text": "move forward 21 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 306 mm; move right 1 mm; move downward 0 mm; roll downward 60 degrees; pitch downward 3 degrees; yaw clockwise 62 degrees; open gripper;", + "subtask_movement_text": "move forward 44 mm; move right 0 mm; move downward 0 mm; roll downward 11 degrees; pitch downward 2 degrees; yaw clockwise 11 degrees; open gripper;" + }, + { + "frame_index": 224, + "segment_id": 10900, + "subtask": "move away from the microwave", + "reason": "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 1 degrees; yaw clockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 304 mm; move right 1 mm; move downward 0 mm; roll downward 57 degrees; pitch downward 1 degrees; yaw clockwise 57 degrees; open gripper;\nSubtask Movement: move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 1 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.022499999031424522, + 0.0, + 0.0, + -0.09714286029338837, + -0.02142857201397419, + -0.09142857044935226, + 1.0 + ], + "delta_next_20": [ + 0.3035714328289032, + -0.0007142857066355646, + -0.0003571428533177823, + -0.998571515083313, + -0.02142857015132904, + -0.9928570985794067, + 1.0 + ], + "delta_full_state_norm": [ + 0.6883113310075197, + -0.3461539264564869, + -0.5090254592150795, + -0.5174603390463045, + -0.02921355692374783, + -0.7559912640468069, + 0.9999999900000001 + ], + "movement_text": "move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 1 degrees; yaw clockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 304 mm; move right 1 mm; move downward 0 mm; roll downward 57 degrees; pitch downward 1 degrees; yaw clockwise 57 degrees; open gripper;", + "subtask_movement_text": "move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 1 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 225, + "segment_id": 10900, + "subtask": "move away from the microwave", + "reason": "The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm has retracted significantly from the appliance, showing a clear separation between the end-effector and the microwave interface after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 23 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 1 degrees; yaw clockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 308 mm; move right 4 mm; move downward 3 mm; roll downward 57 degrees; pitch upward 0 degrees; yaw clockwise 53 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.02321428619325161, + 0.0, + 0.0, + -0.1014285683631897, + -0.022857142612338066, + -0.09000000357627869, + 1.0 + ], + "delta_next_20": [ + 0.3082142472267151, + -0.004285714589059353, + -0.002500000176951289, + -0.9942857027053833, + 1.5366822481155396e-08, + -0.9171428084373474, + 1.0 + ], + "delta_full_state_norm": [ + 0.7113993967571883, + -0.3461539264564869, + -0.5090254592150795, + -0.5428571261267423, + -0.047191073663666594, + -0.7385621270575007, + 0.9999999900000001 + ], + "movement_text": "move forward 23 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 1 degrees; yaw clockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 308 mm; move right 4 mm; move downward 3 mm; roll downward 57 degrees; pitch upward 0 degrees; yaw clockwise 53 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 226, + "segment_id": 10100, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 23 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 1 degrees; yaw clockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 317 mm; move right 9 mm; move downward 4 mm; roll downward 57 degrees; pitch upward 1 degrees; yaw clockwise 49 degrees; open gripper;\nSubtask Movement: move forward 258 mm; move right 1 mm; move downward 0 mm; roll downward 46 degrees; pitch upward 1 degrees; yaw clockwise 46 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.02321428619325161, + 0.0, + 0.0, + -0.1014285683631897, + -0.022857142612338066, + -0.08714285492897034, + 1.0 + ], + "delta_next_20": [ + 0.3171428442001343, + -0.009285714477300644, + -0.0035714288242161274, + -1.001428484916687, + 0.022857144474983215, + -0.8557142615318298, + 1.0 + ], + "delta_full_state_norm": [ + 0.7113993967571883, + -0.3461539264564869, + -0.5090254592150795, + -0.5428571261267423, + -0.047191073663666594, + -0.7037036712782425, + 0.9999999900000001 + ], + "movement_text": "move forward 23 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 1 degrees; yaw clockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 317 mm; move right 9 mm; move downward 4 mm; roll downward 57 degrees; pitch upward 1 degrees; yaw clockwise 49 degrees; open gripper;", + "subtask_movement_text": "move forward 258 mm; move right 1 mm; move downward 0 mm; roll downward 46 degrees; pitch upward 1 degrees; yaw clockwise 46 degrees; open gripper;" + }, + { + "frame_index": 227, + "segment_id": 10100, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 21 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 1 degrees; yaw clockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 329 mm; move right 17 mm; move downward 4 mm; roll downward 57 degrees; pitch upward 3 degrees; yaw clockwise 46 degrees; open gripper;\nSubtask Movement: move forward 235 mm; move right 1 mm; move downward 0 mm; roll downward 40 degrees; pitch upward 3 degrees; yaw clockwise 41 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.02142857201397419, + 0.0, + 0.0, + -0.10000000149011612, + -0.02142857201397419, + -0.08428571373224258, + 1.0 + ], + "delta_next_20": [ + 0.3285714089870453, + -0.016785714775323868, + -0.0039285714738070965, + -1.0, + 0.04571428522467613, + -0.8071427941322327, + 1.0 + ], + "delta_full_state_norm": [ + 0.6536793527964193, + -0.3461539264564869, + -0.5090254592150795, + -0.5343915451504584, + -0.02921355692374783, + -0.6688453063993072, + 0.9999999900000001 + ], + "movement_text": "move forward 21 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 1 degrees; yaw clockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 329 mm; move right 17 mm; move downward 4 mm; roll downward 57 degrees; pitch upward 3 degrees; yaw clockwise 46 degrees; open gripper;", + "subtask_movement_text": "move forward 235 mm; move right 1 mm; move downward 0 mm; roll downward 40 degrees; pitch upward 3 degrees; yaw clockwise 41 degrees; open gripper;" + }, + { + "frame_index": 228, + "segment_id": 10100, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 21 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 1 degrees; yaw clockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 341 mm; move right 21 mm; move downward 4 mm; roll downward 57 degrees; pitch upward 4 degrees; yaw clockwise 44 degrees; open gripper;\nSubtask Movement: move forward 213 mm; move right 1 mm; move downward 0 mm; roll downward 34 degrees; pitch upward 4 degrees; yaw clockwise 37 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.021071428433060646, + 0.0, + 0.0, + -0.09857142716646194, + -0.019999999552965164, + -0.07999999821186066, + 1.0 + ], + "delta_next_20": [ + 0.34071430563926697, + -0.021071428433060646, + -0.0039285714738070965, + -0.9885714054107666, + 0.06714285165071487, + -0.7642856240272522, + 1.0 + ], + "delta_full_state_norm": [ + 0.6421353199215849, + -0.3461539264564869, + -0.5090254592150795, + -0.5259259200225883, + -0.011236016743801258, + -0.6165577136307429, + 0.9999999900000001 + ], + "movement_text": "move forward 21 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 1 degrees; yaw clockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 341 mm; move right 21 mm; move downward 4 mm; roll downward 57 degrees; pitch upward 4 degrees; yaw clockwise 44 degrees; open gripper;", + "subtask_movement_text": "move forward 213 mm; move right 1 mm; move downward 0 mm; roll downward 34 degrees; pitch upward 4 degrees; yaw clockwise 37 degrees; open gripper;" + }, + { + "frame_index": 229, + "segment_id": 10100, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 21 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 350 mm; move right 21 mm; move downward 4 mm; roll downward 56 degrees; pitch upward 5 degrees; yaw clockwise 41 degrees; open gripper;\nSubtask Movement: move forward 192 mm; move right 1 mm; move downward 0 mm; roll downward 29 degrees; pitch upward 5 degrees; yaw clockwise 32 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.02071428671479225, + 0.0, + 0.0, + -0.09428571164608002, + -0.019999999552965164, + -0.07857143133878708, + 1.0 + ], + "delta_next_20": [ + 0.35035714507102966, + -0.021071428433060646, + -0.0039285714738070965, + -0.9814285635948181, + 0.08714285492897034, + -0.7199999094009399, + 1.0 + ], + "delta_full_state_norm": [ + 0.6305913472534519, + -0.3461539264564869, + -0.5090254592150795, + -0.5005290887905645, + -0.011236016743801258, + -0.5991285766414365, + 0.9999999900000001 + ], + "movement_text": "move forward 21 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 350 mm; move right 21 mm; move downward 4 mm; roll downward 56 degrees; pitch upward 5 degrees; yaw clockwise 41 degrees; open gripper;", + "subtask_movement_text": "move forward 192 mm; move right 1 mm; move downward 0 mm; roll downward 29 degrees; pitch upward 5 degrees; yaw clockwise 32 degrees; open gripper;" + }, + { + "frame_index": 230, + "segment_id": 10100, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 361 mm; move right 21 mm; move downward 4 mm; roll downward 57 degrees; pitch upward 6 degrees; yaw clockwise 38 degrees; open gripper;\nSubtask Movement: move forward 171 mm; move right 1 mm; move downward 0 mm; roll downward 23 degrees; pitch upward 6 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.020000001415610313, + 0.0, + 0.0, + -0.09000000357627869, + -0.018571428954601288, + -0.0771428570151329, + 1.0 + ], + "delta_next_20": [ + 0.3610714375972748, + -0.021071428433060646, + -0.0039285714738070965, + -0.9985714554786682, + 0.1071428582072258, + -0.662857174873352, + 1.0 + ], + "delta_full_state_norm": [ + 0.6075033417104845, + -0.3461539264564869, + -0.5090254592150795, + -0.47513230171012677, + 0.006741499996117506, + -0.5816993487518075, + 0.9999999900000001 + ], + "movement_text": "move forward 20 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 361 mm; move right 21 mm; move downward 4 mm; roll downward 57 degrees; pitch upward 6 degrees; yaw clockwise 38 degrees; open gripper;", + "subtask_movement_text": "move forward 171 mm; move right 1 mm; move downward 0 mm; roll downward 23 degrees; pitch upward 6 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 231, + "segment_id": 10100, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 373 mm; move right 12 mm; move downward 4 mm; roll downward 60 degrees; pitch upward 7 degrees; yaw clockwise 34 degrees; open gripper;\nSubtask Movement: move forward 151 mm; move right 1 mm; move downward 0 mm; roll downward 18 degrees; pitch upward 7 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.020000001415610313, + 0.0, + 0.0, + -0.08428571373224258, + -0.011428571306169033, + -0.07571428269147873, + 1.0 + ], + "delta_next_20": [ + 0.37321433424949646, + -0.012142856605350971, + -0.0039285714738070965, + -1.045714259147644, + 0.1257142871618271, + -0.5942857265472412, + 1.0 + ], + "delta_full_state_norm": [ + 0.6075033417104845, + -0.3461539264564869, + -0.5090254592150795, + -0.44126984535023284, + 0.09662914229578079, + -0.5642701208621784, + 0.9999999900000001 + ], + "movement_text": "move forward 20 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 373 mm; move right 12 mm; move downward 4 mm; roll downward 60 degrees; pitch upward 7 degrees; yaw clockwise 34 degrees; open gripper;", + "subtask_movement_text": "move forward 151 mm; move right 1 mm; move downward 0 mm; roll downward 18 degrees; pitch upward 7 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 232, + "segment_id": 10100, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 384 mm; move left 10 mm; move downward 4 mm; roll downward 64 degrees; pitch upward 8 degrees; yaw clockwise 30 degrees; open gripper;\nSubtask Movement: move forward 131 mm; move right 1 mm; move downward 0 mm; roll downward 13 degrees; pitch upward 8 degrees; yaw clockwise 19 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018928570672869682, + 0.0, + 0.0, + -0.06857142597436905, + -0.0071428571827709675, + -0.07000000029802322, + 1.0 + ], + "delta_next_20": [ + 0.38428571820259094, + 0.010357143357396126, + -0.0039285714738070965, + -1.118571400642395, + 0.1371428519487381, + -0.5185714960098267, + 1.0 + ], + "delta_full_state_norm": [ + 0.5728712430859817, + -0.3461539264564869, + -0.5090254592150795, + -0.3481481455500073, + 0.1505617218155717, + -0.49455339110430774, + 0.9999999900000001 + ], + "movement_text": "move forward 19 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 384 mm; move left 10 mm; move downward 4 mm; roll downward 64 degrees; pitch upward 8 degrees; yaw clockwise 30 degrees; open gripper;", + "subtask_movement_text": "move forward 131 mm; move right 1 mm; move downward 0 mm; roll downward 13 degrees; pitch upward 8 degrees; yaw clockwise 19 degrees; open gripper;" + }, + { + "frame_index": 233, + "segment_id": 10100, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 395 mm; move left 43 mm; move downward 4 mm; roll downward 69 degrees; pitch upward 8 degrees; yaw clockwise 26 degrees; open gripper;\nSubtask Movement: move forward 113 mm; move right 1 mm; move downward 0 mm; roll downward 9 degrees; pitch upward 8 degrees; yaw clockwise 15 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01785714365541935, + 0.0, + 0.0, + -0.058571428060531616, + -0.0014285714132711291, + -0.0657142847776413, + 1.0 + ], + "delta_next_20": [ + 0.3953571319580078, + 0.04285714030265808, + -0.0039285714738070965, + -1.2114285230636597, + 0.14428570866584778, + -0.44857144355773926, + 1.0 + ], + "delta_full_state_norm": [ + 0.5382392648748813, + -0.3461539264564869, + -0.5090254592150795, + -0.28888890210967566, + 0.22247183126029713, + -0.4422657983357433, + 0.9999999900000001 + ], + "movement_text": "move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 395 mm; move left 43 mm; move downward 4 mm; roll downward 69 degrees; pitch upward 8 degrees; yaw clockwise 26 degrees; open gripper;", + "subtask_movement_text": "move forward 113 mm; move right 1 mm; move downward 0 mm; roll downward 9 degrees; pitch upward 8 degrees; yaw clockwise 15 degrees; open gripper;" + }, + { + "frame_index": 234, + "segment_id": 10100, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 406 mm; move left 84 mm; move downward 4 mm; roll downward 75 degrees; pitch upward 8 degrees; yaw clockwise 22 degrees; open gripper;\nSubtask Movement: move forward 95 mm; move right 1 mm; move downward 0 mm; roll downward 6 degrees; pitch upward 8 degrees; yaw clockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01607142947614193, + 0.0, + 0.0, + -0.04857143014669418, + 0.0, + -0.05999999865889549, + 1.0 + ], + "delta_next_20": [ + 0.40607142448425293, + 0.08428571373224258, + -0.0039285714738070965, + -1.3142856359481812, + 0.14571428298950195, + -0.38285714387893677, + 1.0 + ], + "delta_full_state_norm": [ + 0.48051922091411226, + -0.3461539264564869, + -0.5090254592150795, + -0.22962965866934393, + 0.24044935825522806, + -0.3725490231277112, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 406 mm; move left 84 mm; move downward 4 mm; roll downward 75 degrees; pitch upward 8 degrees; yaw clockwise 22 degrees; open gripper;", + "subtask_movement_text": "move forward 95 mm; move right 1 mm; move downward 0 mm; roll downward 6 degrees; pitch upward 8 degrees; yaw clockwise 11 degrees; open gripper;" + }, + { + "frame_index": 235, + "segment_id": 10100, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 418 mm; move left 131 mm; move downward 4 mm; roll downward 82 degrees; pitch upward 8 degrees; yaw clockwise 18 degrees; open gripper;\nSubtask Movement: move forward 79 mm; move right 1 mm; move downward 0 mm; roll downward 3 degrees; pitch upward 8 degrees; yaw clockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + 0.0, + 0.0, + -0.022857142612338066, + 0.0, + -0.04714285582304001, + 1.0 + ], + "delta_next_20": [ + 0.41785717010498047, + 0.13107143342494965, + -0.0039285714738070965, + -1.4328571557998657, + 0.14571428298950195, + -0.322857141494751, + 1.0 + ], + "delta_full_state_norm": [ + 0.3535351001177398, + -0.3461539264564869, + -0.5090254592150795, + -0.07724870439089027, + 0.24044935825522806, + -0.21568629027217934, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 418 mm; move left 131 mm; move downward 4 mm; roll downward 82 degrees; pitch upward 8 degrees; yaw clockwise 18 degrees; open gripper;", + "subtask_movement_text": "move forward 79 mm; move right 1 mm; move downward 0 mm; roll downward 3 degrees; pitch upward 8 degrees; yaw clockwise 8 degrees; open gripper;" + }, + { + "frame_index": 236, + "segment_id": 10100, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 432 mm; move left 181 mm; move downward 4 mm; roll downward 91 degrees; pitch upward 8 degrees; yaw clockwise 16 degrees; open gripper;\nSubtask Movement: move forward 66 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 8 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + 0.0, + 0.0, + 0.0, + 0.0, + -0.03142857179045677, + 1.0 + ], + "delta_next_20": [ + 0.4324999749660492, + 0.1810714304447174, + -0.0039285714738070965, + -1.5828571319580078, + 0.14571428298950195, + -0.27571427822113037, + 1.0 + ], + "delta_full_state_norm": [ + 0.3535351001177398, + -0.3461539264564869, + -0.5090254592150795, + 0.05820102170761654, + 0.24044935825522806, + -0.023965192537712232, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 432 mm; move left 181 mm; move downward 4 mm; roll downward 91 degrees; pitch upward 8 degrees; yaw clockwise 16 degrees; open gripper;", + "subtask_movement_text": "move forward 66 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 8 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 237, + "segment_id": 10100, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 446 mm; move left 231 mm; move downward 4 mm; roll downward 101 degrees; pitch upward 8 degrees; yaw clockwise 14 degrees; open gripper;\nSubtask Movement: move forward 54 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 8 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + -0.0007142857066355646, + 0.0, + 0.0, + 0.008571428246796131, + -0.03285714238882065, + 1.0 + ], + "delta_next_20": [ + 0.4464285969734192, + 0.23107142746448517, + -0.0039285714738070965, + -1.7614285945892334, + 0.14571428298950195, + -0.2442857027053833, + 1.0 + ], + "delta_full_state_norm": [ + 0.38816710843219093, + -0.3653846924957571, + -0.5090254592150795, + 0.05820102170761654, + 0.3483145172948101, + -0.041394374977179904, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 446 mm; move left 231 mm; move downward 4 mm; roll downward 101 degrees; pitch upward 8 degrees; yaw clockwise 14 degrees; open gripper;", + "subtask_movement_text": "move forward 54 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 8 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 238, + "segment_id": 10100, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 458 mm; move left 282 mm; move downward 4 mm; roll downward 111 degrees; pitch upward 8 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 41 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 8 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006785714533179998, + 0.0, + 0.0, + 0.0, + 0.02142857201397419, + -0.017142856493592262, + 1.0 + ], + "delta_next_20": [ + 0.4578571319580078, + 0.2817857265472412, + -0.0039285714738070965, + -1.940000057220459, + 0.1371428519487381, + -0.20571428537368774, + 1.0 + ], + "delta_full_state_norm": [ + 0.1803749531837575, + -0.3461539264564869, + -0.5090254592150795, + 0.05820102170761654, + 0.5101122734342038, + 0.15032674548236802, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 458 mm; move left 282 mm; move downward 4 mm; roll downward 111 degrees; pitch upward 8 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 41 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 8 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 239, + "segment_id": 10100, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 473 mm; move left 332 mm; move downward 4 mm; roll downward 122 degrees; pitch upward 7 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move forward 34 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.005000000353902578, + 0.0, + 0.0, + 0.004285714123398066, + 0.027142856270074844, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.47285720705986023, + 0.33178573846817017, + -0.0039285714738070965, + -2.122857093811035, + 0.11571428179740906, + -0.17142856121063232, + 1.0 + ], + "delta_full_state_norm": [ + 0.1226549092229885, + -0.3461539264564869, + -0.5090254592150795, + 0.083597844661218, + 0.5820223638339068, + 0.30718947265662977, + 0.9999999900000001 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 473 mm; move left 332 mm; move downward 4 mm; roll downward 122 degrees; pitch upward 7 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 34 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 240, + "segment_id": 10100, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 487 mm; move left 382 mm; move downward 4 mm; roll downward 132 degrees; pitch upward 5 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move forward 29 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004285714589059353, + 0.0, + 0.0, + 0.0, + 0.029999999329447746, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.4871428906917572, + 0.38178572058677673, + -0.0039285714738070965, + -2.307142972946167, + 0.08857142925262451, + -0.1428571343421936, + 1.0 + ], + "delta_full_state_norm": [ + 0.09956688862834584, + -0.3461539264564869, + -0.5090254592150795, + 0.05820102170761654, + 0.617977420753772, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 487 mm; move left 382 mm; move downward 4 mm; roll downward 132 degrees; pitch upward 5 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move forward 29 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 241, + "segment_id": 10100, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 499 mm; move left 432 mm; move downward 3 mm; roll downward 142 degrees; pitch upward 3 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move forward 25 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0039285714738070965, + 0.0, + 0.0, + 0.0, + 0.03285714238882065, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.4992857575416565, + 0.4317857325077057, + -0.002857143059372902, + -2.481428623199463, + 0.058571428060531616, + -0.11571428179740906, + 1.0 + ], + "delta_full_state_norm": [ + 0.08802287080518689, + -0.3461539264564869, + -0.5090254592150795, + 0.05820102170761654, + 0.6539324776736375, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 499 mm; move left 432 mm; move downward 3 mm; roll downward 142 degrees; pitch upward 3 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 25 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 242, + "segment_id": 10100, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 507 mm; move left 482 mm; move downward 0 mm; roll downward 151 degrees; pitch upward 2 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 21 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0028571428265422583, + 0.0, + 0.0, + 0.0, + 0.02142857201397419, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.5071429014205933, + 0.48178574442863464, + -0.000357143027940765, + -2.640000104904175, + 0.02857142873108387, + -0.08714285492897034, + 1.0 + ], + "delta_full_state_norm": [ + 0.0533908399132228, + -0.3461539264564869, + -0.5090254592150795, + 0.05820102170761654, + 0.5101122734342038, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 3 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 507 mm; move left 482 mm; move downward 0 mm; roll downward 151 degrees; pitch upward 2 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 21 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 243, + "segment_id": 10100, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 509 mm; move left 532 mm; move upward 1 mm; roll downward 159 degrees; pitch upward 1 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018214285373687744, + 0.0, + -0.0003571428533177823, + -0.037142857909202576, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.5092856884002686, + 0.5317857265472412, + 0.0014285714132711291, + -2.768571615219116, + 0.02142857015132904, + -0.0657142847776413, + 1.0 + ], + "delta_full_state_norm": [ + 0.5497832375430143, + -0.3461539264564869, + -0.5379063133093869, + -0.16190479010114234, + 0.2943819377750192, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 509 mm; move left 532 mm; move upward 1 mm; roll downward 159 degrees; pitch upward 1 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 244, + "segment_id": 10100, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector appears to be making contact with the surface where the buttons are located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 27 mm; move right 4 mm; move downward 2 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 491 mm; move left 576 mm; move upward 7 mm; roll downward 160 degrees; pitch upward 2 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.027142858132719994, + -0.0035714288242161274, + -0.0021428572945296764, + -0.09285714477300644, + 0.0, + -0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + 0.4910714626312256, + 0.5760714411735535, + 0.00714285671710968, + -2.7957143783569336, + 0.034285712987184525, + -0.0657142847776413, + 1.0 + ], + "delta_full_state_norm": [ + 0.8383835175535606, + -0.44230776448848375, + -0.6823105979020541, + -0.49206350781428065, + 0.24044935825522806, + 0.1677559279218357, + 0.9999999900000001 + ], + "movement_text": "move forward 27 mm; move right 4 mm; move downward 2 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 491 mm; move left 576 mm; move upward 7 mm; roll downward 160 degrees; pitch upward 2 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 245, + "segment_id": 10345, + "subtask": "move away from the microwave", + "reason": "The robot arm has retracted from the control panel and is moving backward, indicating it is retreating from the appliance after interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm has retracted from the control panel and is moving backward, indicating it is retreating from the appliance after interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 32 mm; move right 5 mm; move downward 1 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 448 mm; move left 613 mm; move upward 14 mm; roll downward 155 degrees; pitch upward 3 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 195 mm; move right 8 mm; move downward 1 mm; roll downward 37 degrees; pitch downward 0 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.03214285895228386, + -0.005000000353902578, + -0.0010714286472648382, + -0.10857142508029938, + 0.0, + -0.02857142873108387, + 1.0 + ], + "delta_next_20": [ + 0.44785720109939575, + 0.612500011920929, + 0.01428571529686451, + -2.702857494354248, + 0.04571428522467613, + -0.04999999701976776, + 1.0 + ], + "delta_full_state_norm": [ + 0.9999996767677346, + -0.48076929970128246, + -0.5956680285585667, + -0.58518516346292, + 0.24044935825522806, + 0.010893195066303818, + 0.9999999900000001 + ], + "movement_text": "move forward 32 mm; move right 5 mm; move downward 1 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 448 mm; move left 613 mm; move upward 14 mm; roll downward 155 degrees; pitch upward 3 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 195 mm; move right 8 mm; move downward 1 mm; roll downward 37 degrees; pitch downward 0 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 246, + "segment_id": 10345, + "subtask": "move away from the microwave", + "reason": "The robot arm has retracted from the control panel and is moving backward, indicating it is retreating from the appliance after interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm has retracted from the control panel and is moving backward, indicating it is retreating from the appliance after interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 35 mm; move right 8 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 393 mm; move left 643 mm; move upward 23 mm; roll downward 149 degrees; pitch upward 3 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 163 mm; move right 3 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.03464285656809807, + -0.007500000298023224, + -0.0003571428533177823, + -0.10000000149011612, + 0.0, + -0.03857142850756645, + 1.0 + ], + "delta_next_20": [ + 0.3928571343421936, + 0.6432143449783325, + 0.022857142612338066, + -2.5942859649658203, + 0.04571428522467613, + -0.021428583189845085, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + -0.5480769800551639, + -0.5379063133093869, + -0.5343915451504584, + 0.24044935825522806, + -0.1111111501852119, + 0.9999999900000001 + ], + "movement_text": "move forward 35 mm; move right 8 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 393 mm; move left 643 mm; move upward 23 mm; roll downward 149 degrees; pitch upward 3 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 163 mm; move right 3 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; open gripper;" + }, + { + "frame_index": 247, + "segment_id": 10345, + "subtask": "move away from the microwave", + "reason": "The robot arm has retracted from the control panel and is moving backward, indicating it is retreating from the appliance after interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm has retracted from the control panel and is moving backward, indicating it is retreating from the appliance after interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 34 mm; move right 4 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 331 mm; move left 675 mm; move upward 29 mm; roll downward 143 degrees; pitch upward 3 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 128 mm; move left 5 mm; move downward 0 mm; roll downward 25 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.033571429550647736, + -0.004285714589059353, + 0.0, + -0.08857142925262451, + 0.0, + -0.041428569704294205, + 1.0 + ], + "delta_next_20": [ + 0.33071425557136536, + 0.6746428608894348, + 0.028928572311997414, + -2.494285821914673, + 0.04571428522467613, + 0.017142850905656815, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + -0.46153853209488305, + -0.5090254592150795, + -0.4666666765822567, + 0.24044935825522806, + -0.14596951506414724, + 0.9999999900000001 + ], + "movement_text": "move forward 34 mm; move right 4 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 331 mm; move left 675 mm; move upward 29 mm; roll downward 143 degrees; pitch upward 3 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 128 mm; move left 5 mm; move downward 0 mm; roll downward 25 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 248, + "segment_id": 10345, + "subtask": "move away from the microwave", + "reason": "The robot arm has retracted from the control panel and is moving backward, indicating it is retreating from the appliance after interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm has retracted from the control panel and is moving backward, indicating it is retreating from the appliance after interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 31 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 267 mm; move left 701 mm; move upward 35 mm; roll downward 138 degrees; pitch upward 3 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 94 mm; move left 9 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.030714286491274834, + 0.0, + 0.0, + -0.09142857044935226, + 0.0, + -0.0357142873108387, + 1.0 + ], + "delta_next_20": [ + 0.2671428322792053, + 0.7007142901420593, + 0.03464285656809807, + -2.4000003337860107, + 0.051428571343421936, + 0.05857142060995102, + 1.0 + ], + "delta_full_state_norm": [ + 0.9538236054750986, + -0.3461539264564869, + -0.5090254592150795, + -0.4835978826864106, + 0.24044935825522806, + -0.07625278530627655, + 0.9999999900000001 + ], + "movement_text": "move forward 31 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 267 mm; move left 701 mm; move upward 35 mm; roll downward 138 degrees; pitch upward 3 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 94 mm; move left 9 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 249, + "segment_id": 10345, + "subtask": "move away from the microwave", + "reason": "The robot arm has retracted from the control panel and is moving backward, indicating it is retreating from the appliance after interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm has retracted from the control panel and is moving backward, indicating it is retreating from the appliance after interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 31 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 204 mm; move left 717 mm; move upward 40 mm; roll downward 129 degrees; pitch upward 4 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move forward 64 mm; move left 9 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.03142857179045677, + 0.0, + 0.0, + -0.11142857372760773, + 0.0, + -0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + 0.20428569614887238, + 0.7171428799629211, + 0.04035714268684387, + -2.2457146644592285, + 0.07000000029802322, + 0.06285713613033295, + 1.0 + ], + "delta_full_state_norm": [ + 0.976911611018066, + -0.3461539264564869, + -0.5090254592150795, + -0.6021164137186601, + 0.24044935825522806, + 0.09803915271380359, + 0.9999999900000001 + ], + "movement_text": "move forward 31 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 204 mm; move left 717 mm; move upward 40 mm; roll downward 129 degrees; pitch upward 4 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 64 mm; move left 9 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 250, + "segment_id": 10345, + "subtask": "move away from the microwave", + "reason": "The robot arm has retracted from the control panel and is moving backward, indicating it is retreating from the appliance after interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm has retracted from the control panel and is moving backward, indicating it is retreating from the appliance after interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 32 mm; move left 9 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 141 mm; move left 732 mm; move upward 44 mm; roll downward 116 degrees; pitch upward 6 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move forward 32 mm; move left 9 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.03214285895228386, + 0.008928571827709675, + 0.0, + -0.1371428519487381, + 0.0, + -0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + 0.1410714089870453, + 0.7321428656578064, + 0.04392857477068901, + -2.0271430015563965, + 0.10428571701049805, + 0.028571419417858124, + 1.0 + ], + "delta_full_state_norm": [ + 0.9999996767677346, + -0.10576933764501106, + -0.5090254592150795, + -0.7544973128076311, + 0.24044935825522806, + 0.2549018969318757, + 0.9999999900000001 + ], + "movement_text": "move forward 32 mm; move left 9 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 141 mm; move left 732 mm; move upward 44 mm; roll downward 116 degrees; pitch upward 6 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 32 mm; move left 9 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 251, + "segment_id": 10345, + "subtask": "move away from the microwave", + "reason": "The robot arm has retracted from the control panel and is moving backward, indicating it is retreating from the appliance after interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm has retracted from the control panel and is moving backward, indicating it is retreating from the appliance after interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 31 mm; move left 22 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 79 mm; move left 736 mm; move upward 45 mm; roll downward 101 degrees; pitch upward 9 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.031071428209543228, + 0.022499999031424522, + 0.0, + -0.15714286267757416, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.07928571850061417, + 0.7364286184310913, + 0.04535714536905289, + -1.755714774131775, + 0.1542857140302658, + -0.04285714775323868, + 1.0 + ], + "delta_full_state_norm": [ + 0.9653675781432318, + 0.2596151841914134, + -0.5090254592150795, + -0.8730158879914667, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 31 mm; move left 22 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 79 mm; move left 736 mm; move upward 45 mm; roll downward 101 degrees; pitch upward 9 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 252, + "segment_id": 10245, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 30 mm; move left 32 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 19 mm; move left 724 mm; move upward 45 mm; roll downward 83 degrees; pitch upward 12 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move forward 110 mm; move left 686 mm; move upward 40 mm; roll downward 105 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.030000001192092896, + 0.032499998807907104, + 0.0, + -0.1614285707473755, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.018571436405181885, + 0.7235714793205261, + 0.04535714536905289, + -1.441428780555725, + 0.2142857164144516, + -0.14714285731315613, + 1.0 + ], + "delta_full_state_norm": [ + 0.9307355999321312, + 0.528845905606939, + -0.5090254592150795, + -0.8984126750719045, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 30 mm; move left 32 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 19 mm; move left 724 mm; move upward 45 mm; roll downward 83 degrees; pitch upward 12 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move forward 110 mm; move left 686 mm; move upward 40 mm; roll downward 105 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 253, + "segment_id": 10245, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 29 mm; move left 41 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 40 mm; move left 700 mm; move upward 45 mm; roll downward 64 degrees; pitch upward 16 degrees; yaw clockwise 16 degrees; open gripper;\nSubtask Movement: move forward 80 mm; move left 653 mm; move upward 40 mm; roll downward 96 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.02857143059372902, + 0.0414285734295845, + 0.0, + -0.1614285707473755, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.03999998793005943, + 0.6996429562568665, + 0.04535714536905289, + -1.1157143115997314, + 0.27571427822113037, + -0.2800000011920929, + 1.0 + ], + "delta_full_state_norm": [ + 0.8845595888461966, + 0.7692305696406112, + -0.5090254592150795, + -0.8984126750719045, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 29 mm; move left 41 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 40 mm; move left 700 mm; move upward 45 mm; roll downward 64 degrees; pitch upward 16 degrees; yaw clockwise 16 degrees; open gripper;", + "subtask_movement_text": "move forward 80 mm; move left 653 mm; move upward 40 mm; roll downward 96 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 254, + "segment_id": 10245, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 28 mm; move left 47 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 96 mm; move left 665 mm; move upward 45 mm; roll downward 44 degrees; pitch upward 19 degrees; yaw clockwise 26 degrees; open gripper;\nSubtask Movement: move forward 51 mm; move left 612 mm; move upward 40 mm; roll downward 87 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.027857143431901932, + 0.04678571596741676, + 0.0, + -0.167142853140831, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.09571428596973419, + 0.6650001406669617, + 0.04535714536905289, + -0.7699999809265137, + 0.3385714292526245, + -0.4457142949104309, + 1.0 + ], + "delta_full_state_norm": [ + 0.861471523096528, + 0.9134613078830573, + -0.5090254592150795, + -0.9322750872802121, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 28 mm; move left 47 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 96 mm; move left 665 mm; move upward 45 mm; roll downward 44 degrees; pitch upward 19 degrees; yaw clockwise 26 degrees; open gripper;", + "subtask_movement_text": "move forward 51 mm; move left 612 mm; move upward 40 mm; roll downward 87 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 255, + "segment_id": 10245, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 27 mm; move left 50 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 150 mm; move left 625 mm; move upward 45 mm; roll downward 23 degrees; pitch upward 23 degrees; yaw clockwise 36 degrees; open gripper;\nSubtask Movement: move forward 23 mm; move left 565 mm; move upward 40 mm; roll downward 77 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.02678571455180645, + 0.05000000074505806, + 0.0, + -0.1728571355342865, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.14964286983013153, + 0.6250001192092896, + 0.04535714536905289, + -0.4099999666213989, + 0.4028571546077728, + -0.6228571534156799, + 1.0 + ], + "delta_full_state_norm": [ + 0.8268394846787264, + 0.9999997307692727, + -0.5090254592150795, + -0.9661374994885199, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 27 mm; move left 50 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 150 mm; move left 625 mm; move upward 45 mm; roll downward 23 degrees; pitch upward 23 degrees; yaw clockwise 36 degrees; open gripper;", + "subtask_movement_text": "move forward 23 mm; move left 565 mm; move upward 40 mm; roll downward 77 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 256, + "segment_id": 10245, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 26 mm; move left 50 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 203 mm; move left 583 mm; move upward 45 mm; roll downward 2 degrees; pitch upward 27 degrees; yaw clockwise 46 degrees; open gripper;\nSubtask Movement: move backward 4 mm; move left 515 mm; move upward 40 mm; roll downward 67 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.02607142925262451, + 0.05000000074505806, + 0.0, + -0.1785714328289032, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.20250001549720764, + 0.5825001001358032, + 0.04535714536905289, + -0.042857199907302856, + 0.46571430563926697, + -0.800000011920929, + 1.0 + ], + "delta_full_state_norm": [ + 0.803751479135759, + 0.9999997307692727, + -0.5090254592150795, + -1.0, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move forward 26 mm; move left 50 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 203 mm; move left 583 mm; move upward 45 mm; roll downward 2 degrees; pitch upward 27 degrees; yaw clockwise 46 degrees; open gripper;", + "subtask_movement_text": "move backward 4 mm; move left 515 mm; move upward 40 mm; roll downward 67 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 257, + "segment_id": 10245, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 25 mm; move left 50 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 229 mm; move left 533 mm; move upward 45 mm; roll upward 8 degrees; pitch upward 27 degrees; yaw clockwise 46 degrees; open gripper;\nSubtask Movement: move backward 30 mm; move left 465 mm; move upward 40 mm; roll downward 57 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 45 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.024642856791615486, + 0.05000000074505806, + 0.0, + -0.1785714328289032, + 0.0, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + -0.22857144474983215, + 0.5325000882148743, + 0.04535714536905289, + 0.13571438193321228, + 0.46571430563926697, + -0.800000011920929, + 1.0 + ], + "delta_full_state_norm": [ + 0.7575754078431229, + 0.9999997307692727, + -0.5090254592150795, + -1.0, + 0.24044935825522806, + 0.4291938179081456, + 0.9999999900000001 + ], + "movement_text": "move forward 25 mm; move left 50 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 229 mm; move left 533 mm; move upward 45 mm; roll upward 8 degrees; pitch upward 27 degrees; yaw clockwise 46 degrees; open gripper;", + "subtask_movement_text": "move backward 30 mm; move left 465 mm; move upward 40 mm; roll downward 57 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 258, + "segment_id": 10245, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 22 mm; move left 50 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 253 mm; move left 483 mm; move upward 45 mm; roll upward 18 degrees; pitch upward 27 degrees; yaw clockwise 46 degrees; open gripper;\nSubtask Movement: move backward 54 mm; move left 415 mm; move upward 40 mm; roll downward 47 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 45 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.021785713732242584, + 0.05000000074505806, + 0.0, + -0.18285714089870453, + 0.0, + 0.017142856493592262, + 1.0 + ], + "delta_next_20": [ + -0.2532142996788025, + 0.4825000464916229, + 0.04535714536905289, + 0.3142857551574707, + 0.46571430563926697, + -0.8057143092155457, + 1.0 + ], + "delta_full_state_norm": [ + 0.6652233254645523, + 0.9999997307692727, + -0.5090254592150795, + -1.0, + 0.24044935825522806, + 0.5686273512803992, + 0.9999999900000001 + ], + "movement_text": "move forward 22 mm; move left 50 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 253 mm; move left 483 mm; move upward 45 mm; roll upward 18 degrees; pitch upward 27 degrees; yaw clockwise 46 degrees; open gripper;", + "subtask_movement_text": "move backward 54 mm; move left 415 mm; move upward 40 mm; roll downward 47 degrees; pitch upward 4 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 259, + "segment_id": 10245, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move left 50 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 275 mm; move left 432 mm; move upward 45 mm; roll upward 28 degrees; pitch upward 27 degrees; yaw clockwise 47 degrees; open gripper;\nSubtask Movement: move backward 76 mm; move left 365 mm; move upward 40 mm; roll downward 37 degrees; pitch upward 4 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 45 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.019285714253783226, + 0.05000000074505806, + 0.0, + -0.18000000715255737, + 0.0, + 0.02428571507334709, + 1.0 + ], + "delta_next_20": [ + -0.2750000059604645, + 0.4324999749660492, + 0.04535714536905289, + 0.4971429109573364, + 0.46571430563926697, + -0.822857141494751, + 1.0 + ], + "delta_full_state_norm": [ + 0.5844152759608159, + 0.9999997307692727, + -0.5090254592150795, + -1.0, + 0.24044935825522806, + 0.6557733316529797, + 0.9999999900000001 + ], + "movement_text": "move forward 19 mm; move left 50 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 275 mm; move left 432 mm; move upward 45 mm; roll upward 28 degrees; pitch upward 27 degrees; yaw clockwise 47 degrees; open gripper;", + "subtask_movement_text": "move backward 76 mm; move left 365 mm; move upward 40 mm; roll downward 37 degrees; pitch upward 4 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 260, + "segment_id": 10245, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move left 50 mm; move upward 1 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 294 mm; move left 383 mm; move upward 45 mm; roll upward 39 degrees; pitch upward 27 degrees; yaw clockwise 49 degrees; open gripper;\nSubtask Movement: move backward 95 mm; move left 315 mm; move upward 40 mm; roll downward 26 degrees; pitch upward 4 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 45 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.016428573057055473, + 0.05000000074505806, + 0.0010714286472648382, + -0.17428570985794067, + 0.0, + 0.027142856270074844, + 1.0 + ], + "delta_next_20": [ + -0.29428574442863464, + 0.382500022649765, + 0.04535714536905289, + 0.6771429181098938, + 0.46571430563926697, + -0.8471428751945496, + 1.0 + ], + "delta_full_state_norm": [ + 0.49206325378894644, + 0.9999997307692727, + -0.4223828898715922, + -0.97460312461639, + 0.24044935825522806, + 0.690631696531915, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move left 50 mm; move upward 1 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 294 mm; move left 383 mm; move upward 45 mm; roll upward 39 degrees; pitch upward 27 degrees; yaw clockwise 49 degrees; open gripper;", + "subtask_movement_text": "move backward 95 mm; move left 315 mm; move upward 40 mm; roll downward 26 degrees; pitch upward 4 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 261, + "segment_id": 10245, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move left 50 mm; move upward 3 mm; roll downward 9 degrees; pitch upward 0 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 311 mm; move left 333 mm; move upward 44 mm; roll upward 49 degrees; pitch upward 27 degrees; yaw clockwise 50 degrees; open gripper;\nSubtask Movement: move backward 112 mm; move left 265 mm; move upward 39 mm; roll downward 16 degrees; pitch upward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 45 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + 0.05000000074505806, + 0.002500000176951289, + -0.15857142210006714, + 0.0028571428265422583, + 0.02857142873108387, + 1.0 + ], + "delta_next_20": [ + -0.3107143044471741, + 0.33250001072883606, + 0.044285714626312256, + 0.8514286279678345, + 0.46571430563926697, + -0.8742856979370117, + 1.0 + ], + "delta_full_state_norm": [ + 0.3419910973462561, + 0.9999997307692727, + -0.30685946408027576, + -0.8814814248161644, + 0.27640441224508994, + 0.7080609016964634, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move left 50 mm; move upward 3 mm; roll downward 9 degrees; pitch upward 0 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 311 mm; move left 333 mm; move upward 44 mm; roll upward 49 degrees; pitch upward 27 degrees; yaw clockwise 50 degrees; open gripper;", + "subtask_movement_text": "move backward 112 mm; move left 265 mm; move upward 39 mm; roll downward 16 degrees; pitch upward 4 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 262, + "segment_id": 10245, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move left 50 mm; move upward 2 mm; roll downward 7 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 323 mm; move left 283 mm; move upward 42 mm; roll upward 58 degrees; pitch upward 27 degrees; yaw clockwise 52 degrees; open gripper;\nSubtask Movement: move backward 124 mm; move left 215 mm; move upward 37 mm; roll downward 7 degrees; pitch upward 4 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 44 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.005000000353902578, + 0.05000000074505806, + 0.0017857144121080637, + -0.12857143580913544, + 0.014285714365541935, + 0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + -0.3225000202655792, + 0.2825000584125519, + 0.04178571701049805, + 1.0099999904632568, + 0.4628571569919586, + -0.9028571248054504, + 1.0 + ], + "delta_full_state_norm": [ + 0.1226549092229885, + 0.9999997307692727, + -0.364621176975934, + -0.7037037386467556, + 0.4202246311345408, + 0.6209149440489636, + 0.9999999900000001 + ], + "movement_text": "move forward 5 mm; move left 50 mm; move upward 2 mm; roll downward 7 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 323 mm; move left 283 mm; move upward 42 mm; roll upward 58 degrees; pitch upward 27 degrees; yaw clockwise 52 degrees; open gripper;", + "subtask_movement_text": "move backward 124 mm; move left 215 mm; move upward 37 mm; roll downward 7 degrees; pitch upward 4 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 263, + "segment_id": 10245, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 44 mm; move upward 5 mm; roll downward 4 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 328 mm; move left 233 mm; move upward 40 mm; roll upward 65 degrees; pitch upward 26 degrees; yaw clockwise 53 degrees; open gripper;\nSubtask Movement: move backward 129 mm; move left 165 mm; move upward 35 mm; roll upward 0 degrees; pitch upward 3 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 44 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.044285714626312256, + 0.0053571430034935474, + -0.06428571790456772, + 0.017142856493592262, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.32750001549720764, + 0.23250006139278412, + 0.04000000283122063, + 1.1385713815689087, + 0.44857144355773926, + -0.9242857098579407, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + 0.8461535899180777, + -0.07581263132581717, + -0.3227513584695695, + 0.45617967633439216, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move left 44 mm; move upward 5 mm; roll downward 4 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 328 mm; move left 233 mm; move upward 40 mm; roll upward 65 degrees; pitch upward 26 degrees; yaw clockwise 53 degrees; open gripper;", + "subtask_movement_text": "move backward 129 mm; move left 165 mm; move upward 35 mm; roll upward 0 degrees; pitch upward 3 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 264, + "segment_id": 10245, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move left 33 mm; move upward 5 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 328 mm; move left 188 mm; move upward 35 mm; roll upward 69 degrees; pitch upward 25 degrees; yaw clockwise 53 degrees; open gripper;\nSubtask Movement: move backward 129 mm; move left 121 mm; move upward 30 mm; roll upward 4 degrees; pitch upward 2 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 44 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01607142947614193, + 0.03285714611411095, + 0.005000000353902578, + 0.0, + 0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.32750001549720764, + 0.18821430206298828, + 0.03464285656809807, + 1.2028571367263794, + 0.43142858147621155, + -0.9242857098579407, + 1.0 + ], + "delta_full_state_norm": [ + -0.5584416907931324, + 0.5384614085119495, + -0.10469346894547205, + 0.05820102170761654, + 0.38426957421467534, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 16 mm; move left 33 mm; move upward 5 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 328 mm; move left 188 mm; move upward 35 mm; roll upward 69 degrees; pitch upward 25 degrees; yaw clockwise 53 degrees; open gripper;", + "subtask_movement_text": "move backward 129 mm; move left 121 mm; move upward 30 mm; roll upward 4 degrees; pitch upward 2 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 265, + "segment_id": 10245, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 23 mm; move left 26 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 311 mm; move left 155 mm; move upward 30 mm; roll upward 69 degrees; pitch upward 24 degrees; yaw clockwise 53 degrees; open gripper;\nSubtask Movement: move backward 113 mm; move left 88 mm; move upward 25 mm; roll upward 4 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 45 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.022857142612338066, + 0.025714287534356117, + 0.007500000298023224, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.31142857670783997, + 0.15535716712474823, + 0.029642855748534203, + 1.2028571367263794, + 0.42000001668930054, + -0.9242857098579407, + 1.0 + ], + "delta_full_state_norm": [ + -0.7777778337613743, + 0.3461537073738905, + 0.09747250736115753, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 23 mm; move left 26 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 311 mm; move left 155 mm; move upward 30 mm; roll upward 69 degrees; pitch upward 24 degrees; yaw clockwise 53 degrees; open gripper;", + "subtask_movement_text": "move backward 113 mm; move left 88 mm; move upward 25 mm; roll upward 4 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 266, + "segment_id": 10245, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 28 mm; move left 24 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 289 mm; move left 130 mm; move upward 22 mm; roll upward 69 degrees; pitch upward 24 degrees; yaw clockwise 53 degrees; open gripper;\nSubtask Movement: move backward 90 mm; move left 62 mm; move upward 17 mm; roll upward 4 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 45 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.027500001713633537, + 0.023928571492433548, + 0.0057142856530845165, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.28857144713401794, + 0.12964287400245667, + 0.022142857313156128, + 1.2028571367263794, + 0.42000001668930054, + -0.9242857098579407, + 1.0 + ], + "delta_full_state_norm": [ + -0.9278500203074151, + 0.2980767444782775, + -0.046931793706162184, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 28 mm; move left 24 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 289 mm; move left 130 mm; move upward 22 mm; roll upward 69 degrees; pitch upward 24 degrees; yaw clockwise 53 degrees; open gripper;", + "subtask_movement_text": "move backward 90 mm; move left 62 mm; move upward 17 mm; roll upward 4 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 267, + "segment_id": 10245, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 30 mm; move left 22 mm; move upward 6 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 261 mm; move left 106 mm; move upward 16 mm; roll upward 69 degrees; pitch upward 24 degrees; yaw clockwise 53 degrees; open gripper;\nSubtask Movement: move backward 62 mm; move left 38 mm; move upward 11 mm; roll upward 4 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 45 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.030000001192092896, + 0.021785713732242584, + 0.0057142856530845165, + 0.0057142856530845165, + 0.0057142856530845165, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.26107144355773926, + 0.10571428388357162, + 0.016428573057055473, + 1.2028571367263794, + 0.42000001668930054, + -0.9242857098579407, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.24038442912204672, + -0.046931793706162184, + 0.0920634532322433, + 0.3123594662349518, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 30 mm; move left 22 mm; move upward 6 mm; roll upward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 261 mm; move left 106 mm; move upward 16 mm; roll upward 69 degrees; pitch upward 24 degrees; yaw clockwise 53 degrees; open gripper;", + "subtask_movement_text": "move backward 62 mm; move left 38 mm; move upward 11 mm; roll upward 4 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 268, + "segment_id": 10245, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 32 mm; move left 16 mm; move upward 6 mm; roll upward 4 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 231 mm; move left 84 mm; move upward 11 mm; roll upward 69 degrees; pitch upward 24 degrees; yaw clockwise 53 degrees; open gripper;\nSubtask Movement: move backward 32 mm; move left 16 mm; move upward 6 mm; roll upward 4 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03214285895228386, + 0.016428573057055473, + 0.0057142856530845165, + 0.06285714358091354, + 0.018571428954601288, + -0.03142857179045677, + 1.0 + ], + "delta_next_20": [ + -0.23107142746448517, + 0.08392857760190964, + 0.010714286006987095, + 1.1971429586410522, + 0.4142857491970062, + -0.9242857098579407, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.09615374102773133, + -0.046931793706162184, + 0.4306877767569326, + 0.4741572165143386, + -0.023965192537712232, + 0.9999999900000001 + ], + "movement_text": "move backward 32 mm; move left 16 mm; move upward 6 mm; roll upward 4 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 231 mm; move left 84 mm; move upward 11 mm; roll upward 69 degrees; pitch upward 24 degrees; yaw clockwise 53 degrees; open gripper;", + "subtask_movement_text": "move backward 32 mm; move left 16 mm; move upward 6 mm; roll upward 4 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 269, + "segment_id": 10245, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is retracted and moving upwards and away from the microwave interface, indicating a retreat action rather than an approach or interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 32 mm; move left 15 mm; move upward 4 mm; roll upward 6 degrees; pitch upward 2 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 199 mm; move left 68 mm; move upward 5 mm; roll upward 65 degrees; pitch upward 23 degrees; yaw clockwise 51 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.031785715371370316, + 0.015000000596046448, + 0.0035714288242161274, + 0.1071428582072258, + 0.034285712987184525, + -0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + -0.1989285796880722, + 0.06750000268220901, + 0.005000000353902578, + 1.1342856884002686, + 0.39571431279182434, + -0.8928571343421936, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.05769218074086724, + -0.22021689473678852, + 0.6931216259018693, + 0.6719099944135563, + -0.3202614758093082, + 0.9999999900000001 + ], + "movement_text": "move backward 32 mm; move left 15 mm; move upward 4 mm; roll upward 6 degrees; pitch upward 2 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 199 mm; move left 68 mm; move upward 5 mm; roll upward 65 degrees; pitch upward 23 degrees; yaw clockwise 51 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 270, + "segment_id": 245, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is visible at the bottom of the frame, having just released contact with the appliance. The arm is retracting and moving downward/away from the microwave interface, consistent with the completion of an interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is visible at the bottom of the frame, having just released contact with the appliance. The arm is retracting and moving downward/away from the microwave interface, consistent with the completion of an interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 30 mm; move left 13 mm; move upward 1 mm; roll upward 8 degrees; pitch upward 3 degrees; yaw clockwise 5 degrees; open gripper;\nNext 20 Movement: move backward 167 mm; move left 53 mm; move upward 1 mm; roll upward 59 degrees; pitch upward 21 degrees; yaw clockwise 48 degrees; open gripper;\nSubtask Movement: move backward 141 mm; move left 45 mm; move upward 1 mm; roll upward 48 degrees; pitch upward 17 degrees; yaw clockwise 38 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.029642855748534203, + 0.013214285485446453, + 0.0014285714132711291, + 0.13428571820259094, + 0.05000000074505806, + -0.07999999821186066, + 1.0 + ], + "delta_next_20": [ + -0.167142853140831, + 0.052500005811452866, + 0.0014285714132711291, + 1.027142882347107, + 0.3614285886287689, + -0.837142825126648, + 1.0 + ], + "delta_full_state_norm": [ + -0.9971139767296161, + 0.0096152429193197, + -0.3935020428378502, + 0.8539681942702964, + 0.8696628191928293, + -0.6165577136307429, + 0.9999999900000001 + ], + "movement_text": "move backward 30 mm; move left 13 mm; move upward 1 mm; roll upward 8 degrees; pitch upward 3 degrees; yaw clockwise 5 degrees; open gripper;", + "next_20_movement_text": "move backward 167 mm; move left 53 mm; move upward 1 mm; roll upward 59 degrees; pitch upward 21 degrees; yaw clockwise 48 degrees; open gripper;", + "subtask_movement_text": "move backward 141 mm; move left 45 mm; move upward 1 mm; roll upward 48 degrees; pitch upward 17 degrees; yaw clockwise 38 degrees; open gripper;" + }, + { + "frame_index": 271, + "segment_id": 245, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is visible at the bottom of the frame, having just released contact with the appliance. The arm is retracting and moving downward/away from the microwave interface, consistent with the completion of an interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is visible at the bottom of the frame, having just released contact with the appliance. The arm is retracting and moving downward/away from the microwave interface, consistent with the completion of an interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 30 mm; move left 10 mm; move downward 0 mm; roll upward 9 degrees; pitch upward 3 degrees; yaw clockwise 6 degrees; open gripper;\nNext 20 Movement: move backward 138 mm; move left 39 mm; move downward 0 mm; roll upward 51 degrees; pitch upward 18 degrees; yaw clockwise 43 degrees; open gripper;\nSubtask Movement: move backward 111 mm; move left 32 mm; move downward 0 mm; roll upward 40 degrees; pitch upward 14 degrees; yaw clockwise 33 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.029642855748534203, + 0.009642857126891613, + 0.0, + 0.15714286267757416, + 0.05999999865889549, + -0.10428571701049805, + 1.0 + ], + "delta_next_20": [ + -0.13750000298023224, + 0.03928571566939354, + 0.0, + 0.8928571939468384, + 0.31142857670783997, + -0.7571428418159485, + 1.0 + ], + "delta_full_state_norm": [ + -0.9971139767296161, + -0.0865385825756444, + -0.5090254592150795, + 0.9894179314066998, + 0.9955054832523162, + -0.9128540423525002, + 0.9999999900000001 + ], + "movement_text": "move backward 30 mm; move left 10 mm; move downward 0 mm; roll upward 9 degrees; pitch upward 3 degrees; yaw clockwise 6 degrees; open gripper;", + "next_20_movement_text": "move backward 138 mm; move left 39 mm; move downward 0 mm; roll upward 51 degrees; pitch upward 18 degrees; yaw clockwise 43 degrees; open gripper;", + "subtask_movement_text": "move backward 111 mm; move left 32 mm; move downward 0 mm; roll upward 40 degrees; pitch upward 14 degrees; yaw clockwise 33 degrees; open gripper;" + }, + { + "frame_index": 272, + "segment_id": 245, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is visible at the bottom of the frame, having just released contact with the appliance. The arm is retracting and moving downward/away from the microwave interface, consistent with the completion of an interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is visible at the bottom of the frame, having just released contact with the appliance. The arm is retracting and moving downward/away from the microwave interface, consistent with the completion of an interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 29 mm; move left 9 mm; move downward 0 mm; roll upward 9 degrees; pitch upward 4 degrees; yaw clockwise 8 degrees; open gripper;\nNext 20 Movement: move backward 108 mm; move left 30 mm; move downward 0 mm; roll upward 42 degrees; pitch upward 14 degrees; yaw clockwise 37 degrees; open gripper;\nSubtask Movement: move backward 82 mm; move left 22 mm; move downward 0 mm; roll upward 31 degrees; pitch upward 11 degrees; yaw clockwise 27 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02857143059372902, + 0.008571429178118706, + 0.0, + 0.16428571939468384, + 0.06142857298254967, + -0.13285714387893677, + 1.0 + ], + "delta_next_20": [ + -0.10785714536905289, + 0.029642855748534203, + 0.0, + 0.735714316368103, + 0.2514285743236542, + -0.6528571248054504, + 1.0 + ], + "delta_full_state_norm": [ + -0.9624820587252167, + -0.1153847151796944, + -0.5090254592150795, + 1.0, + 1.0, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 29 mm; move left 9 mm; move downward 0 mm; roll upward 9 degrees; pitch upward 4 degrees; yaw clockwise 8 degrees; open gripper;", + "next_20_movement_text": "move backward 108 mm; move left 30 mm; move downward 0 mm; roll upward 42 degrees; pitch upward 14 degrees; yaw clockwise 37 degrees; open gripper;", + "subtask_movement_text": "move backward 82 mm; move left 22 mm; move downward 0 mm; roll upward 31 degrees; pitch upward 11 degrees; yaw clockwise 27 degrees; open gripper;" + }, + { + "frame_index": 273, + "segment_id": 245, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is visible at the bottom of the frame, having just released contact with the appliance. The arm is retracting and moving downward/away from the microwave interface, consistent with the completion of an interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is visible at the bottom of the frame, having just released contact with the appliance. The arm is retracting and moving downward/away from the microwave interface, consistent with the completion of an interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 27 mm; move left 7 mm; move downward 0 mm; roll upward 11 degrees; pitch upward 4 degrees; yaw clockwise 9 degrees; open gripper;\nNext 20 Movement: move backward 79 mm; move left 21 mm; move downward 0 mm; roll upward 33 degrees; pitch upward 11 degrees; yaw clockwise 30 degrees; open gripper;\nSubtask Movement: move backward 53 mm; move left 14 mm; move downward 0 mm; roll upward 22 degrees; pitch upward 7 degrees; yaw clockwise 20 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.027142858132719994, + 0.006785714533179998, + 0.0, + 0.1842857152223587, + 0.06285714358091354, + -0.16571427881717682, + 1.0 + ], + "delta_next_20": [ + -0.07928571850061417, + 0.021071430295705795, + 0.0, + 0.5714285373687744, + 0.1899999976158142, + -0.5199999809265137, + 1.0 + ], + "delta_full_state_norm": [ + -0.9163059874325808, + -0.1634616404642092, + -0.5090254592150795, + 1.0, + 1.0, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 27 mm; move left 7 mm; move downward 0 mm; roll upward 11 degrees; pitch upward 4 degrees; yaw clockwise 9 degrees; open gripper;", + "next_20_movement_text": "move backward 79 mm; move left 21 mm; move downward 0 mm; roll upward 33 degrees; pitch upward 11 degrees; yaw clockwise 30 degrees; open gripper;", + "subtask_movement_text": "move backward 53 mm; move left 14 mm; move downward 0 mm; roll upward 22 degrees; pitch upward 7 degrees; yaw clockwise 20 degrees; open gripper;" + }, + { + "frame_index": 274, + "segment_id": 245, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is visible at the bottom of the frame, having just released contact with the appliance. The arm is retracting and moving downward/away from the microwave interface, consistent with the completion of an interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is visible at the bottom of the frame, having just released contact with the appliance. The arm is retracting and moving downward/away from the microwave interface, consistent with the completion of an interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 26 mm; move left 7 mm; move downward 0 mm; roll upward 11 degrees; pitch upward 4 degrees; yaw clockwise 10 degrees; open gripper;\nNext 20 Movement: move backward 52 mm; move left 14 mm; move downward 0 mm; roll upward 22 degrees; pitch upward 7 degrees; yaw clockwise 20 degrees; open gripper;\nSubtask Movement: move backward 26 mm; move left 7 mm; move downward 0 mm; roll upward 11 degrees; pitch upward 4 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02607142925262451, + 0.006785714533179998, + 0.0, + 0.19285714626312256, + 0.06428571790456772, + -0.17714285850524902, + 1.0 + ], + "delta_next_20": [ + -0.05214285850524902, + 0.01428571529686451, + 0.0, + 0.3871428668498993, + 0.12714286148548126, + -0.35428571701049805, + 1.0 + ], + "delta_full_state_norm": [ + -0.8816739490147792, + -0.1634616404642092, + -0.5090254592150795, + 1.0, + 1.0, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 26 mm; move left 7 mm; move downward 0 mm; roll upward 11 degrees; pitch upward 4 degrees; yaw clockwise 10 degrees; open gripper;", + "next_20_movement_text": "move backward 52 mm; move left 14 mm; move downward 0 mm; roll upward 22 degrees; pitch upward 7 degrees; yaw clockwise 20 degrees; open gripper;", + "subtask_movement_text": "move backward 26 mm; move left 7 mm; move downward 0 mm; roll upward 11 degrees; pitch upward 4 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 275, + "segment_id": 245, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is visible at the bottom of the frame, having just released contact with the appliance. The arm is retracting and moving downward/away from the microwave interface, consistent with the completion of an interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. press the stop button\n2. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is visible at the bottom of the frame, having just released contact with the appliance. The arm is retracting and moving downward/away from the microwave interface, consistent with the completion of an interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 26 mm; move left 8 mm; move downward 0 mm; roll upward 11 degrees; pitch upward 4 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.02607142925262451, + 0.007500000298023224, + 0.0, + 0.19428572058677673, + 0.06285714358091354, + -0.17714285850524902, + 1.0 + ], + "delta_full_state_norm": [ + -0.0389612349395102, + -0.3461539264564869, + -0.5090254592150795, + 0.05820102170761654, + 0.24044935825522806, + 0.3594770483813836, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 26 mm; move left 8 mm; move downward 0 mm; roll upward 11 degrees; pitch upward 4 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + } + ], + "all_object_names": [ + "obj_container", + "obj" + ], + "obj_cat": "obj_container", + "distr_cats": [ + "obj" + ], + "grounding_camera": "robot0_agentview_left", + "grounding_method": "self_render_selfconsistent" +} \ No newline at end of file diff --git a/grounding_cot/TurnOffMicrowave/extras/episode_000006/cot_annotations.json b/grounding_cot/TurnOffMicrowave/extras/episode_000006/cot_annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..a4353b8b4a4ca606447b743edd559ae0d63a6ba7 --- /dev/null +++ b/grounding_cot/TurnOffMicrowave/extras/episode_000006/cot_annotations.json @@ -0,0 +1,11285 @@ +{ + "sample_key": "TurnOffMicrowave|6", + "subtask_list": [ + "approach the microwave", + "reach for the stop button", + "press the stop button", + "move away from the microwave" + ], + "segment_labels_raw": { + "1": [ + "reach for the stop button", + "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact." + ], + "2": [ + "press the stop button", + "The robot's arm is positioned directly in front of the microwave control panel, with the end-effector aligned to the buttons, indicating it is performing the pressing action." + ], + "3": [ + "press the stop button", + "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm posture indicates a static hold consistent with pressing or holding down a button." + ], + "4": [ + "move away from the microwave", + "The robot arm has completed contact with the microwave and is retracting. The end-effector is moving upward and backward, clearing the appliance's surface, consistent with withdrawing after an interaction." + ], + "5": [ + "reach for the stop button", + "The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area." + ], + "6": [ + "press the stop button", + "The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button." + ], + "7": [ + "press the stop button", + "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button." + ], + "8": [ + "move away from the microwave", + "The robot's arm is retracted and moving downward, leaving the microwave area after the button interaction has been completed." + ], + "9": [ + "move away from the microwave", + "The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment." + ] + }, + "instruction": "press the stop button on the microwave", + "suite": "TurnOffMicrowave", + "num_frames": 233, + "segment_count": 9, + "movement_statistics": { + "mean": [ + -0.0001026977027482613, + -0.003615879944986324, + 0.003332311563446614, + -0.017866339672920433, + -0.027381974394840903, + 0.0012262416134144743, + 1.0 + ], + "std": [ + 0.014761982455012162, + 0.005747689095477488, + 0.009763942249143781, + 0.037246499749774495, + 0.04285453443798604, + 0.03486687185786087, + 0.0 + ], + "Q1": [ + -0.05000000074505806, + -0.018814285323023795, + -0.014300000071525574, + -0.11388571649789811, + -0.11714285612106323, + -0.09954285770654678, + 1.0 + ], + "Q99": [ + 0.027871428504586227, + 0.00512857155874372, + 0.029299999698996552, + 0.05679999932646758, + 0.05000000074505806, + 0.1243428581953049, + 1.0 + ] + }, + "frames": [ + { + "frame_index": 0, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 200 mm; move left 1 mm; move upward 357 mm; roll downward 0 degrees; pitch downward 43 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 383 mm; move left 1 mm; move upward 582 mm; roll downward 0 degrees; pitch downward 88 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 103 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.20035715401172638, + 0.0014285714132711291, + 0.35678574442863464, + 0.0, + -0.7571428418159485, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.5715983734053891, + -0.3276541449422785, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 200 mm; move left 1 mm; move upward 357 mm; roll downward 0 degrees; pitch downward 43 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 383 mm; move left 1 mm; move upward 582 mm; roll downward 0 degrees; pitch downward 88 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 1, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 221 mm; move left 1 mm; move upward 383 mm; roll downward 0 degrees; pitch downward 48 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 383 mm; move left 1 mm; move upward 582 mm; roll downward 0 degrees; pitch downward 88 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.004285714589059353, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.22142858803272247, + 0.0014285714132711291, + 0.382500022649765, + 0.0, + -0.8399999737739563, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.5715983734053891, + -0.14744447267758698, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 221 mm; move left 1 mm; move upward 383 mm; roll downward 0 degrees; pitch downward 48 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 383 mm; move left 1 mm; move upward 582 mm; roll downward 0 degrees; pitch downward 88 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 2, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move left 1 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 244 mm; move left 1 mm; move upward 405 mm; roll downward 0 degrees; pitch downward 53 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 383 mm; move left 1 mm; move upward 578 mm; roll downward 0 degrees; pitch downward 88 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0010714286472648382, + 0.0007142857066355646, + 0.007142857648432255, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.24392858147621155, + 0.0014285714132711291, + 0.4050000309944153, + 0.0, + -0.927142858505249, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.25665000080287403, + 0.6312642196186087, + -0.016382893819656963, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 1 mm; move left 1 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 244 mm; move left 1 mm; move upward 405 mm; roll downward 0 degrees; pitch downward 53 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 383 mm; move left 1 mm; move upward 578 mm; roll downward 0 degrees; pitch downward 88 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 3, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move left 0 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 266 mm; move left 1 mm; move upward 425 mm; roll downward 0 degrees; pitch downward 58 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 381 mm; move left 1 mm; move upward 571 mm; roll downward 0 degrees; pitch downward 88 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0007142857066355646, + 0.0003571428533177823, + 0.008214286528527737, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.26642856001853943, + 0.0007142857066355646, + 0.42500001192092896, + 0.0, + -1.01714289188385, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.26582263056471334, + 0.601431296511999, + 0.032765208932369116, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 1 mm; move left 0 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 266 mm; move left 1 mm; move upward 425 mm; roll downward 0 degrees; pitch downward 58 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 381 mm; move left 1 mm; move upward 571 mm; roll downward 0 degrees; pitch downward 88 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 4, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 2 mm; move left 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 289 mm; move left 0 mm; move upward 444 mm; roll downward 0 degrees; pitch downward 64 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 381 mm; move left 0 mm; move upward 562 mm; roll downward 0 degrees; pitch downward 88 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0021428572945296764, + 0.0003571428533177823, + 0.010357143357396126, + 0.0, + -0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.28857144713401794, + 0.0003571428533177823, + 0.44428572058677673, + 0.0, + -1.1142857074737549, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.22913211600226058, + 0.601431296511999, + 0.13106137171521182, + 0.334449215924308, + 0.3504272615840902, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 2 mm; move left 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 289 mm; move left 0 mm; move upward 444 mm; roll downward 0 degrees; pitch downward 64 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 381 mm; move left 0 mm; move upward 562 mm; roll downward 0 degrees; pitch downward 88 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 5, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 0 mm; move upward 12 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 309 mm; move right 0 mm; move upward 462 mm; roll downward 0 degrees; pitch downward 69 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 379 mm; move right 0 mm; move upward 552 mm; roll downward 0 degrees; pitch downward 88 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0039285714738070965, + 0.0, + 0.012142857536673546, + 0.0, + -0.012857142835855484, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3085714280605316, + 0.0, + 0.46214279532432556, + 0.0, + -1.2114286422729492, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.18326898064777764, + 0.5715983734053891, + 0.21297484782111575, + 0.334449215924308, + 0.24786316329896274, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 4 mm; move right 0 mm; move upward 12 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 309 mm; move right 0 mm; move upward 462 mm; roll downward 0 degrees; pitch downward 69 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 379 mm; move right 0 mm; move upward 552 mm; roll downward 0 degrees; pitch downward 88 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 6, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 328 mm; move right 0 mm; move upward 479 mm; roll downward 0 degrees; pitch downward 75 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 375 mm; move right 0 mm; move upward 540 mm; roll downward 0 degrees; pitch downward 87 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0053571430034935474, + 0.0, + 0.013928571715950966, + 0.0, + -0.017142856493592262, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.32750001549720764, + 0.0, + 0.4785713851451874, + 0.0, + -1.3028571605682373, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.14657846758029303, + 0.5715983734053891, + 0.2948883239270197, + 0.334449215924308, + 0.1965811225144216, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 5 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 328 mm; move right 0 mm; move upward 479 mm; roll downward 0 degrees; pitch downward 75 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 375 mm; move right 0 mm; move upward 540 mm; roll downward 0 degrees; pitch downward 87 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 7, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 345 mm; move right 0 mm; move upward 495 mm; roll downward 0 degrees; pitch downward 80 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 369 mm; move right 0 mm; move upward 526 mm; roll downward 0 degrees; pitch downward 86 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007857142947614193, + 0.0, + 0.016785714775323868, + 0.0, + -0.027142856270074844, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.34535714983940125, + 0.0, + 0.49535709619522095, + 0.0, + -1.3914287090301514, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.08237007569206778, + 0.5715983734053891, + 0.4259499027849496, + 0.334449215924308, + 0.07692301249178546, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 8 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 345 mm; move right 0 mm; move upward 495 mm; roll downward 0 degrees; pitch downward 80 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 369 mm; move right 0 mm; move upward 526 mm; roll downward 0 degrees; pitch downward 86 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 8, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 361 mm; move right 0 mm; move upward 509 mm; roll downward 0 degrees; pitch downward 84 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 361 mm; move right 0 mm; move upward 509 mm; roll downward 0 degrees; pitch downward 84 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008928571827709675, + 0.0, + 0.018571428954601288, + 0.0, + -0.034285712987184525, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3614285886287689, + 0.0, + 0.5092856287956238, + 0.0, + -1.4742857217788696, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.054852184911581725, + 0.5715983734053891, + 0.5078633788908533, + 0.334449215924308, + -0.008547062911803072, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 9 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 361 mm; move right 0 mm; move upward 509 mm; roll downward 0 degrees; pitch downward 84 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 361 mm; move right 0 mm; move upward 509 mm; roll downward 0 degrees; pitch downward 84 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 9, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 0 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 376 mm; move right 0 mm; move upward 520 mm; roll downward 0 degrees; pitch downward 89 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 353 mm; move right 0 mm; move upward 491 mm; roll downward 0 degrees; pitch downward 83 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.010714286006987095, + 0.0, + 0.022142857313156128, + 0.0, + -0.04285714402794838, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3757143020629883, + 0.0, + 0.520357072353363, + 0.0, + -1.5542856454849243, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.008989049557098783, + 0.5715983734053891, + 0.6716903311026612, + 0.334449215924308, + -0.11111118905700601, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 0 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 376 mm; move right 0 mm; move upward 520 mm; roll downward 0 degrees; pitch downward 89 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 353 mm; move right 0 mm; move upward 491 mm; roll downward 0 degrees; pitch downward 83 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 10, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 388 mm; move right 0 mm; move upward 527 mm; roll downward 0 degrees; pitch downward 93 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 342 mm; move right 0 mm; move upward 469 mm; roll downward 0 degrees; pitch downward 80 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011785714887082577, + 0.0, + 0.023571429774165154, + 0.0, + -0.04285714402794838, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3882143199443817, + 0.0, + 0.526785671710968, + 0.0, + -1.6257143020629883, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.018528841223387382, + 0.5715983734053891, + 0.7372211632528356, + 0.334449215924308, + -0.11111118905700601, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 12 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 388 mm; move right 0 mm; move upward 527 mm; roll downward 0 degrees; pitch downward 93 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 342 mm; move right 0 mm; move upward 469 mm; roll downward 0 degrees; pitch downward 80 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 11, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 400 mm; move right 0 mm; move upward 531 mm; roll downward 0 degrees; pitch downward 97 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 330 mm; move right 0 mm; move upward 445 mm; roll downward 0 degrees; pitch downward 78 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 98 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012500000186264515, + 0.0, + 0.023928571492433548, + 0.0, + -0.04571428522467613, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.40000006556510925, + 0.0, + 0.5310714244842529, + 0.0, + -1.6985715627670288, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.03687408579738438, + 0.5715983734053891, + 0.7536038072085651, + 0.334449215924308, + -0.14529920138799313, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 400 mm; move right 0 mm; move upward 531 mm; roll downward 0 degrees; pitch downward 97 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 330 mm; move right 0 mm; move upward 445 mm; roll downward 0 degrees; pitch downward 78 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 12, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 411 mm; move right 0 mm; move upward 535 mm; roll downward 0 degrees; pitch downward 101 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 318 mm; move right 0 mm; move upward 421 mm; roll downward 0 degrees; pitch downward 75 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 155, + 97 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013214285485446453, + 0.0, + 0.023571429774165154, + 0.0, + -0.051428571343421936, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.41107144951820374, + -0.0003571428533177823, + 0.5346428751945496, + 0.0, + -1.7700002193450928, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.05521933037138138, + 0.5715983734053891, + 0.7372211632528356, + 0.334449215924308, + -0.21367527062608815, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 411 mm; move right 0 mm; move upward 535 mm; roll downward 0 degrees; pitch downward 101 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 318 mm; move right 0 mm; move upward 421 mm; roll downward 0 degrees; pitch downward 75 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 13, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 420 mm; move right 2 mm; move upward 537 mm; roll downward 0 degrees; pitch downward 105 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 304 mm; move right 0 mm; move upward 398 mm; roll downward 0 degrees; pitch downward 72 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 155, + 96 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01428571529686451, + 0.0, + 0.023928571492433548, + 0.0, + -0.05428571254014969, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.42035719752311707, + -0.0021428572945296764, + 0.5371429324150085, + 0.0, + -1.8342857360839844, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.08273724507135793, + 0.5715983734053891, + 0.7536038072085651, + 0.334449215924308, + -0.24786328295707538, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 420 mm; move right 2 mm; move upward 537 mm; roll downward 0 degrees; pitch downward 105 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 304 mm; move right 0 mm; move upward 398 mm; roll downward 0 degrees; pitch downward 72 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 14, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 429 mm; move right 5 mm; move upward 539 mm; roll downward 0 degrees; pitch downward 109 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 290 mm; move right 0 mm; move upward 374 mm; roll downward 0 degrees; pitch downward 69 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 155, + 95 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.016428573057055473, + 0.0, + 0.02428571507334709, + 0.0, + -0.06142857298254967, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.42892858386039734, + -0.004642857238650322, + 0.5385714769363403, + 0.0, + -1.8985716104507446, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.13777302663232993, + 0.5715983734053891, + 0.7699865366067133, + 0.334449215924308, + -0.3333334029367846, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 429 mm; move right 5 mm; move upward 539 mm; roll downward 0 degrees; pitch downward 109 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 290 mm; move right 0 mm; move upward 374 mm; roll downward 0 degrees; pitch downward 69 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 15, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 435 mm; move right 9 mm; move upward 539 mm; roll downward 0 degrees; pitch downward 112 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 274 mm; move right 0 mm; move upward 349 mm; roll downward 0 degrees; pitch downward 65 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 156, + 94 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.016785714775323868, + 0.0, + 0.023928571492433548, + 0.0, + -0.0657142847776413, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4350000023841858, + -0.009285714477300644, + 0.5389286279678345, + -0.004285714123398066, + -1.9542858600616455, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.146945624999838, + 0.5715983734053891, + 0.7536038072085651, + 0.334449215924308, + -0.38461542143326544, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 17 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 435 mm; move right 9 mm; move upward 539 mm; roll downward 0 degrees; pitch downward 112 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 274 mm; move right 0 mm; move upward 349 mm; roll downward 0 degrees; pitch downward 65 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 16, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 440 mm; move right 15 mm; move upward 539 mm; roll downward 1 degrees; pitch downward 115 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 257 mm; move right 0 mm; move upward 325 mm; roll downward 0 degrees; pitch downward 62 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 93 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.016785714775323868, + 0.0, + 0.023928571492433548, + 0.0, + -0.06714285910129547, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4400000274181366, + -0.015357143245637417, + 0.5389286279678345, + -0.017142856493592262, + -2.0042855739593506, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.146945624999838, + 0.5715983734053891, + 0.7536038072085651, + 0.334449215924308, + -0.4017094721748796, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 17 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 440 mm; move right 15 mm; move upward 539 mm; roll downward 1 degrees; pitch downward 115 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 257 mm; move right 0 mm; move upward 325 mm; roll downward 0 degrees; pitch downward 62 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 17, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 18 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 445 mm; move right 22 mm; move upward 538 mm; roll downward 2 degrees; pitch downward 118 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 240 mm; move right 0 mm; move upward 301 mm; roll downward 0 degrees; pitch downward 58 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 92 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01785714365541935, + 0.0, + 0.02428571507334709, + 0.0, + -0.0714285746216774, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4446428716182709, + -0.021785715594887733, + 0.5378571152687073, + -0.03857142850756645, + -2.0557143688201904, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.17446351578032404, + 0.5715983734053891, + 0.7699865366067133, + 0.334449215924308, + -0.45299153524748104, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 18 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 445 mm; move right 22 mm; move upward 538 mm; roll downward 2 degrees; pitch downward 118 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 240 mm; move right 0 mm; move upward 301 mm; roll downward 0 degrees; pitch downward 58 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 18, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 0 mm; move upward 26 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 446 mm; move right 31 mm; move upward 534 mm; roll downward 4 degrees; pitch downward 120 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 222 mm; move right 0 mm; move upward 277 mm; roll downward 0 degrees; pitch downward 54 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 158, + 92 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.020000001415610313, + 0.0, + 0.025714287534356117, + 0.0, + -0.07857143133878708, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.44607144594192505, + -0.030714286491274834, + 0.5335714221000671, + -0.0714285671710968, + -2.101428508758545, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.22949929734129604, + 0.5715983734053891, + 0.8355173687568878, + 0.334449215924308, + -0.5384616106510698, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 20 mm; move right 0 mm; move upward 26 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 446 mm; move right 31 mm; move upward 534 mm; roll downward 4 degrees; pitch downward 120 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 222 mm; move right 0 mm; move upward 277 mm; roll downward 0 degrees; pitch downward 54 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 19, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 0 mm; move upward 26 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 444 mm; move right 41 mm; move upward 526 mm; roll downward 6 degrees; pitch downward 122 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 202 mm; move right 0 mm; move upward 251 mm; roll downward 0 degrees; pitch downward 49 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 158, + 91 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.020000001415610313, + 0.0, + 0.025714287534356117, + 0.0, + -0.07999999821186066, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4439285397529602, + -0.0414285734295845, + 0.5257142186164856, + -0.10857142508029938, + -2.1371426582336426, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.22949929734129604, + 0.5715983734053891, + 0.8355173687568878, + 0.334449215924308, + -0.5555555722404426, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 20 mm; move right 0 mm; move upward 26 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 444 mm; move right 41 mm; move upward 526 mm; roll downward 6 degrees; pitch downward 122 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 202 mm; move right 0 mm; move upward 251 mm; roll downward 0 degrees; pitch downward 49 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 20, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 0 mm; move upward 26 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 440 mm; move right 53 mm; move upward 516 mm; roll downward 9 degrees; pitch downward 124 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 182 mm; move right 0 mm; move upward 226 mm; roll downward 0 degrees; pitch downward 45 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 159, + 90 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.021071428433060646, + 0.0, + 0.02607142925262451, + 0.0, + -0.08285713940858841, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.43999990820884705, + -0.053214289247989655, + 0.5157142877578735, + -0.15142856538295746, + -2.1714284420013428, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.2570171402828011, + 0.5715983734053891, + 0.8519000127126173, + 0.334449215924308, + -0.5897435845714298, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 21 mm; move right 0 mm; move upward 26 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 440 mm; move right 53 mm; move upward 516 mm; roll downward 9 degrees; pitch downward 124 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 182 mm; move right 0 mm; move upward 226 mm; roll downward 0 degrees; pitch downward 45 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 21, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 0 mm; move upward 27 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 433 mm; move right 67 mm; move upward 504 mm; roll downward 12 degrees; pitch downward 126 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 161 mm; move right 0 mm; move upward 200 mm; roll downward 0 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 160, + 89 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.022499999031424522, + 0.0, + 0.02678571455180645, + 0.0, + -0.08714285492897034, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.43285703659057617, + -0.06678571552038193, + 0.5035713911056519, + -0.2028571367263794, + -2.1999998092651367, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.2937076294307952, + 0.5715983734053891, + 0.884665386066495, + 0.334449215924308, + -0.6410256476440312, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 0 mm; move upward 27 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 433 mm; move right 67 mm; move upward 504 mm; roll downward 12 degrees; pitch downward 126 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 161 mm; move right 0 mm; move upward 200 mm; roll downward 0 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 22, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 24 mm; move right 0 mm; move upward 27 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 422 mm; move right 83 mm; move upward 489 mm; roll downward 15 degrees; pitch downward 127 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 139 mm; move right 0 mm; move upward 173 mm; roll downward 0 degrees; pitch downward 35 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 161, + 88 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.023571429774165154, + 0.0, + 0.027142858132719994, + 0.0, + -0.09000000357627869, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4217856824398041, + -0.08250000327825546, + 0.48892852663993835, + -0.2628571391105652, + -2.2228567600250244, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.32122556805026214, + 0.5715983734053891, + 0.9010481154646435, + 0.334449215924308, + -0.6752137491272597, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 24 mm; move right 0 mm; move upward 27 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 422 mm; move right 83 mm; move upward 489 mm; roll downward 15 degrees; pitch downward 127 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 139 mm; move right 0 mm; move upward 173 mm; roll downward 0 degrees; pitch downward 35 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 23, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 23 mm; move right 0 mm; move upward 28 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 409 mm; move right 99 mm; move upward 472 mm; roll downward 19 degrees; pitch downward 128 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 115 mm; move right 0 mm; move upward 146 mm; roll downward 0 degrees; pitch downward 30 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 162, + 87 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.022857142612338066, + 0.0, + 0.027500001713633537, + 0.0, + -0.09714286029338837, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.40857139229774475, + -0.09857143461704254, + 0.47178563475608826, + -0.32999998331069946, + -2.239999771118164, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.30288027563728426, + 0.5715983734053891, + 0.9174308448627917, + 0.334449215924308, + -0.7606838245308484, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 23 mm; move right 0 mm; move upward 28 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 409 mm; move right 99 mm; move upward 472 mm; roll downward 19 degrees; pitch downward 128 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 115 mm; move right 0 mm; move upward 146 mm; roll downward 0 degrees; pitch downward 30 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 24, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 0 mm; move upward 28 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 394 mm; move right 115 mm; move upward 452 mm; roll downward 23 degrees; pitch downward 129 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 92 mm; move right 0 mm; move upward 118 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 163, + 86 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.022142857313156128, + 0.0, + 0.028214285150170326, + 0.0, + -0.1014285683631897, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.39428573846817017, + -0.11500000953674316, + 0.45249995589256287, + -0.40142855048179626, + -2.2485716342926025, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.28453503106328715, + 0.5715983734053891, + 0.9501961327742505, + 0.334449215924308, + -0.8119657984512085, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 0 mm; move upward 28 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 394 mm; move right 115 mm; move upward 452 mm; roll downward 23 degrees; pitch downward 129 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 92 mm; move right 0 mm; move upward 118 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 25, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 23 mm; move right 0 mm; move upward 29 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 380 mm; move right 131 mm; move upward 431 mm; roll downward 27 degrees; pitch downward 129 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 70 mm; move right 0 mm; move upward 90 mm; roll downward 0 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 163, + 85 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.022857142612338066, + 0.0, + 0.02857143059372902, + 0.0, + -0.10428571701049805, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.38035717606544495, + -0.1314285844564438, + 0.4314286410808563, + -0.4771428406238556, + -2.252857208251953, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.30288027563728426, + 0.5715983734053891, + 0.9665789476148179, + 0.334449215924308, + -0.846153899934437, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 23 mm; move right 0 mm; move upward 29 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 380 mm; move right 131 mm; move upward 431 mm; roll downward 27 degrees; pitch downward 129 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 70 mm; move right 0 mm; move upward 90 mm; roll downward 0 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 26, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 23 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 364 mm; move right 148 mm; move upward 408 mm; roll downward 32 degrees; pitch downward 129 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move backward 47 mm; move right 0 mm; move upward 61 mm; roll downward 0 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 164, + 84 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02321428619325161, + 0.0, + 0.030714286491274834, + 0.0, + -0.10571428388357162, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3639286160469055, + -0.14821429550647736, + 0.4082142412662506, + -0.5600000023841858, + -2.2514283657073975, + 0.0028571428265422583, + 1.0 + ], + "delta_full_state_norm": [ + -0.3120529218437732, + 0.5715983734053891, + 1.0, + 0.334449215924308, + -0.86324786152381, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 23 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 364 mm; move right 148 mm; move upward 408 mm; roll downward 32 degrees; pitch downward 129 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 47 mm; move right 0 mm; move upward 61 mm; roll downward 0 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 27, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 24 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 346 mm; move right 166 mm; move upward 381 mm; roll downward 37 degrees; pitch downward 129 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move backward 24 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 165, + 83 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.023928571492433548, + 0.0, + 0.030714286491274834, + 0.0, + -0.10999999940395355, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3457143008708954, + -0.165714293718338, + 0.3814285695552826, + -0.6428571343421936, + -2.245713949203491, + 0.00714285671710968, + 1.0 + ], + "delta_full_state_norm": [ + -0.3303981664177702, + 0.5715983734053891, + 1.0, + 0.334449215924308, + -0.9145299245964114, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 24 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 346 mm; move right 166 mm; move upward 381 mm; roll downward 37 degrees; pitch downward 129 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 24 mm; move right 0 mm; move upward 31 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 28, + "segment_id": 400, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly in front of the microwave control panel with its end-effector extended towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 23 mm; move right 0 mm; move upward 30 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 325 mm; move right 184 mm; move upward 352 mm; roll downward 42 degrees; pitch downward 128 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 166, + 81 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02321428619325161, + 0.0, + 0.029642855748534203, + 0.0, + -0.11428571492433548, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3253571689128876, + -0.1842857152223587, + 0.35249999165534973, + -0.727142870426178, + -2.2328574657440186, + 0.012857142835855484, + 1.0 + ], + "delta_full_state_norm": [ + -0.3120529218437732, + 0.5715983734053891, + 1.0, + 0.334449215924308, + -0.9658119876690128, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 23 mm; move right 0 mm; move upward 30 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 325 mm; move right 184 mm; move upward 352 mm; roll downward 42 degrees; pitch downward 128 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 29, + "segment_id": 10400, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, with the end-effector aligned to the buttons, indicating it is performing the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, with the end-effector aligned to the buttons, indicating it is performing the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 23 mm; move right 0 mm; move upward 29 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 304 mm; move right 203 mm; move upward 323 mm; roll downward 46 degrees; pitch downward 127 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 47 mm; move right 0 mm; move upward 56 mm; roll downward 0 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 167, + 80 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02321428619325161, + 0.0, + 0.02857143059372902, + 0.0, + -0.11428571492433548, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3039286136627197, + -0.2028571367263794, + 0.322857141494751, + -0.8100000023841858, + -2.2100000381469727, + 0.019999999552965164, + 1.0 + ], + "delta_full_state_norm": [ + -0.3120529218437732, + 0.5715983734053891, + 0.9665789476148179, + 0.334449215924308, + -0.9658119876690128, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 23 mm; move right 0 mm; move upward 29 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 304 mm; move right 203 mm; move upward 323 mm; roll downward 46 degrees; pitch downward 127 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 47 mm; move right 0 mm; move upward 56 mm; roll downward 0 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 30, + "segment_id": 10400, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, with the end-effector aligned to the buttons, indicating it is performing the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, with the end-effector aligned to the buttons, indicating it is performing the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 24 mm; move right 0 mm; move upward 28 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 281 mm; move right 222 mm; move upward 294 mm; roll downward 51 degrees; pitch downward 125 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 24 mm; move right 0 mm; move upward 28 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 168, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.023571429774165154, + 0.0, + 0.027857143431901932, + 0.0, + -0.11571428924798965, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2807143032550812, + -0.22178570926189423, + 0.29428571462631226, + -0.8899999856948853, + -2.1814286708831787, + 0.03285714238882065, + 1.0 + ], + "delta_full_state_norm": [ + -0.32122556805026214, + 0.5715983734053891, + 0.9338134888185212, + 0.334449215924308, + -0.9829060384106271, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 24 mm; move right 0 mm; move upward 28 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 281 mm; move right 222 mm; move upward 294 mm; roll downward 51 degrees; pitch downward 125 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 24 mm; move right 0 mm; move upward 28 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 31, + "segment_id": 10400, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, with the end-effector aligned to the buttons, indicating it is performing the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, with the end-effector aligned to the buttons, indicating it is performing the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 24 mm; move right 0 mm; move upward 28 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 257 mm; move right 241 mm; move upward 266 mm; roll downward 55 degrees; pitch downward 123 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 169, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.023571429774165154, + -0.0003571428533177823, + 0.027500001713633537, + 0.0, + -0.11714285612106323, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2571428716182709, + -0.24071429669857025, + 0.26642856001853943, + -0.9685714244842529, + -2.145714282989502, + 0.04999999701976776, + 1.0 + ], + "delta_full_state_norm": [ + -0.32122556805026214, + 0.5417654502987794, + 0.9174308448627917, + 0.334449215924308, + -1.0, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 24 mm; move right 0 mm; move upward 28 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 257 mm; move right 241 mm; move upward 266 mm; roll downward 55 degrees; pitch downward 123 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 32, + "segment_id": 10500, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm posture indicates a static hold consistent with pressing or holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm posture indicates a static hold consistent with pressing or holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 2 mm; move upward 26 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 234 mm; move right 259 mm; move upward 239 mm; roll downward 60 degrees; pitch downward 120 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move backward 111 mm; move right 21 mm; move upward 123 mm; roll downward 2 degrees; pitch downward 34 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 171, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.022499999031424522, + -0.0017857144121080637, + 0.02607142925262451, + 0.0, + -0.11571428924798965, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.23357143998146057, + -0.25928571820259094, + 0.23892855644226074, + -1.045714259147644, + -2.1028571128845215, + 0.07285714149475098, + 1.0 + ], + "delta_full_state_norm": [ + -0.2937076294307952, + 0.42243374571680725, + 0.8519000127126173, + 0.334449215924308, + -0.9829060384106271, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 2 mm; move upward 26 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 234 mm; move right 259 mm; move upward 239 mm; roll downward 60 degrees; pitch downward 120 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 111 mm; move right 21 mm; move upward 123 mm; roll downward 2 degrees; pitch downward 34 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 33, + "segment_id": 10500, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm posture indicates a static hold consistent with pressing or holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm posture indicates a static hold consistent with pressing or holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 23 mm; move right 3 mm; move upward 25 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 211 mm; move right 275 mm; move upward 213 mm; roll downward 64 degrees; pitch downward 118 degrees; yaw counterclockwise 6 degrees; open gripper;\nSubtask Movement: move backward 89 mm; move right 20 mm; move upward 97 mm; roll downward 2 degrees; pitch downward 27 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 172, + 75 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.022857142612338066, + -0.002500000176951289, + 0.025357142090797424, + 0.0, + -0.11857143044471741, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2110714167356491, + -0.2753571569919586, + 0.21285715699195862, + -1.1228570938110352, + -2.0585713386535645, + 0.09857142716646194, + 1.0 + ], + "delta_full_state_norm": [ + -0.30288027563728426, + 0.3627678946413746, + 0.8191345539163206, + 0.334449215924308, + -1.0, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 23 mm; move right 3 mm; move upward 25 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 211 mm; move right 275 mm; move upward 213 mm; roll downward 64 degrees; pitch downward 118 degrees; yaw counterclockwise 6 degrees; open gripper;", + "subtask_movement_text": "move backward 89 mm; move right 20 mm; move upward 97 mm; roll downward 2 degrees; pitch downward 27 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 34, + "segment_id": 10500, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm posture indicates a static hold consistent with pressing or holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm posture indicates a static hold consistent with pressing or holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 5 mm; move upward 25 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 188 mm; move right 288 mm; move upward 188 mm; roll downward 69 degrees; pitch downward 115 degrees; yaw counterclockwise 8 degrees; open gripper;\nSubtask Movement: move backward 66 mm; move right 17 mm; move upward 71 mm; roll downward 2 degrees; pitch downward 20 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 173, + 74 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.022499999031424522, + -0.004642857238650322, + 0.024642856791615486, + -0.004285714123398066, + -0.11714285612106323, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.1882142871618271, + -0.2882142961025238, + 0.1875, + -1.1957142353057861, + -2.0057144165039062, + 0.13285714387893677, + 1.0 + ], + "delta_full_state_norm": [ + -0.2937076294307952, + 0.18377036086392895, + 0.7863691805624429, + 0.28423161157925536, + -1.0, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 5 mm; move upward 25 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 188 mm; move right 288 mm; move upward 188 mm; roll downward 69 degrees; pitch downward 115 degrees; yaw counterclockwise 8 degrees; open gripper;", + "subtask_movement_text": "move backward 66 mm; move right 17 mm; move upward 71 mm; roll downward 2 degrees; pitch downward 20 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 35, + "segment_id": 10500, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm posture indicates a static hold consistent with pressing or holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm posture indicates a static hold consistent with pressing or holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 6 mm; move upward 24 mm; roll downward 1 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 166 mm; move right 300 mm; move upward 163 mm; roll downward 72 degrees; pitch downward 111 degrees; yaw counterclockwise 10 degrees; open gripper;\nSubtask Movement: move backward 43 mm; move right 13 mm; move upward 47 mm; roll downward 2 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 174, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.021785713732242584, + -0.006071428768336773, + 0.023928571492433548, + -0.012857142835855484, + -0.11571428924798965, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.165714293718338, + -0.2996428906917572, + 0.16285714507102966, + -1.2599999904632568, + -1.9442856311798096, + 0.17428570985794067, + 1.0 + ], + "delta_full_state_norm": [ + -0.2753623848567982, + 0.06443865871306342, + 0.7536038072085651, + 0.1837963974327912, + -0.9829060384106271, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 6 mm; move upward 24 mm; roll downward 1 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 166 mm; move right 300 mm; move upward 163 mm; roll downward 72 degrees; pitch downward 111 degrees; yaw counterclockwise 10 degrees; open gripper;", + "subtask_movement_text": "move backward 43 mm; move right 13 mm; move upward 47 mm; roll downward 2 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 36, + "segment_id": 10500, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm posture indicates a static hold consistent with pressing or holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm posture indicates a static hold consistent with pressing or holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 6 mm; move upward 23 mm; roll downward 1 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 144 mm; move right 310 mm; move upward 139 mm; roll downward 75 degrees; pitch downward 108 degrees; yaw counterclockwise 13 degrees; open gripper;\nSubtask Movement: move backward 21 mm; move right 6 mm; move upward 23 mm; roll downward 1 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 176, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02142857201397419, + -0.006428571883589029, + 0.022857142612338066, + -0.02142857201397419, + -0.11857143044471741, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.14392857253551483, + -0.30964288115501404, + 0.1389285773038864, + -1.3171429634094238, + -1.8771427869796753, + 0.2199999988079071, + 1.0 + ], + "delta_full_state_norm": [ + -0.26618978648929015, + 0.03460571372649457, + 0.7044557044565389, + 0.0833611778299681, + -1.0, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 21 mm; move right 6 mm; move upward 23 mm; roll downward 1 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 144 mm; move right 310 mm; move upward 139 mm; roll downward 75 degrees; pitch downward 108 degrees; yaw counterclockwise 13 degrees; open gripper;", + "subtask_movement_text": "move backward 21 mm; move right 6 mm; move upward 23 mm; roll downward 1 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 37, + "segment_id": 10500, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm posture indicates a static hold consistent with pressing or holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm posture indicates a static hold consistent with pressing or holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 19 mm; move right 9 mm; move upward 20 mm; roll downward 2 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 123 mm; move right 318 mm; move upward 115 mm; roll downward 78 degrees; pitch downward 103 degrees; yaw counterclockwise 16 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 177, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.019285714253783226, + -0.008928571827709675, + 0.020000001415610313, + -0.03285714238882065, + -0.11714285612106323, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.12250000238418579, + -0.3175000250339508, + 0.11464287340641022, + -1.3585715293884277, + -1.7999999523162842, + 0.272857129573822, + 1.0 + ], + "delta_full_state_norm": [ + -0.21115400492831804, + -0.1742247455886674, + 0.573394211041028, + -0.05055242648169367, + -1.0, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 19 mm; move right 9 mm; move upward 20 mm; roll downward 2 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 123 mm; move right 318 mm; move upward 115 mm; roll downward 78 degrees; pitch downward 103 degrees; yaw counterclockwise 16 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 38, + "segment_id": 10300, + "subtask": "reach for the stop button", + "reason": "The robot arm has completed contact with the microwave and is retracting. The end-effector is moving upward and backward, clearing the appliance's surface, consistent with withdrawing after an interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm has completed contact with the microwave and is retracting. The end-effector is moving upward and backward, clearing the appliance's surface, consistent with withdrawing after an interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 18 mm; move right 11 mm; move upward 18 mm; roll downward 2 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 103 mm; move right 321 mm; move upward 89 mm; roll downward 79 degrees; pitch downward 98 degrees; yaw counterclockwise 20 degrees; open gripper;\nSubtask Movement: move backward 98 mm; move right 135 mm; move upward 94 mm; roll downward 33 degrees; pitch downward 56 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 179, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01785714365541935, + -0.010714286006987095, + 0.01785714365541935, + -0.037142857909202576, + -0.11428571492433548, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.10321428626775742, + -0.3207142949104309, + 0.0892857238650322, + -1.3871428966522217, + -1.70714271068573, + 0.34285712242126465, + 1.0 + ], + "delta_full_state_norm": [ + -0.17446351578032404, + -0.3233893538283966, + 0.47509800553697557, + -0.10077004719582294, + -0.9658119876690128, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 18 mm; move right 11 mm; move upward 18 mm; roll downward 2 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 103 mm; move right 321 mm; move upward 89 mm; roll downward 79 degrees; pitch downward 98 degrees; yaw counterclockwise 20 degrees; open gripper;", + "subtask_movement_text": "move backward 98 mm; move right 135 mm; move upward 94 mm; roll downward 33 degrees; pitch downward 56 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 39, + "segment_id": 10300, + "subtask": "reach for the stop button", + "reason": "The robot arm has completed contact with the microwave and is retracting. The end-effector is moving upward and backward, clearing the appliance's surface, consistent with withdrawing after an interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm has completed contact with the microwave and is retracting. The end-effector is moving upward and backward, clearing the appliance's surface, consistent with withdrawing after an interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 12 mm; move upward 16 mm; roll downward 2 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 82 mm; move right 324 mm; move upward 63 mm; roll downward 81 degrees; pitch downward 92 degrees; yaw counterclockwise 24 degrees; open gripper;\nSubtask Movement: move backward 80 mm; move right 124 mm; move upward 76 mm; roll downward 31 degrees; pitch downward 49 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 181, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01607142947614193, + -0.011785714887082577, + 0.015714285895228386, + -0.04285714402794838, + -0.11428571492433548, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.08249999582767487, + -0.32357141375541687, + 0.06285714358091354, + -1.4157142639160156, + -1.6071428060531616, + 0.4228571057319641, + 1.0 + ], + "delta_full_state_norm": [ + -0.128600380425841, + -0.41288814989039835, + 0.37680180003292363, + -0.16772686026437167, + -0.9658119876690128, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 12 mm; move upward 16 mm; roll downward 2 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 82 mm; move right 324 mm; move upward 63 mm; roll downward 81 degrees; pitch downward 92 degrees; yaw counterclockwise 24 degrees; open gripper;", + "subtask_movement_text": "move backward 80 mm; move right 124 mm; move upward 76 mm; roll downward 31 degrees; pitch downward 49 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 40, + "segment_id": 10300, + "subtask": "reach for the stop button", + "reason": "The robot arm has completed contact with the microwave and is retracting. The end-effector is moving upward and backward, clearing the appliance's surface, consistent with withdrawing after an interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm has completed contact with the microwave and is retracting. The end-effector is moving upward and backward, clearing the appliance's surface, consistent with withdrawing after an interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 14 mm; move upward 14 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 62 mm; move right 325 mm; move upward 36 mm; roll downward 82 degrees; pitch downward 86 degrees; yaw counterclockwise 29 degrees; open gripper;\nSubtask Movement: move backward 64 mm; move right 113 mm; move upward 61 mm; roll downward 28 degrees; pitch downward 43 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 182, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013928571715950966, + -0.013571429066359997, + 0.013928571715950966, + -0.051428571343421936, + -0.11142857372760773, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.06214284896850586, + -0.3253571689128876, + 0.03607143089175224, + -1.4371428489685059, + -1.5000001192092896, + 0.5099999904632568, + 1.0 + ], + "delta_full_state_norm": [ + -0.07356459886486888, + -0.5620527581301276, + 0.2948883239270197, + -0.2681620580417592, + -0.9316239753380257, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 14 mm; move upward 14 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 62 mm; move right 325 mm; move upward 36 mm; roll downward 82 degrees; pitch downward 86 degrees; yaw counterclockwise 29 degrees; open gripper;", + "subtask_movement_text": "move backward 64 mm; move right 113 mm; move upward 61 mm; roll downward 28 degrees; pitch downward 43 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 41, + "segment_id": 10300, + "subtask": "reach for the stop button", + "reason": "The robot arm has completed contact with the microwave and is retracting. The end-effector is moving upward and backward, clearing the appliance's surface, consistent with withdrawing after an interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm has completed contact with the microwave and is retracting. The end-effector is moving upward and backward, clearing the appliance's surface, consistent with withdrawing after an interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 16 mm; move upward 12 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 43 mm; move right 326 mm; move upward 10 mm; roll downward 83 degrees; pitch downward 80 degrees; yaw counterclockwise 35 degrees; open gripper;\nSubtask Movement: move backward 50 mm; move right 99 mm; move upward 47 mm; roll downward 25 degrees; pitch downward 36 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 184, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011428571306169033, + -0.015714285895228386, + 0.012142857536673546, + -0.05999999865889549, + -0.10999999940395355, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.043214283883571625, + -0.32607144117355347, + 0.010357143357396126, + -1.4485714435577393, + -1.3899999856948853, + 0.6028571128845215, + 1.0 + ], + "delta_full_state_norm": [ + -0.009356195016898328, + -0.7410502724587207, + 0.21297484782111575, + -0.3685972558191467, + -0.9145299245964114, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 16 mm; move upward 12 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 43 mm; move right 326 mm; move upward 10 mm; roll downward 83 degrees; pitch downward 80 degrees; yaw counterclockwise 35 degrees; open gripper;", + "subtask_movement_text": "move backward 50 mm; move right 99 mm; move upward 47 mm; roll downward 25 degrees; pitch downward 36 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 42, + "segment_id": 10300, + "subtask": "reach for the stop button", + "reason": "The robot arm has completed contact with the microwave and is retracting. The end-effector is moving upward and backward, clearing the appliance's surface, consistent with withdrawing after an interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm has completed contact with the microwave and is retracting. The end-effector is moving upward and backward, clearing the appliance's surface, consistent with withdrawing after an interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 16 mm; move upward 10 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 25 mm; move right 324 mm; move downward 16 mm; roll downward 83 degrees; pitch downward 73 degrees; yaw counterclockwise 40 degrees; open gripper;\nSubtask Movement: move backward 39 mm; move right 83 mm; move upward 35 mm; roll downward 22 degrees; pitch downward 30 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 186, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.010357143357396126, + -0.01607142947614193, + 0.010000000707805157, + -0.06714285910129547, + -0.1071428582072258, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.02500000409781933, + -0.32428574562072754, + -0.016428573057055473, + -1.4514285326004028, + -1.2799999713897705, + 0.7042856812477112, + 1.0 + ], + "delta_full_state_norm": [ + 0.018161671844097116, + -0.7708832563429946, + 0.11467868503827305, + -0.4522933048929858, + -0.8803419122654241, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 10 mm; move right 16 mm; move upward 10 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 25 mm; move right 324 mm; move downward 16 mm; roll downward 83 degrees; pitch downward 73 degrees; yaw counterclockwise 40 degrees; open gripper;", + "subtask_movement_text": "move backward 39 mm; move right 83 mm; move upward 35 mm; roll downward 22 degrees; pitch downward 30 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 43, + "segment_id": 10300, + "subtask": "reach for the stop button", + "reason": "The robot arm has completed contact with the microwave and is retracting. The end-effector is moving upward and backward, clearing the appliance's surface, consistent with withdrawing after an interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm has completed contact with the microwave and is retracting. The end-effector is moving upward and backward, clearing the appliance's surface, consistent with withdrawing after an interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 16 mm; move upward 8 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 1 mm; move right 324 mm; move downward 41 mm; roll downward 81 degrees; pitch downward 67 degrees; yaw counterclockwise 47 degrees; open gripper;\nSubtask Movement: move backward 28 mm; move right 67 mm; move upward 25 mm; roll downward 18 degrees; pitch downward 24 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 188, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008571429178118706, + -0.016428573057055473, + 0.008214286528527737, + -0.0714285746216774, + -0.10571428388357162, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0007142826798371971, + -0.3239285945892334, + -0.04107142612338066, + -1.4199999570846558, + -1.1728571653366089, + 0.8257142305374146, + 1.0 + ], + "delta_full_state_norm": [ + 0.06402480719858028, + -0.8007162402272686, + 0.032765208932369116, + -0.5025109256071151, + -0.86324786152381, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 9 mm; move right 16 mm; move upward 8 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 1 mm; move right 324 mm; move downward 41 mm; roll downward 81 degrees; pitch downward 67 degrees; yaw counterclockwise 47 degrees; open gripper;", + "subtask_movement_text": "move backward 28 mm; move right 67 mm; move upward 25 mm; roll downward 18 degrees; pitch downward 24 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 44, + "segment_id": 10300, + "subtask": "reach for the stop button", + "reason": "The robot arm has completed contact with the microwave and is retracting. The end-effector is moving upward and backward, clearing the appliance's surface, consistent with withdrawing after an interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm has completed contact with the microwave and is retracting. The end-effector is moving upward and backward, clearing the appliance's surface, consistent with withdrawing after an interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 16 mm; move upward 7 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 27 mm; move right 322 mm; move downward 65 mm; roll downward 79 degrees; pitch downward 61 degrees; yaw counterclockwise 55 degrees; open gripper;\nSubtask Movement: move backward 20 mm; move right 51 mm; move upward 16 mm; roll downward 14 degrees; pitch downward 18 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 190, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008214286528527737, + -0.016428573057055473, + 0.007142857648432255, + -0.07571428269147873, + -0.10571428388357162, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.02749999798834324, + -0.3221428692340851, + -0.06464286148548126, + -1.382857084274292, + -1.0671428442001343, + 0.9542856812477112, + 1.0 + ], + "delta_full_state_norm": [ + 0.07319742948557884, + -0.8007162402272686, + -0.016382893819656963, + -0.5527284590195024, + -0.86324786152381, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 8 mm; move right 16 mm; move upward 7 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 27 mm; move right 322 mm; move downward 65 mm; roll downward 79 degrees; pitch downward 61 degrees; yaw counterclockwise 55 degrees; open gripper;", + "subtask_movement_text": "move backward 20 mm; move right 51 mm; move upward 16 mm; roll downward 14 degrees; pitch downward 18 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 45, + "segment_id": 10300, + "subtask": "reach for the stop button", + "reason": "The robot arm has completed contact with the microwave and is retracting. The end-effector is moving upward and backward, clearing the appliance's surface, consistent with withdrawing after an interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm has completed contact with the microwave and is retracting. The end-effector is moving upward and backward, clearing the appliance's surface, consistent with withdrawing after an interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 17 mm; move upward 5 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 52 mm; move right 320 mm; move downward 85 mm; roll downward 77 degrees; pitch downward 55 degrees; yaw counterclockwise 62 degrees; open gripper;\nSubtask Movement: move backward 11 mm; move right 34 mm; move upward 9 mm; roll downward 9 degrees; pitch downward 12 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 191, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006428571883589029, + -0.016785714775323868, + 0.0053571430034935474, + -0.08285713940858841, + -0.10285714268684387, + 0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.05178571492433548, + -0.3196428716182709, + -0.08535715192556381, + -1.338571310043335, + -0.9614286422729492, + 1.0828571319580078, + 1.0 + ], + "delta_full_state_norm": [ + 0.11906057679980697, + -0.8305490685207223, + -0.09829639128616552, + -0.6364244644424706, + -0.8290598491928227, + -0.08524761799258485, + -1.0 + ], + "movement_text": "move backward 6 mm; move right 17 mm; move upward 5 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 52 mm; move right 320 mm; move downward 85 mm; roll downward 77 degrees; pitch downward 55 degrees; yaw counterclockwise 62 degrees; open gripper;", + "subtask_movement_text": "move backward 11 mm; move right 34 mm; move upward 9 mm; roll downward 9 degrees; pitch downward 12 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 46, + "segment_id": 10300, + "subtask": "reach for the stop button", + "reason": "The robot arm has completed contact with the microwave and is retracting. The end-effector is moving upward and backward, clearing the appliance's surface, consistent with withdrawing after an interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm has completed contact with the microwave and is retracting. The end-effector is moving upward and backward, clearing the appliance's surface, consistent with withdrawing after an interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 18 mm; move upward 4 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 72 mm; move right 315 mm; move downward 103 mm; roll downward 74 degrees; pitch downward 49 degrees; yaw counterclockwise 69 degrees; open gripper;\nSubtask Movement: move backward 5 mm; move right 18 mm; move upward 4 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 193, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.005000000353902578, + -0.017500000074505806, + 0.0039285714738070965, + -0.08285713940858841, + -0.10000000149011612, + 0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.07178571075201035, + -0.31464287638664246, + -0.10285715013742447, + -1.295714259147644, + -0.8585715293884277, + 1.205714225769043, + 1.0 + ], + "delta_full_state_norm": [ + 0.15575108986729158, + -0.89021488069845, + -0.16382718071513058, + -0.6364244644424706, + -0.7948718368618356, + -0.07248600676345207, + -1.0 + ], + "movement_text": "move backward 5 mm; move right 18 mm; move upward 4 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 72 mm; move right 315 mm; move downward 103 mm; roll downward 74 degrees; pitch downward 49 degrees; yaw counterclockwise 69 degrees; open gripper;", + "subtask_movement_text": "move backward 5 mm; move right 18 mm; move upward 4 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 47, + "segment_id": 10300, + "subtask": "reach for the stop button", + "reason": "The robot arm has completed contact with the microwave and is retracting. The end-effector is moving upward and backward, clearing the appliance's surface, consistent with withdrawing after an interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm has completed contact with the microwave and is retracting. The end-effector is moving upward and backward, clearing the appliance's surface, consistent with withdrawing after an interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 19 mm; move upward 2 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 83 mm; move right 306 mm; move downward 113 mm; roll downward 73 degrees; pitch downward 43 degrees; yaw counterclockwise 75 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 195, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0035714288242161274, + -0.018571428954601288, + 0.0017857144121080637, + -0.08428571373224258, + -0.09714286029338837, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.08250000327825546, + -0.30571433901786804, + -0.1128571406006813, + -1.2714284658432007, + -0.758571445941925, + 1.3157142400741577, + 1.0 + ], + "delta_full_state_norm": [ + 0.1924416029347762, + -0.9797136767604516, + -0.2621233541782757, + -0.6531637004477608, + -0.7606838245308484, + -0.05972439345441316, + -1.0 + ], + "movement_text": "move backward 4 mm; move right 19 mm; move upward 2 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 83 mm; move right 306 mm; move downward 113 mm; roll downward 73 degrees; pitch downward 43 degrees; yaw counterclockwise 75 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 48, + "segment_id": 10200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 2 mm; move right 19 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 89 mm; move right 295 mm; move downward 117 mm; roll downward 72 degrees; pitch downward 38 degrees; yaw counterclockwise 81 degrees; open gripper;\nSubtask Movement: move forward 51 mm; move right 253 mm; move downward 83 mm; roll downward 61 degrees; pitch downward 38 degrees; yaw counterclockwise 54 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0017857144121080637, + -0.018571428954601288, + 0.0, + -0.08285713940858841, + -0.09142857044935226, + 0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.08892857283353806, + -0.2950000464916229, + -0.11678571999073029, + -1.2485713958740234, + -0.6614285707473755, + 1.4157142639160156, + 1.0 + ], + "delta_full_state_norm": [ + 0.23830474426913173, + -0.9797136767604516, + -0.34403684096448195, + -0.6364244644424706, + -0.6923077107166327, + -0.04696278014537425, + -1.0 + ], + "movement_text": "move backward 2 mm; move right 19 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 89 mm; move right 295 mm; move downward 117 mm; roll downward 72 degrees; pitch downward 38 degrees; yaw counterclockwise 81 degrees; open gripper;", + "subtask_movement_text": "move forward 51 mm; move right 253 mm; move downward 83 mm; roll downward 61 degrees; pitch downward 38 degrees; yaw counterclockwise 54 degrees; open gripper;" + }, + { + "frame_index": 49, + "segment_id": 10200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 19 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 91 mm; move right 283 mm; move downward 117 mm; roll downward 70 degrees; pitch downward 33 degrees; yaw counterclockwise 86 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move right 234 mm; move downward 83 mm; roll downward 56 degrees; pitch downward 33 degrees; yaw counterclockwise 54 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.018928570672869682, + 0.0, + -0.07999999821186066, + -0.08571428805589676, + 0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + 0.09071428328752518, + -0.2832143306732178, + -0.11678571999073029, + -1.2271428108215332, + -0.5771428346633911, + 1.5042858123779297, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + -1.0, + -0.34403684096448195, + -0.6029460797336317, + -0.6239316860546583, + 0.00408366893096912, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 19 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 91 mm; move right 283 mm; move downward 117 mm; roll downward 70 degrees; pitch downward 33 degrees; yaw counterclockwise 86 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move right 234 mm; move downward 83 mm; roll downward 56 degrees; pitch downward 33 degrees; yaw counterclockwise 54 degrees; open gripper;" + }, + { + "frame_index": 50, + "segment_id": 10200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 19 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 91 mm; move right 269 mm; move downward 117 mm; roll downward 70 degrees; pitch downward 29 degrees; yaw counterclockwise 90 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move right 215 mm; move downward 83 mm; roll downward 51 degrees; pitch downward 28 degrees; yaw counterclockwise 53 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.018928570672869682, + 0.0, + -0.07857143133878708, + -0.07999999821186066, + 0.017142856493592262, + 1.0 + ], + "delta_next_20": [ + 0.09071428328752518, + -0.26928576827049255, + -0.11678571999073029, + -1.2171428203582764, + -0.5114285945892334, + 1.5771429538726807, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + -1.0, + -0.34403684096448195, + -0.5862069310300833, + -0.5555555722404426, + 0.04236850053846131, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 19 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 91 mm; move right 269 mm; move downward 117 mm; roll downward 70 degrees; pitch downward 29 degrees; yaw counterclockwise 90 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move right 215 mm; move downward 83 mm; roll downward 51 degrees; pitch downward 28 degrees; yaw counterclockwise 53 degrees; open gripper;" + }, + { + "frame_index": 51, + "segment_id": 10200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 19 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 91 mm; move right 253 mm; move downward 117 mm; roll downward 70 degrees; pitch downward 26 degrees; yaw counterclockwise 94 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move right 196 mm; move downward 83 mm; roll downward 47 degrees; pitch downward 23 degrees; yaw counterclockwise 52 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.018928570672869682, + 0.0, + -0.0771428570151329, + -0.07428571581840515, + 0.022857142612338066, + 1.0 + ], + "delta_next_20": [ + 0.09071428328752518, + -0.25285714864730835, + -0.11678571999073029, + -1.2200000286102295, + -0.4585714638233185, + 1.6357144117355347, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + -1.0, + -0.34403684096448195, + -0.5694676950247928, + -0.48717954757846826, + 0.09341495377461673, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 19 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 91 mm; move right 253 mm; move downward 117 mm; roll downward 70 degrees; pitch downward 26 degrees; yaw counterclockwise 94 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move right 196 mm; move downward 83 mm; roll downward 47 degrees; pitch downward 23 degrees; yaw counterclockwise 52 degrees; open gripper;" + }, + { + "frame_index": 52, + "segment_id": 10200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 91 mm; move right 235 mm; move downward 117 mm; roll downward 71 degrees; pitch downward 24 degrees; yaw counterclockwise 96 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move right 178 mm; move downward 83 mm; roll downward 42 degrees; pitch downward 19 degrees; yaw counterclockwise 51 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01785714365541935, + 0.0, + -0.0771428570151329, + -0.0714285746216774, + 0.025714285671710968, + 1.0 + ], + "delta_next_20": [ + 0.09071428328752518, + -0.2353571504354477, + -0.11678571999073029, + -1.2357141971588135, + -0.4271428883075714, + 1.6728571653366089, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + -0.9200478645827239, + -0.34403684096448195, + -0.5694676950247928, + -0.45299153524748104, + 0.11893818039269455, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 91 mm; move right 235 mm; move downward 117 mm; roll downward 71 degrees; pitch downward 24 degrees; yaw counterclockwise 96 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move right 178 mm; move downward 83 mm; roll downward 42 degrees; pitch downward 19 degrees; yaw counterclockwise 51 degrees; open gripper;" + }, + { + "frame_index": 53, + "segment_id": 10200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 91 mm; move right 218 mm; move downward 117 mm; roll downward 72 degrees; pitch downward 23 degrees; yaw counterclockwise 97 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move right 160 mm; move downward 83 mm; roll downward 38 degrees; pitch downward 15 degrees; yaw counterclockwise 49 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.015357143245637417, + 0.0, + -0.07285714149475098, + -0.0657142847776413, + 0.034285712987184525, + 1.0 + ], + "delta_next_20": [ + 0.09071428328752518, + -0.2175000160932541, + -0.11678571999073029, + -1.2614284753799438, + -0.4085714519023895, + 1.6942857503890991, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + -0.7112173663698569, + -0.34403684096448195, + -0.5192500743106636, + -0.38461542143326544, + 0.19550784360767914, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 91 mm; move right 218 mm; move downward 117 mm; roll downward 72 degrees; pitch downward 23 degrees; yaw counterclockwise 97 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move right 160 mm; move downward 83 mm; roll downward 38 degrees; pitch downward 15 degrees; yaw counterclockwise 49 degrees; open gripper;" + }, + { + "frame_index": 54, + "segment_id": 10200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 16 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 3 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 91 mm; move right 202 mm; move downward 116 mm; roll downward 74 degrees; pitch downward 23 degrees; yaw counterclockwise 97 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move right 144 mm; move downward 83 mm; roll downward 34 degrees; pitch downward 11 degrees; yaw counterclockwise 47 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01607142947614193, + 0.0, + -0.06857142597436905, + -0.055714286863803864, + 0.041428569704294205, + 1.0 + ], + "delta_next_20": [ + 0.09071428328752518, + -0.2021428644657135, + -0.11642857640981674, + -1.297142744064331, + -0.4057142734527588, + 1.6957143545150757, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + -0.7708832563429946, + -0.34403684096448195, + -0.4690324535965342, + -0.26495733369868957, + 0.25931590183324915, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 16 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 3 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 91 mm; move right 202 mm; move downward 116 mm; roll downward 74 degrees; pitch downward 23 degrees; yaw counterclockwise 97 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move right 144 mm; move downward 83 mm; roll downward 34 degrees; pitch downward 11 degrees; yaw counterclockwise 47 degrees; open gripper;" + }, + { + "frame_index": 55, + "segment_id": 10200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 16 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 3 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 91 mm; move right 186 mm; move downward 116 mm; roll downward 77 degrees; pitch downward 24 degrees; yaw counterclockwise 96 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move right 128 mm; move downward 83 mm; roll downward 30 degrees; pitch downward 8 degrees; yaw counterclockwise 45 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01607142947614193, + 0.0, + -0.07000000029802322, + -0.04857143014669418, + 0.04571428522467613, + 1.0 + ], + "delta_next_20": [ + 0.09071428328752518, + -0.18607142567634583, + -0.11642857640981674, + -1.3385714292526245, + -0.41999998688697815, + 1.678571343421936, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + -0.7708832563429946, + -0.34403684096448195, + -0.4857716896018247, + -0.17948725829510104, + 0.2976007500799902, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 16 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 3 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 91 mm; move right 186 mm; move downward 116 mm; roll downward 77 degrees; pitch downward 24 degrees; yaw counterclockwise 96 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move right 128 mm; move downward 83 mm; roll downward 30 degrees; pitch downward 8 degrees; yaw counterclockwise 45 degrees; open gripper;" + }, + { + "frame_index": 56, + "segment_id": 10200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move downward 1 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 91 mm; move right 170 mm; move downward 116 mm; roll downward 79 degrees; pitch downward 26 degrees; yaw counterclockwise 94 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move right 112 mm; move downward 83 mm; roll downward 26 degrees; pitch downward 5 degrees; yaw counterclockwise 42 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01428571529686451, + -0.0014285714132711291, + -0.06285714358091354, + -0.041428569704294205, + 0.05285714194178581, + 1.0 + ], + "delta_next_20": [ + 0.09071428328752518, + -0.17000000178813934, + -0.11571428924798965, + -1.3857142925262451, + -0.44999998807907104, + 1.6385715007781982, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + -0.6217186481032654, + -0.4095676250532958, + -0.40207568417885653, + -0.09401713831539171, + 0.3614088083055602, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move downward 1 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 91 mm; move right 170 mm; move downward 116 mm; roll downward 79 degrees; pitch downward 26 degrees; yaw counterclockwise 94 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move right 112 mm; move downward 83 mm; roll downward 26 degrees; pitch downward 5 degrees; yaw counterclockwise 42 degrees; open gripper;" + }, + { + "frame_index": 57, + "segment_id": 10200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 12 mm; move downward 5 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 91 mm; move right 156 mm; move downward 114 mm; roll downward 82 degrees; pitch downward 28 degrees; yaw counterclockwise 91 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move right 98 mm; move downward 81 mm; roll downward 22 degrees; pitch downward 3 degrees; yaw counterclockwise 39 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.012142857536673546, + -0.0053571430034935474, + -0.06142857298254967, + -0.02428571507334709, + 0.07000000029802322, + 1.0 + ], + "delta_next_20": [ + 0.09071428328752518, + -0.15571428835391998, + -0.11428572237491608, + -1.4228571653366089, + -0.49142855405807495, + 1.585714340209961, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + -0.44272105597926215, + -0.5897772906427983, + -0.3853364918244372, + 0.11111102482277269, + 0.5145481680140267, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 12 mm; move downward 5 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 91 mm; move right 156 mm; move downward 114 mm; roll downward 82 degrees; pitch downward 28 degrees; yaw counterclockwise 91 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move right 98 mm; move downward 81 mm; roll downward 22 degrees; pitch downward 3 degrees; yaw counterclockwise 39 degrees; open gripper;" + }, + { + "frame_index": 58, + "segment_id": 10200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 14 mm; move downward 9 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 91 mm; move right 144 mm; move downward 109 mm; roll downward 83 degrees; pitch downward 32 degrees; yaw counterclockwise 87 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move right 86 mm; move downward 76 mm; roll downward 19 degrees; pitch downward 1 degrees; yaw counterclockwise 35 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0028571428265422583, + -0.013571429066359997, + -0.008571429178118706, + -0.0657142847776413, + -0.014285714365541935, + 0.07999999821186066, + 1.0 + ], + "delta_next_20": [ + 0.09071428328752518, + -0.1435714215040207, + -0.10892857611179352, + -1.457142949104309, + -0.5528571605682373, + 1.5157142877578735, + 1.0 + ], + "delta_full_state_norm": [ + 0.3575489057585839, + -0.5620527581301276, + -0.7372215775382719, + -0.43555406888769543, + 0.23076914598943898, + 0.6038794362184257, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 14 mm; move downward 9 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 91 mm; move right 144 mm; move downward 109 mm; roll downward 83 degrees; pitch downward 32 degrees; yaw counterclockwise 87 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move right 86 mm; move downward 76 mm; roll downward 19 degrees; pitch downward 1 degrees; yaw counterclockwise 35 degrees; open gripper;" + }, + { + "frame_index": 59, + "segment_id": 10200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 14 mm; move downward 11 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 88 mm; move right 131 mm; move downward 100 mm; roll downward 86 degrees; pitch downward 36 degrees; yaw counterclockwise 82 degrees; open gripper;\nSubtask Movement: move forward 50 mm; move right 72 mm; move downward 68 mm; roll downward 15 degrees; pitch downward 0 degrees; yaw counterclockwise 30 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004285714589059353, + -0.013571429066359997, + -0.011071428656578064, + -0.06428571790456772, + -0.0071428571827709675, + 0.08714285492897034, + 1.0 + ], + "delta_next_20": [ + 0.08785714954137802, + -0.1307142823934555, + -0.10035713762044907, + -1.4971429109573364, + -0.6271428465843201, + 1.4357142448425293, + 1.0 + ], + "delta_full_state_norm": [ + 0.3942394248059411, + -0.5620527581301276, + -0.8519004269980536, + -0.418814920184147, + 0.3162392269650427, + 0.6676874944439957, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 14 mm; move downward 11 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 88 mm; move right 131 mm; move downward 100 mm; roll downward 86 degrees; pitch downward 36 degrees; yaw counterclockwise 82 degrees; open gripper;", + "subtask_movement_text": "move forward 50 mm; move right 72 mm; move downward 68 mm; roll downward 15 degrees; pitch downward 0 degrees; yaw counterclockwise 30 degrees; open gripper;" + }, + { + "frame_index": 60, + "segment_id": 10200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 14 mm; move downward 12 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 84 mm; move right 120 mm; move downward 89 mm; roll downward 89 degrees; pitch downward 40 degrees; yaw counterclockwise 77 degrees; open gripper;\nSubtask Movement: move forward 45 mm; move right 59 mm; move downward 56 mm; roll downward 11 degrees; pitch downward 0 degrees; yaw counterclockwise 25 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.005000000353902578, + -0.01428571529686451, + -0.011785714887082577, + -0.06285714358091354, + -0.0014285714132711291, + 0.09285714477300644, + 1.0 + ], + "delta_next_20": [ + 0.0835714265704155, + -0.11964285373687744, + -0.0892857164144516, + -1.5499999523162842, + -0.7057142853736877, + 1.3485714197158813, + 1.0 + ], + "delta_full_state_norm": [ + 0.4125846813396834, + -0.6217186481032654, + -0.8846658430731408, + -0.40207568417885653, + 0.38461529202412637, + 0.7187339809586488, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 14 mm; move downward 12 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 84 mm; move right 120 mm; move downward 89 mm; roll downward 89 degrees; pitch downward 40 degrees; yaw counterclockwise 77 degrees; open gripper;", + "subtask_movement_text": "move forward 45 mm; move right 59 mm; move downward 56 mm; roll downward 11 degrees; pitch downward 0 degrees; yaw counterclockwise 25 degrees; open gripper;" + }, + { + "frame_index": 61, + "segment_id": 10200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 14 mm; move downward 15 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 79 mm; move right 108 mm; move downward 78 mm; roll downward 92 degrees; pitch downward 45 degrees; yaw counterclockwise 71 degrees; open gripper;\nSubtask Movement: move forward 40 mm; move right 44 mm; move downward 45 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw counterclockwise 20 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006785714533179998, + -0.013928571715950966, + -0.014642857015132904, + -0.06285714358091354, + 0.0, + 0.1014285683631897, + 1.0 + ], + "delta_next_20": [ + 0.07857143133878708, + -0.10821429640054703, + -0.07750000059604645, + -1.6028571128845215, + -0.7885714769363403, + 1.2314285039901733, + 1.0 + ], + "delta_full_state_norm": [ + 0.45844781669416634, + -0.5918856642189914, + -1.0, + -0.40207568417885653, + 0.4017093079406464, + 0.7953036108951357, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 14 mm; move downward 15 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 79 mm; move right 108 mm; move downward 78 mm; roll downward 92 degrees; pitch downward 45 degrees; yaw counterclockwise 71 degrees; open gripper;", + "subtask_movement_text": "move forward 40 mm; move right 44 mm; move downward 45 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw counterclockwise 20 degrees; open gripper;" + }, + { + "frame_index": 62, + "segment_id": 10200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 16 mm; move downward 15 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; open gripper;\nNext 20 Movement: move forward 72 mm; move right 97 mm; move downward 63 mm; roll downward 94 degrees; pitch downward 50 degrees; yaw counterclockwise 62 degrees; open gripper;\nSubtask Movement: move forward 34 mm; move right 30 mm; move downward 30 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw counterclockwise 14 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + -0.015714285895228386, + -0.014642857015132904, + -0.0357142873108387, + 0.0, + 0.12142857164144516, + 1.0 + ], + "delta_next_20": [ + 0.07178571075201035, + -0.09678571671247482, + -0.06285714358091354, + -1.645714282989502, + -0.8700000643730164, + 1.0771428346633911, + 1.0 + ], + "delta_full_state_norm": [ + 0.6785908831393284, + -0.7410502724587207, + -1.0, + -0.08403085484140349, + 0.4017093079406464, + 0.9739662138609289, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 16 mm; move downward 15 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; open gripper;", + "next_20_movement_text": "move forward 72 mm; move right 97 mm; move downward 63 mm; roll downward 94 degrees; pitch downward 50 degrees; yaw counterclockwise 62 degrees; open gripper;", + "subtask_movement_text": "move forward 34 mm; move right 30 mm; move downward 30 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw counterclockwise 14 degrees; open gripper;" + }, + { + "frame_index": 63, + "segment_id": 10200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 15 mm; move downward 15 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; open gripper;\nNext 20 Movement: move forward 56 mm; move right 84 mm; move downward 48 mm; roll downward 98 degrees; pitch downward 54 degrees; yaw counterclockwise 51 degrees; open gripper;\nSubtask Movement: move forward 18 mm; move right 15 mm; move downward 15 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018214285373687744, + -0.014642857015132904, + -0.015357143245637417, + -0.034285712987184525, + 0.0, + 0.12857143580913544, + 1.0 + ], + "delta_next_20": [ + 0.05642857030034065, + -0.08392857015132904, + -0.04821428656578064, + -1.7085715532302856, + -0.9500000476837158, + 0.8857142329216003, + 1.0 + ], + "delta_full_state_norm": [ + 0.751971885354807, + -0.6515514763967191, + -1.0, + -0.06729161883611312, + 0.4017093079406464, + 1.0, + -1.0 + ], + "movement_text": "move forward 18 mm; move right 15 mm; move downward 15 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; open gripper;", + "next_20_movement_text": "move forward 56 mm; move right 84 mm; move downward 48 mm; roll downward 98 degrees; pitch downward 54 degrees; yaw counterclockwise 51 degrees; open gripper;", + "subtask_movement_text": "move forward 18 mm; move right 15 mm; move downward 15 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 64, + "segment_id": 10200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave and appears to be extending towards the control panel, indicating a reaching motion toward the target area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 14 mm; move downward 14 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; open gripper;\nNext 20 Movement: move forward 38 mm; move right 71 mm; move downward 33 mm; roll downward 101 degrees; pitch downward 59 degrees; yaw counterclockwise 39 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01607142947614193, + -0.013928571715950966, + -0.013571429066359997, + -0.03142857179045677, + 0.0, + 0.12857143580913544, + 1.0 + ], + "delta_next_20": [ + 0.03821428492665291, + -0.07107142359018326, + -0.03285714611411095, + -1.76714289188385, + -1.0257142782211304, + 0.6742857098579407, + 1.0 + ], + "delta_full_state_norm": [ + 0.6969361516328159, + -0.5918856642189914, + -0.9665793191790446, + -0.03381323412727433, + 0.4017093079406464, + 1.0, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 14 mm; move downward 14 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; open gripper;", + "next_20_movement_text": "move forward 38 mm; move right 71 mm; move downward 33 mm; roll downward 101 degrees; pitch downward 59 degrees; yaw counterclockwise 39 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 65, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 12 mm; move downward 12 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; open gripper;\nNext 20 Movement: move forward 22 mm; move right 60 mm; move downward 19 mm; roll downward 104 degrees; pitch downward 63 degrees; yaw counterclockwise 26 degrees; open gripper;\nSubtask Movement: move forward 22 mm; move right 60 mm; move downward 19 mm; roll downward 104 degrees; pitch downward 63 degrees; yaw counterclockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013571429066359997, + -0.011785714887082577, + -0.012142857536673546, + -0.03999999910593033, + 0.0, + 0.1257142871618271, + 1.0 + ], + "delta_next_20": [ + 0.022142857313156128, + -0.06035714969038963, + -0.019285714253783226, + -1.821428656578064, + -1.0971428155899048, + 0.4500000476837158, + 1.0 + ], + "delta_full_state_norm": [ + 0.6327277477848454, + -0.41288814989039835, + -0.9010485297500797, + -0.13424843190466185, + 0.4017093079406464, + 1.0, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 12 mm; move downward 12 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; open gripper;", + "next_20_movement_text": "move forward 22 mm; move right 60 mm; move downward 19 mm; roll downward 104 degrees; pitch downward 63 degrees; yaw counterclockwise 26 degrees; open gripper;", + "subtask_movement_text": "move forward 22 mm; move right 60 mm; move downward 19 mm; roll downward 104 degrees; pitch downward 63 degrees; yaw counterclockwise 26 degrees; open gripper;" + }, + { + "frame_index": 66, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 9 mm; move downward 6 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; open gripper;\nNext 20 Movement: move forward 9 mm; move right 51 mm; move downward 7 mm; roll downward 107 degrees; pitch downward 67 degrees; yaw counterclockwise 13 degrees; open gripper;\nSubtask Movement: move forward 9 mm; move right 49 mm; move downward 7 mm; roll downward 102 degrees; pitch downward 63 degrees; yaw counterclockwise 19 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0057142856530845165, + -0.008571429178118706, + -0.006071428768336773, + -0.058571428060531616, + 0.0, + 0.11428571492433548, + 1.0 + ], + "delta_next_20": [ + 0.008571429178118706, + -0.05107143148779869, + -0.007142857648432255, + -1.8628572225570679, + -1.164285659790039, + 0.22285717725753784, + 1.0 + ], + "delta_full_state_norm": [ + 0.4309299259136805, + -0.1443918394998036, + -0.6225426853572809, + -0.35185806346472726, + 0.4017093079406464, + 0.9101581556353588, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 9 mm; move downward 6 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 7 degrees; open gripper;", + "next_20_movement_text": "move forward 9 mm; move right 51 mm; move downward 7 mm; roll downward 107 degrees; pitch downward 67 degrees; yaw counterclockwise 13 degrees; open gripper;", + "subtask_movement_text": "move forward 9 mm; move right 49 mm; move downward 7 mm; roll downward 102 degrees; pitch downward 63 degrees; yaw counterclockwise 19 degrees; open gripper;" + }, + { + "frame_index": 67, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 8 mm; move downward 2 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 3 mm; move right 46 mm; move downward 1 mm; roll downward 108 degrees; pitch downward 70 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 3 mm; move right 40 mm; move downward 1 mm; roll downward 99 degrees; pitch downward 63 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0028571428265422583, + -0.007857142947614193, + -0.0021428572945296764, + -0.06142857298254967, + 0.0, + 0.10571428388357162, + 1.0 + ], + "delta_next_20": [ + 0.0028571428265422583, + -0.04571428522467613, + -0.00107142876368016, + -1.8842859268188477, + -1.2285714149475098, + 0.007142916321754456, + 1.0 + ], + "delta_full_state_norm": [ + 0.3575489057585839, + -0.08472594952666579, + -0.4423330251079294, + -0.3853364918244372, + 0.4017093079406464, + 0.8335884591418767, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 8 mm; move downward 2 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 3 mm; move right 46 mm; move downward 1 mm; roll downward 108 degrees; pitch downward 70 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 3 mm; move right 40 mm; move downward 1 mm; roll downward 99 degrees; pitch downward 63 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 68, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 7 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 41 mm; move upward 1 mm; roll downward 109 degrees; pitch downward 74 degrees; yaw clockwise 11 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 32 mm; move upward 1 mm; roll downward 95 degrees; pitch downward 63 degrees; yaw counterclockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.006785714533179998, + 0.0, + -0.06142857298254967, + -0.0071428571827709675, + 0.09571428596973419, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.04107142612338066, + 0.0010714286472648382, + -1.9014285802841187, + -1.291428565979004, + -0.1985713541507721, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.0047728076376307715, + -0.34403684096448195, + -0.3853364918244372, + 0.3162392269650427, + 0.7442571909374778, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 7 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 41 mm; move upward 1 mm; roll downward 109 degrees; pitch downward 74 degrees; yaw clockwise 11 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 32 mm; move upward 1 mm; roll downward 95 degrees; pitch downward 63 degrees; yaw counterclockwise 6 degrees; open gripper;" + }, + { + "frame_index": 69, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 5 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 38 mm; move upward 1 mm; roll downward 110 degrees; pitch downward 77 degrees; yaw clockwise 23 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 25 mm; move upward 1 mm; roll downward 92 degrees; pitch downward 62 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.005000000353902578, + 0.0, + -0.07000000029802322, + -0.019999999552965164, + 0.08571428805589676, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.03821428865194321, + 0.0010714286472648382, + -1.9214285612106323, + -1.3442856073379517, + -0.39285707473754883, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.1539374158773601, + -0.34403684096448195, + -0.4857716896018247, + 0.1623930878953741, + 0.6549259227330788, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 5 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 38 mm; move upward 1 mm; roll downward 110 degrees; pitch downward 77 degrees; yaw clockwise 23 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 25 mm; move upward 1 mm; roll downward 92 degrees; pitch downward 62 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 70, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 37 mm; move upward 1 mm; roll downward 111 degrees; pitch downward 79 degrees; yaw clockwise 33 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 20 mm; move upward 1 mm; roll downward 88 degrees; pitch downward 61 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.002500000176951289, + 0.0, + -0.08142857253551483, + -0.027142856270074844, + 0.07571428269147873, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.037142857909202576, + 0.0010714286472648382, + -1.9314286708831787, + -1.3842856884002686, + -0.5742857456207275, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.3627678946413746, + -0.34403684096448195, + -0.619685315738922, + 0.07692301249178546, + 0.5655945879716846, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 37 mm; move upward 1 mm; roll downward 111 degrees; pitch downward 79 degrees; yaw clockwise 33 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 20 mm; move upward 1 mm; roll downward 88 degrees; pitch downward 61 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 71, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 1 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 39 mm; move upward 1 mm; roll downward 111 degrees; pitch downward 81 degrees; yaw clockwise 43 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 18 mm; move upward 1 mm; roll downward 83 degrees; pitch downward 60 degrees; yaw clockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0014285714132711291, + 0.0, + -0.09285714477300644, + -0.04285714402794838, + 0.05999999865889549, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.038928575813770294, + 0.0010714286472648382, + -1.9300000667572021, + -1.4171427488327026, + -0.7428570985794067, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.45226668097894995, + -0.34403684096448195, + -0.7535989418760194, + -0.11111118905700601, + 0.4252168665311302, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 1 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 39 mm; move upward 1 mm; roll downward 111 degrees; pitch downward 81 degrees; yaw clockwise 43 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 18 mm; move upward 1 mm; roll downward 83 degrees; pitch downward 60 degrees; yaw clockwise 9 degrees; open gripper;" + }, + { + "frame_index": 72, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 3 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 1 mm; move right 41 mm; move upward 1 mm; roll downward 110 degrees; pitch downward 82 degrees; yaw clockwise 51 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 16 mm; move upward 1 mm; roll downward 78 degrees; pitch downward 57 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.10285714268684387, + -0.05285714194178581, + 0.04714285582304001, + 1.0 + ], + "delta_next_20": [ + 0.0010714286472648382, + -0.04107143357396126, + 0.0010714286472648382, + -1.9171429872512817, + -1.4342855215072632, + -0.891428530216217, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.5715983734053891, + -0.34403684096448195, + -0.8707733320078264, + -0.23076927679158177, + 0.31036235506940457, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 3 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 1 mm; move right 41 mm; move upward 1 mm; roll downward 110 degrees; pitch downward 82 degrees; yaw clockwise 51 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 16 mm; move upward 1 mm; roll downward 78 degrees; pitch downward 57 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 73, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 3 mm; move right 43 mm; move upward 1 mm; roll downward 108 degrees; pitch downward 83 degrees; yaw clockwise 59 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 16 mm; move upward 1 mm; roll downward 72 degrees; pitch downward 54 degrees; yaw clockwise 15 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0003571428533177823, + -0.10857142508029938, + -0.06285714358091354, + 0.0357142873108387, + 1.0 + ], + "delta_next_20": [ + 0.0032142859417945147, + -0.04285714775323868, + 0.0010714286472648382, + -1.892857313156128, + -1.4414284229278564, + -1.0214285850524902, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.5715983734053891, + -0.3276541449422785, + -0.9377301014255042, + -0.3504274091022782, + 0.20826948187559124, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 3 mm; move right 43 mm; move upward 1 mm; roll downward 108 degrees; pitch downward 83 degrees; yaw clockwise 59 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 16 mm; move upward 1 mm; roll downward 72 degrees; pitch downward 54 degrees; yaw clockwise 15 degrees; open gripper;" + }, + { + "frame_index": 74, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 6 mm; move right 43 mm; move upward 1 mm; roll downward 106 degrees; pitch downward 82 degrees; yaw clockwise 65 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 16 mm; move upward 1 mm; roll downward 66 degrees; pitch downward 51 degrees; yaw clockwise 17 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.10999999940395355, + -0.07000000029802322, + 0.02428571507334709, + 1.0 + ], + "delta_next_20": [ + 0.005714286118745804, + -0.04285714775323868, + 0.0007142857066355646, + -1.8571430444717407, + -1.4371426105499268, + -1.1299999952316284, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.5715983734053891, + -0.34403684096448195, + -0.9544693374307945, + -0.43589748450586685, + 0.10617657540328018, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 6 mm; move right 43 mm; move upward 1 mm; roll downward 106 degrees; pitch downward 82 degrees; yaw clockwise 65 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 16 mm; move upward 1 mm; roll downward 66 degrees; pitch downward 51 degrees; yaw clockwise 17 degrees; open gripper;" + }, + { + "frame_index": 75, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 1 mm; roll downward 7 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 8 mm; move right 43 mm; move upward 1 mm; roll downward 104 degrees; pitch downward 82 degrees; yaw clockwise 70 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 16 mm; move upward 1 mm; roll downward 59 degrees; pitch downward 47 degrees; yaw clockwise 18 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0007142857066355646, + -0.11714285612106323, + -0.07857143133878708, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.007857142947614193, + -0.04285714775323868, + 0.0007142857066355646, + -1.8114286661148071, + -1.428571105003357, + -1.218571424484253, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.5715983734053891, + -0.3112714489200751, + -1.0, + -0.5384616106510698, + -0.05972439345441316, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 1 mm; roll downward 7 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 8 mm; move right 43 mm; move upward 1 mm; roll downward 104 degrees; pitch downward 82 degrees; yaw clockwise 70 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 16 mm; move upward 1 mm; roll downward 59 degrees; pitch downward 47 degrees; yaw clockwise 18 degrees; open gripper;" + }, + { + "frame_index": 76, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 11 mm; move right 43 mm; move downward 0 mm; roll downward 100 degrees; pitch downward 81 degrees; yaw clockwise 73 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 16 mm; move downward 0 mm; roll downward 53 degrees; pitch downward 42 degrees; yaw clockwise 19 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.10000000149011612, + -0.08285713940858841, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.011071428656578064, + -0.04285714775323868, + 0.0, + -1.747143030166626, + -1.4114283323287964, + -1.2799999713897705, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.5715983734053891, + -0.34403684096448195, + -0.8372949472989876, + -0.5897435845714298, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 11 mm; move right 43 mm; move downward 0 mm; roll downward 100 degrees; pitch downward 81 degrees; yaw clockwise 73 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 16 mm; move downward 0 mm; roll downward 53 degrees; pitch downward 42 degrees; yaw clockwise 19 degrees; open gripper;" + }, + { + "frame_index": 77, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 15 mm; move right 43 mm; move downward 0 mm; roll downward 97 degrees; pitch downward 80 degrees; yaw clockwise 76 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 16 mm; move downward 0 mm; roll downward 47 degrees; pitch downward 37 degrees; yaw clockwise 19 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.09571428596973419, + -0.08571428805589676, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.014642857015132904, + -0.04285714775323868, + 0.0, + -1.6985714435577393, + -1.3914283514022827, + -1.3271428346633911, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.5715983734053891, + -0.34403684096448195, + -0.7870773265848583, + -0.6239316860546583, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 15 mm; move right 43 mm; move downward 0 mm; roll downward 97 degrees; pitch downward 80 degrees; yaw clockwise 76 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 16 mm; move downward 0 mm; roll downward 47 degrees; pitch downward 37 degrees; yaw clockwise 19 degrees; open gripper;" + }, + { + "frame_index": 78, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 1 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 19 mm; move right 43 mm; move downward 0 mm; roll downward 95 degrees; pitch downward 78 degrees; yaw clockwise 78 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 16 mm; move downward 0 mm; roll downward 41 degrees; pitch downward 32 degrees; yaw clockwise 19 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0007142857066355646, + 0.0, + -0.10571428388357162, + -0.08857142925262451, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.018571428954601288, + -0.04285714775323868, + 0.0, + -1.6500002145767212, + -1.3685712814331055, + -1.3671427965164185, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.5119325271921695, + -0.34403684096448195, + -0.9042517167166653, + -0.6581196983856455, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 1 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 19 mm; move right 43 mm; move downward 0 mm; roll downward 95 degrees; pitch downward 78 degrees; yaw clockwise 78 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 16 mm; move downward 0 mm; roll downward 41 degrees; pitch downward 32 degrees; yaw clockwise 19 degrees; open gripper;" + }, + { + "frame_index": 79, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 23 mm; move right 42 mm; move downward 0 mm; roll downward 91 degrees; pitch downward 77 degrees; yaw clockwise 80 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 16 mm; move downward 0 mm; roll downward 35 degrees; pitch downward 27 degrees; yaw clockwise 19 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.002500000176951289, + 0.0, + -0.11714285612106323, + -0.08571428805589676, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.022857142612338066, + -0.04214286059141159, + 0.0, + -1.5900001525878906, + -1.3428571224212646, + -1.4028570652008057, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.3627678946413746, + -0.34403684096448195, + -1.0, + -0.6239316860546583, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 23 mm; move right 42 mm; move downward 0 mm; roll downward 91 degrees; pitch downward 77 degrees; yaw clockwise 80 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 16 mm; move downward 0 mm; roll downward 35 degrees; pitch downward 27 degrees; yaw clockwise 19 degrees; open gripper;" + }, + { + "frame_index": 80, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 5 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 28 mm; move right 40 mm; move downward 0 mm; roll downward 87 degrees; pitch downward 76 degrees; yaw clockwise 82 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 29 degrees; pitch downward 23 degrees; yaw clockwise 19 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0028571428265422583, + 0.0, + -0.11571428924798965, + -0.08428571373224258, + -0.02428571507334709, + 1.0 + ], + "delta_next_20": [ + 0.027857143431901932, + -0.04035714641213417, + 0.0, + -1.5157142877578735, + -1.3214285373687744, + -1.4357142448425293, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.3329349885525108, + -0.34403684096448195, + -1.0, + -0.606837635313044, + -0.32771826046479313, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 5 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 28 mm; move right 40 mm; move downward 0 mm; roll downward 87 degrees; pitch downward 76 degrees; yaw clockwise 82 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 29 degrees; pitch downward 23 degrees; yaw clockwise 19 degrees; open gripper;" + }, + { + "frame_index": 81, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 5 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 34 mm; move right 39 mm; move downward 0 mm; roll downward 83 degrees; pitch downward 75 degrees; yaw clockwise 83 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 10 mm; move downward 0 mm; roll downward 22 degrees; pitch downward 18 degrees; yaw clockwise 17 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.002500000176951289, + 0.0, + -0.10571428388357162, + -0.08142857253551483, + -0.05285714194178581, + 1.0 + ], + "delta_next_20": [ + 0.033571429550647736, + -0.038928575813770294, + 0.0, + -1.4428571462631226, + -1.3014286756515503, + -1.4428571462631226, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.3627678946413746, + -0.34403684096448195, + -0.9042517167166653, + -0.5726496229820569, + -0.5829504933670732, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 5 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 34 mm; move right 39 mm; move downward 0 mm; roll downward 83 degrees; pitch downward 75 degrees; yaw clockwise 83 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 10 mm; move downward 0 mm; roll downward 22 degrees; pitch downward 18 degrees; yaw clockwise 17 degrees; open gripper;" + }, + { + "frame_index": 82, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 5 degrees; yaw clockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 40 mm; move right 38 mm; move downward 0 mm; roll downward 79 degrees; pitch downward 73 degrees; yaw clockwise 81 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 8 mm; move downward 0 mm; roll downward 16 degrees; pitch downward 13 degrees; yaw clockwise 14 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0028571428265422583, + 0.0, + -0.09857142716646194, + -0.07999999821186066, + -0.07000000029802322, + 1.0 + ], + "delta_next_20": [ + 0.039642855525016785, + -0.038214292377233505, + 0.0, + -1.3714284896850586, + -1.2799999713897705, + -1.4157142639160156, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.3329349885525108, + -0.34403684096448195, + -0.8205557112936972, + -0.5555555722404426, + -0.7360898530755398, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 5 degrees; yaw clockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 40 mm; move right 38 mm; move downward 0 mm; roll downward 79 degrees; pitch downward 73 degrees; yaw clockwise 81 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 8 mm; move downward 0 mm; roll downward 16 degrees; pitch downward 13 degrees; yaw clockwise 14 degrees; open gripper;" + }, + { + "frame_index": 83, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 2 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 45 mm; move right 38 mm; move downward 0 mm; roll downward 75 degrees; pitch downward 72 degrees; yaw clockwise 78 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 5 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 8 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0017857144121080637, + 0.0, + -0.09285714477300644, + -0.07571428269147873, + -0.08285713940858841, + 1.0 + ], + "delta_next_20": [ + 0.04535714164376259, + -0.038214292377233505, + 0.0, + -1.3014285564422607, + -1.2585715055465698, + -1.3671427965164185, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.42243374571680725, + -0.34403684096448195, + -0.7535989418760194, + -0.5042735091678412, + -0.8509443312587677, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 2 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 45 mm; move right 38 mm; move downward 0 mm; roll downward 75 degrees; pitch downward 72 degrees; yaw clockwise 78 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 5 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 8 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 84, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 50 mm; move right 40 mm; move downward 0 mm; roll downward 70 degrees; pitch downward 71 degrees; yaw clockwise 75 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0032142859417945147, + 0.0, + -0.08571428805589676, + -0.0714285746216774, + -0.09571428596973419, + 1.0 + ], + "delta_next_20": [ + 0.050357140600681305, + -0.03964285925030708, + 0.0, + -1.2271428108215332, + -1.2399998903274536, + -1.3028570413589478, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.30310204356594195, + -0.34403684096448195, + -0.6699029364530513, + -0.45299153524748104, + -0.9657988759989908, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 50 mm; move right 40 mm; move downward 0 mm; roll downward 70 degrees; pitch downward 71 degrees; yaw clockwise 75 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 85, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel with a static pose, indicating the execution phase of pressing the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 53 mm; move right 39 mm; move downward 0 mm; roll downward 65 degrees; pitch downward 70 degrees; yaw clockwise 70 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.002500000176951289, + 0.0, + -0.08142857253551483, + -0.06714285910129547, + -0.1014285683631897, + 1.0 + ], + "delta_next_20": [ + 0.05321428179740906, + -0.03928571566939354, + 0.0, + -1.1414284706115723, + -1.2214285135269165, + -1.2142856121063232, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.3627678946413746, + -0.34403684096448195, + -0.619685315738922, + -0.4017094721748796, + -1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 53 mm; move right 39 mm; move downward 0 mm; roll downward 65 degrees; pitch downward 70 degrees; yaw clockwise 70 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 86, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 53 mm; move right 42 mm; move downward 0 mm; roll downward 61 degrees; pitch downward 68 degrees; yaw clockwise 64 degrees; open gripper;\nSubtask Movement: move forward 881 mm; move right 342 mm; move downward 47 mm; roll downward 42 degrees; pitch downward 45 degrees; yaw clockwise 66 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0032142859417945147, + 0.0, + -0.07999999821186066, + -0.06428571790456772, + -0.1014285683631897, + 1.0 + ], + "delta_next_20": [ + 0.05321428179740906, + -0.04178571328520775, + 0.0, + -1.059999942779541, + -1.191428542137146, + -1.1128571033477783, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.30310204356594195, + -0.34403684096448195, + -0.6029460797336317, + -0.3675214598438925, + -1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 53 mm; move right 42 mm; move downward 0 mm; roll downward 61 degrees; pitch downward 68 degrees; yaw clockwise 64 degrees; open gripper;", + "subtask_movement_text": "move forward 881 mm; move right 342 mm; move downward 47 mm; roll downward 42 degrees; pitch downward 45 degrees; yaw clockwise 66 degrees; open gripper;" + }, + { + "frame_index": 87, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 53 mm; move right 43 mm; move downward 0 mm; roll downward 56 degrees; pitch downward 66 degrees; yaw clockwise 58 degrees; open gripper;\nSubtask Movement: move forward 881 mm; move right 339 mm; move downward 47 mm; roll downward 37 degrees; pitch downward 41 degrees; yaw clockwise 60 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0032142859417945147, + 0.0, + -0.07857143133878708, + -0.06285714358091354, + -0.10000000149011612, + 1.0 + ], + "delta_next_20": [ + 0.05321428179740906, + -0.04321428760886192, + 0.0, + -0.9800000190734863, + -1.1600000858306885, + -1.0114285945892334, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.30310204356594195, + -0.34403684096448195, + -0.5862069310300833, + -0.3504274091022782, + -1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 3 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 53 mm; move right 43 mm; move downward 0 mm; roll downward 56 degrees; pitch downward 66 degrees; yaw clockwise 58 degrees; open gripper;", + "subtask_movement_text": "move forward 881 mm; move right 339 mm; move downward 47 mm; roll downward 37 degrees; pitch downward 41 degrees; yaw clockwise 60 degrees; open gripper;" + }, + { + "frame_index": 88, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 4 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 6 degrees; open gripper;\nNext 20 Movement: move forward 53 mm; move right 44 mm; move downward 0 mm; roll downward 52 degrees; pitch downward 64 degrees; yaw clockwise 52 degrees; open gripper;\nSubtask Movement: move forward 881 mm; move right 335 mm; move downward 47 mm; roll downward 33 degrees; pitch downward 38 degrees; yaw clockwise 54 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0039285714738070965, + 0.0, + -0.08142857253551483, + -0.05999999865889549, + -0.09857142716646194, + 1.0 + ], + "delta_next_20": [ + 0.05321428179740906, + -0.044285714626312256, + 0.0, + -0.9014286398887634, + -1.1228572130203247, + -0.9114285707473755, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.2434362119393616, + -0.34403684096448195, + -0.619685315738922, + -0.3162393521951704, + -0.9913220859778198, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 4 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 6 degrees; open gripper;", + "next_20_movement_text": "move forward 53 mm; move right 44 mm; move downward 0 mm; roll downward 52 degrees; pitch downward 64 degrees; yaw clockwise 52 degrees; open gripper;", + "subtask_movement_text": "move forward 881 mm; move right 335 mm; move downward 47 mm; roll downward 33 degrees; pitch downward 38 degrees; yaw clockwise 54 degrees; open gripper;" + }, + { + "frame_index": 89, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 4 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 53 mm; move right 46 mm; move downward 0 mm; roll downward 47 degrees; pitch downward 62 degrees; yaw clockwise 47 degrees; open gripper;\nSubtask Movement: move forward 881 mm; move right 331 mm; move downward 47 mm; roll downward 28 degrees; pitch downward 34 degrees; yaw clockwise 48 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0039285714738070965, + 0.0, + -0.07999999821186066, + -0.05999999865889549, + -0.09571428596973419, + 1.0 + ], + "delta_next_20": [ + 0.05321428179740906, + -0.04571428894996643, + 0.0, + -0.8200000524520874, + -1.0828571319580078, + -0.8128571510314941, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.2434362119393616, + -0.34403684096448195, + -0.6029460797336317, + -0.3162393521951704, + -0.9657988759989908, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 4 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 53 mm; move right 46 mm; move downward 0 mm; roll downward 47 degrees; pitch downward 62 degrees; yaw clockwise 47 degrees; open gripper;", + "subtask_movement_text": "move forward 881 mm; move right 331 mm; move downward 47 mm; roll downward 28 degrees; pitch downward 34 degrees; yaw clockwise 48 degrees; open gripper;" + }, + { + "frame_index": 90, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 4 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 53 mm; move right 47 mm; move downward 0 mm; roll downward 42 degrees; pitch downward 59 degrees; yaw clockwise 41 degrees; open gripper;\nSubtask Movement: move forward 881 mm; move right 328 mm; move downward 47 mm; roll downward 24 degrees; pitch downward 31 degrees; yaw clockwise 43 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.004285714589059353, + 0.0, + -0.07999999821186066, + -0.05999999865889549, + -0.09285714477300644, + 1.0 + ], + "delta_next_20": [ + 0.05321428179740906, + -0.04749999940395355, + 0.0, + -0.7400000691413879, + -1.0342857837677002, + -0.7171428203582764, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.21360326695279275, + -0.34403684096448195, + -0.6029460797336317, + -0.3162393521951704, + -0.9402756660201619, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 4 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 53 mm; move right 47 mm; move downward 0 mm; roll downward 42 degrees; pitch downward 59 degrees; yaw clockwise 41 degrees; open gripper;", + "subtask_movement_text": "move forward 881 mm; move right 328 mm; move downward 47 mm; roll downward 24 degrees; pitch downward 31 degrees; yaw clockwise 43 degrees; open gripper;" + }, + { + "frame_index": 91, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 4 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 53 mm; move right 52 mm; move downward 0 mm; roll downward 38 degrees; pitch downward 56 degrees; yaw clockwise 36 degrees; open gripper;\nSubtask Movement: move forward 881 mm; move right 323 mm; move downward 47 mm; roll downward 19 degrees; pitch downward 28 degrees; yaw clockwise 38 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0010714286472648382, + -0.0035714288242161274, + 0.0, + -0.07999999821186066, + -0.05999999865889549, + -0.08857142925262451, + 1.0 + ], + "delta_next_20": [ + 0.05321428179740906, + -0.05214285850524902, + 0.0, + -0.6585714817047119, + -0.9742857813835144, + -0.6242856979370117, + 1.0 + ], + "delta_full_state_norm": [ + 0.31168577040410095, + 0.2732691180282254, + -0.34403684096448195, + -0.6029460797336317, + -0.3162393521951704, + -0.9019908177734208, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 4 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 53 mm; move right 52 mm; move downward 0 mm; roll downward 38 degrees; pitch downward 56 degrees; yaw clockwise 36 degrees; open gripper;", + "subtask_movement_text": "move forward 881 mm; move right 323 mm; move downward 47 mm; roll downward 19 degrees; pitch downward 28 degrees; yaw clockwise 38 degrees; open gripper;" + }, + { + "frame_index": 92, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 2 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 5 degrees; open gripper;\nNext 20 Movement: move forward 52 mm; move right 58 mm; move downward 0 mm; roll downward 33 degrees; pitch downward 52 degrees; yaw clockwise 31 degrees; open gripper;\nSubtask Movement: move forward 880 mm; move right 320 mm; move downward 47 mm; roll downward 15 degrees; pitch downward 24 degrees; yaw clockwise 33 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0021428572945296764, + -0.0017857144121080637, + 0.0, + -0.07857143133878708, + -0.05999999865889549, + -0.08285713940858841, + 1.0 + ], + "delta_next_20": [ + 0.05214285850524902, + -0.05821428820490837, + 0.0, + -0.5771428942680359, + -0.9142857193946838, + -0.5357142686843872, + 1.0 + ], + "delta_full_state_norm": [ + 0.3392036552047144, + 0.42243374571680725, + -0.34403684096448195, + -0.5862069310300833, + -0.3162393521951704, + -0.8509443312587677, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 2 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 5 degrees; open gripper;", + "next_20_movement_text": "move forward 52 mm; move right 58 mm; move downward 0 mm; roll downward 33 degrees; pitch downward 52 degrees; yaw clockwise 31 degrees; open gripper;", + "subtask_movement_text": "move forward 880 mm; move right 320 mm; move downward 47 mm; roll downward 15 degrees; pitch downward 24 degrees; yaw clockwise 33 degrees; open gripper;" + }, + { + "frame_index": 93, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 3 degrees; yaw clockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 50 mm; move right 66 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 49 degrees; yaw clockwise 26 degrees; open gripper;\nSubtask Movement: move forward 878 mm; move right 318 mm; move downward 47 mm; roll downward 10 degrees; pitch downward 21 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.002500000176951289, + 0.0, + 0.0, + -0.07285714149475098, + -0.058571428060531616, + -0.07285714149475098, + 1.0 + ], + "delta_next_20": [ + 0.05000000074505806, + -0.06642857939004898, + 0.0, + -0.4942857623100281, + -0.8542857766151428, + -0.45285719633102417, + 1.0 + ], + "delta_full_state_norm": [ + 0.34837628347158534, + 0.5715983734053891, + -0.34403684096448195, + -0.5192500743106636, + -0.2991453460296768, + -0.7616130630543687, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 3 degrees; yaw clockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 50 mm; move right 66 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 49 degrees; yaw clockwise 26 degrees; open gripper;", + "subtask_movement_text": "move forward 878 mm; move right 318 mm; move downward 47 mm; roll downward 10 degrees; pitch downward 21 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 94, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw clockwise 4 degrees; open gripper;\nNext 20 Movement: move forward 47 mm; move right 77 mm; move downward 0 mm; roll downward 24 degrees; pitch downward 46 degrees; yaw clockwise 22 degrees; open gripper;\nSubtask Movement: move forward 875 mm; move right 318 mm; move downward 47 mm; roll downward 6 degrees; pitch downward 17 degrees; yaw clockwise 24 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0021428572945296764, + 0.0, + 0.0, + -0.06428571790456772, + -0.06142857298254967, + -0.06428571790456772, + 1.0 + ], + "delta_next_20": [ + 0.04749999940395355, + -0.0771428644657135, + 0.0, + -0.41285714507102966, + -0.7957143187522888, + -0.3800000250339508, + 1.0 + ], + "delta_full_state_norm": [ + 0.3392036552047144, + 0.5715983734053891, + -0.34403684096448195, + -0.418814920184147, + -0.3333334029367846, + -0.6850434331178819, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw clockwise 4 degrees; open gripper;", + "next_20_movement_text": "move forward 47 mm; move right 77 mm; move downward 0 mm; roll downward 24 degrees; pitch downward 46 degrees; yaw clockwise 22 degrees; open gripper;", + "subtask_movement_text": "move forward 875 mm; move right 318 mm; move downward 47 mm; roll downward 6 degrees; pitch downward 17 degrees; yaw clockwise 24 degrees; open gripper;" + }, + { + "frame_index": 95, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 45 mm; move right 89 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 42 degrees; yaw clockwise 18 degrees; open gripper;\nSubtask Movement: move forward 873 mm; move right 318 mm; move downward 47 mm; roll downward 2 degrees; pitch downward 14 degrees; yaw clockwise 20 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0032142859417945147, + 0.0, + 0.0, + -0.05285714194178581, + -0.06142857298254967, + -0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + 0.04535714536905289, + -0.08892858028411865, + 0.0, + -0.3385714590549469, + -0.7342857718467712, + -0.3157142996788025, + 1.0 + ], + "delta_full_state_norm": [ + 0.36672154000532764, + 0.5715983734053891, + -0.34403684096448195, + -0.28490125039617864, + -0.3333334029367846, + -0.6084737366243997, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 45 mm; move right 89 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 42 degrees; yaw clockwise 18 degrees; open gripper;", + "subtask_movement_text": "move forward 873 mm; move right 318 mm; move downward 47 mm; roll downward 2 degrees; pitch downward 14 degrees; yaw clockwise 20 degrees; open gripper;" + }, + { + "frame_index": 96, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 42 mm; move right 101 mm; move downward 0 mm; roll downward 16 degrees; pitch downward 39 degrees; yaw clockwise 15 degrees; open gripper;\nSubtask Movement: move forward 870 mm; move right 318 mm; move downward 47 mm; roll upward 1 degrees; pitch downward 10 degrees; yaw clockwise 17 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0035714288242161274, + 0.0, + 0.0, + -0.051428571343421936, + -0.06285714358091354, + -0.04714285582304001, + 1.0 + ], + "delta_next_20": [ + 0.04214285686612129, + -0.10107143968343735, + 0.0, + -0.2785714268684387, + -0.6728571653366089, + -0.25999999046325684, + 1.0 + ], + "delta_full_state_norm": [ + 0.3758941682721988, + 0.5715983734053891, + -0.34403684096448195, + -0.2681620580417592, + -0.3504274091022782, + -0.5319040401309176, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 42 mm; move right 101 mm; move downward 0 mm; roll downward 16 degrees; pitch downward 39 degrees; yaw clockwise 15 degrees; open gripper;", + "subtask_movement_text": "move forward 870 mm; move right 318 mm; move downward 47 mm; roll upward 1 degrees; pitch downward 10 degrees; yaw clockwise 17 degrees; open gripper;" + }, + { + "frame_index": 97, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 39 mm; move right 114 mm; move downward 0 mm; roll downward 13 degrees; pitch downward 35 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 866 mm; move right 318 mm; move downward 47 mm; roll upward 4 degrees; pitch downward 7 degrees; yaw clockwise 14 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0039285714738070965, + 0.0, + 0.0, + -0.04714285582304001, + -0.06285714358091354, + -0.03999999910593033, + 1.0 + ], + "delta_next_20": [ + 0.03857142850756645, + -0.11392857879400253, + 0.0, + -0.21999996900558472, + -0.60999995470047, + -0.21285714209079742, + 1.0 + ], + "delta_full_state_norm": [ + 0.38506679055919735, + 0.5715983734053891, + -0.34403684096448195, + -0.21794443732762991, + -0.3504274091022782, + -0.4680959819053476, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 39 mm; move right 114 mm; move downward 0 mm; roll downward 13 degrees; pitch downward 35 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 866 mm; move right 318 mm; move downward 47 mm; roll upward 4 degrees; pitch downward 7 degrees; yaw clockwise 14 degrees; open gripper;" + }, + { + "frame_index": 98, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 35 mm; move right 127 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 31 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move forward 863 mm; move right 318 mm; move downward 47 mm; roll upward 6 degrees; pitch downward 3 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004285714589059353, + 0.0, + 0.0, + -0.04571428522467613, + -0.06285714358091354, + -0.0357142873108387, + 1.0 + ], + "delta_next_20": [ + 0.03464286029338837, + -0.12714287638664246, + 0.0, + -0.16857141256332397, + -0.5471428632736206, + -0.1728571504354477, + 1.0 + ], + "delta_full_state_norm": [ + 0.3942394248059411, + 0.5715983734053891, + -0.34403684096448195, + -0.20120524497321046, + -0.3504274091022782, + -0.4298111669371042, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 35 mm; move right 127 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 31 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 863 mm; move right 318 mm; move downward 47 mm; roll upward 6 degrees; pitch downward 3 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 99, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 30 mm; move right 141 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 28 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move forward 858 mm; move right 318 mm; move downward 47 mm; roll upward 9 degrees; pitch upward 0 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.005000000353902578, + -0.0007142857066355646, + 0.0, + -0.04285714402794838, + -0.06428571790456772, + -0.03285714238882065, + 1.0 + ], + "delta_next_20": [ + 0.03035714291036129, + -0.14142858982086182, + 0.0, + -0.11857143044471741, + -0.48428574204444885, + -0.14000000059604645, + 1.0 + ], + "delta_full_state_norm": [ + 0.4125846813396834, + 0.5119325271921695, + -0.34403684096448195, + -0.16772686026437167, + -0.3675214598438925, + -0.4042879236797776, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 30 mm; move right 141 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 28 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move forward 858 mm; move right 318 mm; move downward 47 mm; roll upward 9 degrees; pitch upward 0 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 100, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 25 mm; move right 156 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 24 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 853 mm; move right 317 mm; move downward 47 mm; roll upward 12 degrees; pitch upward 4 degrees; yaw clockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0057142856530845165, + -0.0014285714132711291, + 0.0, + -0.04285714402794838, + -0.06428571790456772, + -0.03142857179045677, + 1.0 + ], + "delta_next_20": [ + 0.025357142090797424, + -0.15571430325508118, + 0.0, + -0.06999999284744263, + -0.41999998688697815, + -0.11142857372760773, + 1.0 + ], + "delta_full_state_norm": [ + 0.4309299259136805, + 0.45226668097894995, + -0.34403684096448195, + -0.16772686026437167, + -0.3675214598438925, + -0.39152631869036314, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 25 mm; move right 156 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 24 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 853 mm; move right 317 mm; move downward 47 mm; roll upward 12 degrees; pitch upward 4 degrees; yaw clockwise 8 degrees; open gripper;" + }, + { + "frame_index": 101, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 2 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 3 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 20 mm; move right 169 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 20 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 848 mm; move right 316 mm; move downward 47 mm; roll upward 14 degrees; pitch upward 8 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006071428768336773, + -0.0017857144121080637, + 0.0, + -0.034285712987184525, + -0.05999999865889549, + -0.025714285671710968, + 1.0 + ], + "delta_next_20": [ + 0.01964285783469677, + -0.1689285933971405, + 0.0, + -0.019999992102384567, + -0.3557142913341522, + -0.08571428060531616, + 1.0 + ], + "delta_full_state_norm": [ + 0.44010256016042426, + 0.42243374571680725, + -0.34403684096448195, + -0.06729161883611312, + -0.3162393521951704, + -0.3404798654542076, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 2 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 3 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 20 mm; move right 169 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 20 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 848 mm; move right 316 mm; move downward 47 mm; roll upward 14 degrees; pitch upward 8 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 102, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 3 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 3 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 14 mm; move right 181 mm; move downward 0 mm; roll upward 1 degrees; pitch downward 17 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 841 mm; move right 314 mm; move downward 47 mm; roll upward 16 degrees; pitch upward 11 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0057142856530845165, + -0.0028571428265422583, + 0.0, + -0.02857142873108387, + -0.058571428060531616, + -0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + 0.013571429066359997, + -0.18071429431438446, + 0.0, + 0.025714285671710968, + -0.29571428894996643, + -0.0657142847776413, + 1.0 + ], + "delta_full_state_norm": [ + 0.4309299259136805, + 0.3329349885525108, + -0.34403684096448195, + -0.00033482759299996445, + -0.2991453460296768, + -0.3021950338467153, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 3 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 3 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 14 mm; move right 181 mm; move downward 0 mm; roll upward 1 degrees; pitch downward 17 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 841 mm; move right 314 mm; move downward 47 mm; roll upward 16 degrees; pitch upward 11 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 103, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 8 mm; move right 191 mm; move downward 2 mm; roll upward 4 degrees; pitch downward 14 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 836 mm; move right 311 mm; move downward 47 mm; roll upward 18 degrees; pitch upward 15 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.005000000353902578, + -0.0032142859417945147, + 0.0, + -0.018571428954601288, + -0.05714285746216774, + -0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + 0.007857142947614193, + -0.1907142847776413, + -0.0017857144121080637, + 0.0657142773270607, + -0.23714284598827362, + -0.05000000074505806, + 1.0 + ], + "delta_full_state_norm": [ + 0.4125846813396834, + 0.30310204356594195, + -0.34403684096448195, + 0.11683958436424247, + -0.2820513398641832, + -0.2766718072286376, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 8 mm; move right 191 mm; move downward 2 mm; roll upward 4 degrees; pitch downward 14 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 836 mm; move right 311 mm; move downward 47 mm; roll upward 18 degrees; pitch upward 15 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 104, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 3 mm; move right 199 mm; move downward 4 mm; roll upward 6 degrees; pitch downward 10 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 831 mm; move right 308 mm; move downward 47 mm; roll upward 19 degrees; pitch upward 18 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0028571428265422583, + -0.0028571428265422583, + 0.0, + 0.0, + -0.05285714194178581, + -0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.0028571428265422583, + -0.1989285796880722, + -0.004285714589059353, + 0.09857142716646194, + -0.17714284360408783, + -0.034285712987184525, + 1.0 + ], + "delta_full_state_norm": [ + 0.3575489057585839, + 0.3329349885525108, + -0.34403684096448195, + 0.334449215924308, + -0.23076927679158177, + -0.1745789049161387, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 3 mm; move right 199 mm; move downward 4 mm; roll upward 6 degrees; pitch downward 10 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 831 mm; move right 308 mm; move downward 47 mm; roll upward 19 degrees; pitch upward 18 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 105, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 207 mm; move downward 8 mm; roll upward 7 degrees; pitch downward 7 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 828 mm; move right 305 mm; move downward 47 mm; roll upward 19 degrees; pitch upward 21 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.005000000353902578, + 0.0, + 0.0, + -0.037142857909202576, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.20714285969734192, + -0.008214286528527737, + 0.11428571492433548, + -0.11428570747375488, + -0.030000001192092896, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.1539374158773601, + -0.34403684096448195, + 0.334449215924308, + -0.04273511981891098, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 207 mm; move downward 8 mm; roll upward 7 degrees; pitch downward 7 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 828 mm; move right 305 mm; move downward 47 mm; roll upward 19 degrees; pitch upward 21 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 106, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 213 mm; move downward 13 mm; roll upward 7 degrees; pitch downward 4 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 828 mm; move right 300 mm; move downward 47 mm; roll upward 19 degrees; pitch upward 23 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.004642857238650322, + 0.0, + 0.0, + -0.03285714238882065, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.21250000596046448, + -0.013214285485446453, + 0.12857143580913544, + -0.06285714358091354, + -0.03142857179045677, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.18377036086392895, + -0.34403684096448195, + 0.334449215924308, + 0.008546943253690431, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 213 mm; move downward 13 mm; roll upward 7 degrees; pitch downward 4 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 828 mm; move right 300 mm; move downward 47 mm; roll upward 19 degrees; pitch upward 23 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 107, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 218 mm; move downward 21 mm; roll upward 8 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 828 mm; move right 295 mm; move downward 47 mm; roll upward 19 degrees; pitch upward 25 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.004285714589059353, + 0.0, + 0.0, + -0.025714285671710968, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.2175000160932541, + -0.02071428671479225, + 0.14142857491970062, + -0.0042857155203819275, + -0.03285714238882065, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.21360326695279275, + -0.34403684096448195, + 0.334449215924308, + 0.09401701865727907, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 218 mm; move downward 21 mm; roll upward 8 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 828 mm; move right 295 mm; move downward 47 mm; roll upward 19 degrees; pitch upward 25 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 108, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 1 mm; move right 223 mm; move downward 29 mm; roll upward 9 degrees; pitch upward 3 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 828 mm; move right 291 mm; move downward 47 mm; roll upward 19 degrees; pitch upward 26 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0053571430034935474, + 0.0, + 0.0, + -0.019999999552965164, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0007142857066355646, + -0.2225000113248825, + -0.028928572311997414, + 0.1599999964237213, + 0.05285714194178581, + -0.03285714238882065, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.1241045097884963, + -0.34403684096448195, + 0.334449215924308, + 0.1623930878953741, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 1 mm; move right 223 mm; move downward 29 mm; roll upward 9 degrees; pitch upward 3 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 828 mm; move right 291 mm; move downward 47 mm; roll upward 19 degrees; pitch upward 26 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 109, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 2 mm; move right 225 mm; move downward 39 mm; roll upward 10 degrees; pitch upward 6 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 828 mm; move right 286 mm; move downward 47 mm; roll upward 19 degrees; pitch upward 28 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0057142856530845165, + 0.0, + 0.0, + -0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0017857144121080637, + -0.22464285790920258, + -0.03857142850756645, + 0.1785714328289032, + 0.11142857372760773, + -0.03285714238882065, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.0942716036996325, + -0.34403684096448195, + 0.334449215924308, + 0.2649571806084865, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 2 mm; move right 225 mm; move downward 39 mm; roll upward 10 degrees; pitch upward 6 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 828 mm; move right 286 mm; move downward 47 mm; roll upward 19 degrees; pitch upward 28 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 110, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 9 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 4 mm; move right 226 mm; move downward 51 mm; roll upward 12 degrees; pitch upward 10 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 828 mm; move right 280 mm; move downward 47 mm; roll upward 19 degrees; pitch upward 28 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.008928571827709675, + 0.0, + 0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0039285714738070965, + -0.22607143223285675, + -0.05071428418159485, + 0.2014285773038864, + 0.1728571355342865, + -0.03285714238882065, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + -0.1742247455886674, + -0.34403684096448195, + 0.35118841782735544, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 9 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 4 mm; move right 226 mm; move downward 51 mm; roll upward 12 degrees; pitch upward 10 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 828 mm; move right 280 mm; move downward 47 mm; roll upward 19 degrees; pitch upward 28 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 111, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 10 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 6 mm; move right 224 mm; move downward 62 mm; roll upward 13 degrees; pitch upward 13 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 828 mm; move right 271 mm; move downward 47 mm; roll upward 19 degrees; pitch upward 28 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.009642857126891613, + 0.0, + 0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.00607142923399806, + -0.22428570687770844, + -0.062142856419086456, + 0.22285714745521545, + 0.22285713255405426, + -0.03285714238882065, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + -0.233890557766395, + -0.34403684096448195, + 0.35118841782735544, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 10 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 6 mm; move right 224 mm; move downward 62 mm; roll upward 13 degrees; pitch upward 13 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 828 mm; move right 271 mm; move downward 47 mm; roll upward 19 degrees; pitch upward 28 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 112, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 10 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 8 mm; move right 220 mm; move downward 72 mm; roll upward 14 degrees; pitch upward 15 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 828 mm; move right 261 mm; move downward 47 mm; roll upward 18 degrees; pitch upward 28 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.010000000707805157, + 0.0, + 0.004285714123398066, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.007857142947614193, + -0.22035716474056244, + -0.07249999791383743, + 0.238571435213089, + 0.26571428775787354, + -0.03285714238882065, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + -0.263723541650669, + -0.34403684096448195, + 0.3846668202693606, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 10 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 8 mm; move right 220 mm; move downward 72 mm; roll upward 14 degrees; pitch upward 15 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 828 mm; move right 261 mm; move downward 47 mm; roll upward 18 degrees; pitch upward 28 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 113, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 11 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 10 mm; move right 214 mm; move downward 84 mm; roll upward 15 degrees; pitch upward 18 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 828 mm; move right 251 mm; move downward 47 mm; roll upward 18 degrees; pitch upward 28 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.010714286006987095, + 0.0, + 0.008571428246796131, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.009642857126891613, + -0.2142857164144516, + -0.08392857015132904, + 0.2557143270969391, + 0.3157142996788025, + -0.03285714238882065, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + -0.3233893538283966, + -0.34403684096448195, + 0.43488442461441323, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 11 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 10 mm; move right 214 mm; move downward 84 mm; roll upward 15 degrees; pitch upward 18 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 828 mm; move right 251 mm; move downward 47 mm; roll upward 18 degrees; pitch upward 28 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 114, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 12 mm; move downward 0 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 12 mm; move right 207 mm; move downward 96 mm; roll upward 15 degrees; pitch upward 21 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 828 mm; move right 241 mm; move downward 47 mm; roll upward 18 degrees; pitch upward 28 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.011785714887082577, + 0.0, + 0.009999999776482582, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.012142857536673546, + -0.20678572356700897, + -0.09607142210006714, + 0.27000001072883606, + 0.3700000047683716, + -0.03285714238882065, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + -0.41288814989039835, + -0.34403684096448195, + 0.4516236278815504, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 12 mm; move downward 0 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 12 mm; move right 207 mm; move downward 96 mm; roll upward 15 degrees; pitch upward 21 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 828 mm; move right 241 mm; move downward 47 mm; roll upward 18 degrees; pitch upward 28 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 115, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 12 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 15 mm; move right 198 mm; move downward 107 mm; roll upward 16 degrees; pitch upward 24 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 828 mm; move right 229 mm; move downward 47 mm; roll upward 17 degrees; pitch upward 28 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.012142857536673546, + 0.0, + 0.0071428571827709675, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.014642857015132904, + -0.19785714149475098, + -0.10749999433755875, + 0.28285714983940125, + 0.4214285612106323, + -0.03285714238882065, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + -0.44272105597926215, + -0.34403684096448195, + 0.418145226803635, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 12 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 15 mm; move right 198 mm; move downward 107 mm; roll upward 16 degrees; pitch upward 24 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 828 mm; move right 229 mm; move downward 47 mm; roll upward 17 degrees; pitch upward 28 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 116, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 17 mm; move right 188 mm; move downward 116 mm; roll upward 17 degrees; pitch upward 27 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 828 mm; move right 217 mm; move downward 47 mm; roll upward 17 degrees; pitch upward 28 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.012857143767178059, + 0.0, + 0.0071428571827709675, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.016785714775323868, + -0.18785715103149414, + -0.1160714253783226, + 0.29428571462631226, + 0.4642857015132904, + -0.03285714238882065, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + -0.5023869459524, + -0.34403684096448195, + 0.418145226803635, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 17 mm; move right 188 mm; move downward 116 mm; roll upward 17 degrees; pitch upward 27 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 828 mm; move right 217 mm; move downward 47 mm; roll upward 17 degrees; pitch upward 28 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 117, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 19 mm; move right 177 mm; move downward 122 mm; roll upward 17 degrees; pitch upward 29 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 828 mm; move right 204 mm; move downward 47 mm; roll upward 16 degrees; pitch upward 28 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.013214285485446453, + 0.0, + 0.004285714123398066, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.018928570672869682, + -0.17714285850524902, + -0.12214285135269165, + 0.30000001192092896, + 0.5, + -0.03285714238882065, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + -0.5322197742458536, + -0.34403684096448195, + 0.3846668202693606, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 19 mm; move right 177 mm; move downward 122 mm; roll upward 17 degrees; pitch upward 29 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 828 mm; move right 204 mm; move downward 47 mm; roll upward 16 degrees; pitch upward 28 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 118, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 20 mm; move right 166 mm; move downward 125 mm; roll upward 17 degrees; pitch upward 30 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 828 mm; move right 191 mm; move downward 47 mm; roll upward 16 degrees; pitch upward 28 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01428571529686451, + 0.0, + 0.004285714123398066, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.020000001415610313, + -0.1657143086194992, + -0.12464284896850586, + 0.3028571605682373, + 0.5214285850524902, + -0.03285714238882065, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + -0.6217186481032654, + -0.34403684096448195, + 0.3846668202693606, + 0.4017093079406464, + -0.13629406706892822, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 20 mm; move right 166 mm; move downward 125 mm; roll upward 17 degrees; pitch upward 30 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 828 mm; move right 191 mm; move downward 47 mm; roll upward 16 degrees; pitch upward 28 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 119, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 21 mm; move right 152 mm; move downward 125 mm; roll upward 17 degrees; pitch upward 31 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 828 mm; move right 176 mm; move downward 47 mm; roll upward 16 degrees; pitch upward 28 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.015000000596046448, + 0.0, + 0.0057142856530845165, + 0.0, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.021071430295705795, + -0.1517857164144516, + -0.12535713613033295, + 0.30142858624458313, + 0.5328571796417236, + -0.029999999329447746, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + -0.6813844602809931, + -0.34403684096448195, + 0.4014060235364978, + 0.4017093079406464, + -0.149055678298061, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 21 mm; move right 152 mm; move downward 125 mm; roll upward 17 degrees; pitch upward 31 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 828 mm; move right 176 mm; move downward 47 mm; roll upward 16 degrees; pitch upward 28 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 120, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 23 mm; move right 137 mm; move downward 125 mm; roll upward 17 degrees; pitch upward 31 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 828 mm; move right 161 mm; move downward 47 mm; roll upward 16 degrees; pitch upward 28 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.014642857015132904, + 0.0, + 0.0071428571827709675, + 0.0, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.02321428619325161, + -0.13678571581840515, + -0.12535713613033295, + 0.2957143187522888, + 0.5400000214576721, + -0.02571428380906582, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + -0.6515514763967191, + -0.34403684096448195, + 0.418145226803635, + 0.4017093079406464, + -0.1618172916070999, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 23 mm; move right 137 mm; move downward 125 mm; roll upward 17 degrees; pitch upward 31 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 828 mm; move right 161 mm; move downward 47 mm; roll upward 16 degrees; pitch upward 28 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 121, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move downward 0 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 26 mm; move right 122 mm; move downward 125 mm; roll upward 17 degrees; pitch upward 31 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 828 mm; move right 147 mm; move downward 47 mm; roll upward 15 degrees; pitch upward 28 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.013571429066359997, + 0.0, + 0.011428571306169033, + 0.0, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.02607142925262451, + -0.12214286625385284, + -0.12535713613033295, + 0.28857144713401794, + 0.5400000214576721, + -0.019999997690320015, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + -0.5620527581301276, + -0.34403684096448195, + 0.4683628311486876, + 0.4017093079406464, + -0.1618172916070999, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move downward 0 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 26 mm; move right 122 mm; move downward 125 mm; roll upward 17 degrees; pitch upward 31 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 828 mm; move right 147 mm; move downward 47 mm; roll upward 15 degrees; pitch upward 28 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 122, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move downward 2 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 29 mm; move right 109 mm; move downward 125 mm; roll upward 16 degrees; pitch upward 31 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 828 mm; move right 133 mm; move downward 47 mm; roll upward 14 degrees; pitch upward 28 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.012857143767178059, + -0.0017857144121080637, + 0.011428571306169033, + 0.0, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.029285714030265808, + -0.10857144743204117, + -0.12535713613033295, + 0.27714288234710693, + 0.5400000214576721, + -0.014285714365541935, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + -0.5023869459524, + -0.4259503277506882, + 0.4683628311486876, + 0.4017093079406464, + -0.1618172916070999, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move downward 2 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 29 mm; move right 109 mm; move downward 125 mm; roll upward 16 degrees; pitch upward 31 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 828 mm; move right 133 mm; move downward 47 mm; roll upward 14 degrees; pitch upward 28 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 123, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 11 mm; move downward 3 mm; roll upward 1 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 34 mm; move right 96 mm; move downward 124 mm; roll upward 15 degrees; pitch upward 31 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 828 mm; move right 120 mm; move downward 45 mm; roll upward 14 degrees; pitch upward 28 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.011428571306169033, + -0.002500000176951289, + 0.014285714365541935, + 0.0028571428265422583, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.033571429550647736, + -0.09571429342031479, + -0.12357143312692642, + 0.2657143175601959, + 0.5400000214576721, + -0.008571428246796131, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + -0.3830551660061243, + -0.45871572246517067, + 0.501841237682962, + 0.4358973397736863, + -0.13629406706892822, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 11 mm; move downward 3 mm; roll upward 1 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 34 mm; move right 96 mm; move downward 124 mm; roll upward 15 degrees; pitch upward 31 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 828 mm; move right 120 mm; move downward 45 mm; roll upward 14 degrees; pitch upward 28 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 124, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 11 mm; move downward 4 mm; roll upward 1 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 39 mm; move right 84 mm; move downward 121 mm; roll upward 14 degrees; pitch upward 31 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 828 mm; move right 109 mm; move downward 42 mm; roll upward 13 degrees; pitch upward 28 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.011071428656578064, + -0.0039285714738070965, + 0.015714285895228386, + 0.009999999776482582, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.03928571566939354, + -0.08428572863340378, + -0.12107143551111221, + 0.2514285743236542, + 0.5371428728103638, + -0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + -0.35322225991726053, + -0.5242465012138333, + 0.5185804409500991, + 0.5213674179632826, + -0.13629406706892822, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 11 mm; move downward 4 mm; roll upward 1 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 39 mm; move right 84 mm; move downward 121 mm; roll upward 14 degrees; pitch upward 31 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 828 mm; move right 109 mm; move downward 42 mm; roll upward 13 degrees; pitch upward 28 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 125, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 10 mm; move downward 5 mm; roll upward 1 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 48 mm; move right 73 mm; move downward 117 mm; roll upward 14 degrees; pitch upward 30 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 828 mm; move right 98 mm; move downward 39 mm; roll upward 12 degrees; pitch upward 28 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.010357143357396126, + -0.005000000353902578, + 0.014285714365541935, + 0.014285714365541935, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.047857142984867096, + -0.07321429252624512, + -0.11714285612106323, + 0.23571430146694183, + 0.5271428823471069, + -0.0028571428265422583, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + -0.2935564477395328, + -0.5733946039658594, + 0.501841237682962, + 0.5726494698918538, + -0.12353245479984232, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 10 mm; move downward 5 mm; roll upward 1 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 48 mm; move right 73 mm; move downward 117 mm; roll upward 14 degrees; pitch upward 30 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 828 mm; move right 98 mm; move downward 39 mm; roll upward 12 degrees; pitch upward 28 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 126, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 10 mm; move downward 8 mm; roll upward 1 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 58 mm; move right 63 mm; move downward 112 mm; roll upward 13 degrees; pitch upward 29 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 828 mm; move right 88 mm; move downward 34 mm; roll upward 11 degrees; pitch upward 27 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.009642857126891613, + -0.007500000298023224, + 0.012857142835855484, + 0.025714285671710968, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.05821428447961807, + -0.06285715103149414, + -0.11214286088943481, + 0.22142858803272247, + 0.5128571391105652, + -0.0014285714132711291, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + -0.233890557766395, + -0.6880734747862458, + 0.4851020344158248, + 0.7094015972240137, + -0.12353245479984232, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 10 mm; move downward 8 mm; roll upward 1 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 58 mm; move right 63 mm; move downward 112 mm; roll upward 13 degrees; pitch upward 29 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 828 mm; move right 88 mm; move downward 34 mm; roll upward 11 degrees; pitch upward 27 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 127, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 9 mm; move downward 8 mm; roll upward 1 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 71 mm; move right 53 mm; move downward 105 mm; roll upward 12 degrees; pitch upward 28 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 828 mm; move right 78 mm; move downward 26 mm; roll upward 11 degrees; pitch upward 25 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0007142857066355646, + -0.009285714477300644, + -0.008214286528527737, + 0.018571428954601288, + 0.03142857179045677, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.07071428745985031, + -0.053214289247989655, + -0.10464286059141159, + 0.2085714191198349, + 0.4871428608894348, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.30251314064226165, + -0.2040576516775312, + -0.720838890861333, + 0.5520588474843735, + 0.7777776664621088, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 9 mm; move downward 8 mm; roll upward 1 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 71 mm; move right 53 mm; move downward 105 mm; roll upward 12 degrees; pitch upward 28 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 828 mm; move right 78 mm; move downward 26 mm; roll upward 11 degrees; pitch upward 25 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 128, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 8 mm; move downward 10 mm; roll upward 1 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 84 mm; move right 44 mm; move downward 96 mm; roll upward 11 degrees; pitch upward 26 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 827 mm; move right 69 mm; move downward 18 mm; roll upward 9 degrees; pitch upward 23 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0010714286472648382, + -0.007500000298023224, + -0.009642857126891613, + 0.018571428954601288, + 0.03857142850756645, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.08392857760190964, + -0.04392857477068901, + -0.09642856568098068, + 0.1900000125169754, + 0.45571428537368774, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.31168577040410095, + -0.05489304343780199, + -0.7863696375690885, + 0.5520588474843735, + 0.8632477418656974, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 8 mm; move downward 10 mm; roll upward 1 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 84 mm; move right 44 mm; move downward 96 mm; roll upward 11 degrees; pitch upward 26 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 827 mm; move right 69 mm; move downward 18 mm; roll upward 9 degrees; pitch upward 23 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 129, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 7 mm; move downward 12 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 98 mm; move right 36 mm; move downward 87 mm; roll upward 10 degrees; pitch upward 24 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 826 mm; move right 61 mm; move downward 8 mm; roll upward 8 degrees; pitch upward 21 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0021428572945296764, + -0.007142857648432255, + -0.012142857536673546, + 0.022857142612338066, + 0.05000000074505806, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.09785714000463486, + -0.03642857447266579, + -0.0867857113480568, + 0.17142857611179352, + 0.4171428680419922, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3392036552047144, + -0.025060137348938083, + -0.9010485297500797, + 0.6022764463730672, + 0.9999998803418875, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 7 mm; move downward 12 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 98 mm; move right 36 mm; move downward 87 mm; roll upward 10 degrees; pitch upward 24 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 826 mm; move right 61 mm; move downward 8 mm; roll upward 8 degrees; pitch upward 21 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 130, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 7 mm; move downward 11 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 111 mm; move right 29 mm; move downward 75 mm; roll upward 9 degrees; pitch upward 21 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 824 mm; move right 54 mm; move upward 4 mm; roll upward 7 degrees; pitch upward 18 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0021428572945296764, + -0.007142857648432255, + -0.011428571306169033, + 0.022857142612338066, + 0.05000000074505806, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.11107142269611359, + -0.029285717755556107, + -0.0746428593993187, + 0.1485714316368103, + 0.367142915725708, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3392036552047144, + -0.025060137348938083, + -0.8682831136749924, + 0.6022764463730672, + 0.9999998803418875, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 7 mm; move downward 11 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 111 mm; move right 29 mm; move downward 75 mm; roll upward 9 degrees; pitch upward 21 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 824 mm; move right 54 mm; move upward 4 mm; roll upward 7 degrees; pitch upward 18 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 131, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 6 mm; move downward 10 mm; roll upward 1 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 124 mm; move right 22 mm; move downward 63 mm; roll upward 7 degrees; pitch upward 18 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 822 mm; move right 47 mm; move upward 15 mm; roll upward 6 degrees; pitch upward 15 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0017857144121080637, + -0.0057142856530845165, + -0.010357143357396126, + 0.017142856493592262, + 0.04285714402794838, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.12428569793701172, + -0.022142859175801277, + -0.06321428716182709, + 0.1257142871618271, + 0.31714287400245667, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.33003102693784325, + 0.0942716036996325, + -0.8191350536441758, + 0.5353196333045187, + 0.9145298049382988, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 6 mm; move downward 10 mm; roll upward 1 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 124 mm; move right 22 mm; move downward 63 mm; roll upward 7 degrees; pitch upward 18 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 822 mm; move right 47 mm; move upward 15 mm; roll upward 6 degrees; pitch upward 15 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 132, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 4 mm; move downward 11 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 138 mm; move right 16 mm; move downward 53 mm; roll upward 6 degrees; pitch upward 16 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 820 mm; move right 41 mm; move upward 26 mm; roll upward 5 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0017857144121080637, + -0.0039285714738070965, + -0.011428571306169033, + 0.02142857201397419, + 0.05000000074505806, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.137857124209404, + -0.016428573057055473, + -0.052857138216495514, + 0.10857143253087997, + 0.2742857336997986, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.33003102693784325, + 0.2434362119393616, + -0.8682831136749924, + 0.5855372540186479, + 0.9999998803418875, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 4 mm; move downward 11 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 138 mm; move right 16 mm; move downward 53 mm; roll upward 6 degrees; pitch upward 16 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 820 mm; move right 41 mm; move upward 26 mm; roll upward 5 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 133, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 3 mm; move downward 12 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 151 mm; move right 13 mm; move downward 41 mm; roll upward 5 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 818 mm; move right 37 mm; move upward 37 mm; roll upward 4 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.002500000176951289, + -0.0032142859417945147, + -0.012142857536673546, + 0.022857142612338066, + 0.05428571254014969, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.15142856538295746, + -0.012500000186264515, + -0.0414285734295845, + 0.08714284747838974, + 0.22428570687770844, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.34837628347158534, + 0.30310204356594195, + -0.9010485297500797, + 0.6022764463730672, + 1.0, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 3 mm; move downward 12 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 151 mm; move right 13 mm; move downward 41 mm; roll upward 5 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 818 mm; move right 37 mm; move upward 37 mm; roll upward 4 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 134, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 3 mm; move downward 11 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 164 mm; move right 9 mm; move downward 29 mm; roll upward 4 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 816 mm; move right 34 mm; move upward 49 mm; roll upward 2 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.002500000176951289, + -0.0028571428265422583, + -0.011428571306169033, + 0.022857142612338066, + 0.051428571343421936, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1639285534620285, + -0.009285714477300644, + -0.029285717755556107, + 0.06428571790456772, + 0.16999998688697815, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.34837628347158534, + 0.3329349885525108, + -0.8682831136749924, + 0.6022764463730672, + 1.0, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 3 mm; move downward 11 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 164 mm; move right 9 mm; move downward 29 mm; roll upward 4 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 816 mm; move right 34 mm; move upward 49 mm; roll upward 2 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 135, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 2 mm; move downward 9 mm; roll upward 1 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 176 mm; move right 6 mm; move downward 18 mm; roll upward 2 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 813 mm; move right 31 mm; move upward 61 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0021428572945296764, + -0.0021428572945296764, + -0.008571429178118706, + 0.018571428954601288, + 0.04285714402794838, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17642855644226074, + -0.006428571883589029, + -0.01785714365541935, + 0.041428569704294205, + 0.11857143044471741, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3392036552047144, + 0.3926008201790909, + -0.7372215775382719, + 0.5520588474843735, + 0.9145298049382988, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 2 mm; move downward 9 mm; roll upward 1 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 176 mm; move right 6 mm; move downward 18 mm; roll upward 2 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 813 mm; move right 31 mm; move upward 61 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 136, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 2 mm; move downward 6 mm; roll upward 1 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 190 mm; move right 4 mm; move downward 9 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 811 mm; move right 29 mm; move upward 69 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0021428572945296764, + -0.0021428572945296764, + -0.006071428768336773, + 0.012857142835855484, + 0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18964283168315887, + -0.004285714589059353, + -0.009285714477300644, + 0.022857142612338066, + 0.07571429014205933, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3392036552047144, + 0.3926008201790909, + -0.6225426853572809, + 0.4851020344158248, + 0.8290597295347102, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 2 mm; move downward 6 mm; roll upward 1 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 190 mm; move right 4 mm; move downward 9 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 811 mm; move right 29 mm; move upward 69 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 137, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 2 mm; move downward 3 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 203 mm; move right 2 mm; move downward 3 mm; roll upward 1 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 809 mm; move right 27 mm; move upward 75 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0010714286472648382, + -0.0017857144121080637, + -0.002500000176951289, + 0.0071428571827709675, + 0.02142857201397419, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2028571218252182, + -0.0021428572945296764, + -0.0032142859417945147, + 0.009999999776482582, + 0.03999999910593033, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.31168577040410095, + 0.42243374571680725, + -0.45871572246517067, + 0.418145226803635, + 0.6581195564394726, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 2 mm; move downward 3 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 203 mm; move right 2 mm; move downward 3 mm; roll upward 1 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 809 mm; move right 27 mm; move upward 75 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 138, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 1 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 217 mm; move right 0 mm; move downward 1 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 808 mm; move right 25 mm; move upward 78 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0010714286472648382, + -0.0003571428533177823, + -0.0007142857066355646, + 0.0028571428265422583, + 0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21678569912910461, + -0.0003571428533177823, + -0.0007142857066355646, + 0.0028571428265422583, + 0.018571428954601288, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.31168577040410095, + 0.5417654502987794, + -0.3768022330088888, + 0.3679276197304029, + 0.5384614352728063, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 1 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 217 mm; move right 0 mm; move downward 1 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 808 mm; move right 25 mm; move upward 78 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 139, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 230 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 807 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0021428572945296764, + 0.0, + 0.0, + 0.0, + 0.0071428571827709675, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2303571254014969, + 0.0, + 0.0, + 0.0, + 0.0071428571827709675, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3392036552047144, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4871793889162501, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 230 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 807 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 140, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 243 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 805 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0028571428265422583, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.24285712838172913, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3575489057585839, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 243 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 805 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 141, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 254 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 802 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0032142859417945147, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2539285719394684, + -0.0007142857066355646, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.36672154000532764, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 254 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 802 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 142, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 264 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 799 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004285714589059353, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2639285624027252, + -0.0010714286472648382, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3942394248059411, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 264 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 799 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 143, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 274 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 794 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0057142856530845165, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2735714316368103, + -0.0021428572945296764, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4309299259136805, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 274 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 794 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 144, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 281 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 789 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008571429178118706, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2807142734527588, + -0.002500000176951289, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5043109640083947, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 281 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 789 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 145, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 285 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 780 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28464287519454956, + -0.0032142859417945147, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5501740993628779, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 285 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 780 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 146, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 286 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 770 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2857142686843872, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6052098570043594, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 286 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 770 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 147, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 284 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 757 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2835714519023895, + -0.004642857238650322, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.641900370071844, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 284 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 757 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 148, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 280 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 743 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2800000011920929, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.66941826085233, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 280 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 743 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 149, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 276 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 728 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.27571427822113037, + -0.006071428768336773, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6785908831393284, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 276 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 728 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 150, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 271 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 713 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.27142855525016785, + -0.006071428768336773, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6785908831393284, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 271 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 713 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 151, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 269 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 697 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2685714364051819, + -0.006428571883589029, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6785908831393284, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 269 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 697 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 152, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 265 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 682 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.26500001549720764, + -0.006428571883589029, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6785908831393284, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 265 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 682 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 153, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 261 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 667 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2614285945892334, + -0.006428571883589029, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.66941826085233, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 261 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 667 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 154, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 258 mm; move right 7 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 652 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2582143247127533, + -0.006785714533179998, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.66941826085233, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 258 mm; move right 7 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 652 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 155, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 255 mm; move right 7 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 637 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.25464287400245667, + -0.007142857648432255, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6785908831393284, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 255 mm; move right 7 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 637 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 156, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 250 mm; move right 7 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 621 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2500000298023224, + -0.007142857648432255, + 0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6785908831393284, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 250 mm; move right 7 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 621 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 157, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 245 mm; move right 7 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 606 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.24464285373687744, + -0.007142857648432255, + 0.0014285714132711291, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.66941826085233, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 245 mm; move right 7 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 606 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 158, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 239 mm; move right 7 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 591 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23928570747375488, + -0.007142857648432255, + 0.0035714288242161274, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6602456146458409, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 239 mm; move right 7 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 591 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 159, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 234 mm; move right 7 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 576 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23392856121063232, + -0.007142857648432255, + 0.006428571883589029, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6602456146458409, + 0.5417654502987794, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 234 mm; move right 7 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 576 mm; move right 25 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 160, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 228 mm; move right 7 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 562 mm; move right 24 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22821426391601562, + -0.006785714533179998, + 0.009642857126891613, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.641900370071844, + 0.5417654502987794, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 228 mm; move right 7 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 562 mm; move right 24 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 161, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 224 mm; move right 6 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 548 mm; move right 24 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22357140481472015, + -0.006428571883589029, + 0.012857143767178059, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6235551015783565, + 0.5417654502987794, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 224 mm; move right 6 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 548 mm; move right 24 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 162, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 219 mm; move right 6 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 535 mm; move right 24 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.0010714286472648382, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21928568184375763, + -0.006071428768336773, + 0.01714285835623741, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.641900370071844, + 0.4820995967922401, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 219 mm; move right 6 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 535 mm; move right 24 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 163, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 214 mm; move right 5 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 521 mm; move right 23 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2142856866121292, + -0.005000000353902578, + 0.02142857201397419, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6143825032108483, + 0.5417654502987794, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 214 mm; move right 5 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 521 mm; move right 23 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 164, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 210 mm; move right 5 mm; move upward 27 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 508 mm; move right 22 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + -0.0007142857066355646, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20999999344348907, + -0.004642857238650322, + 0.027142858132719994, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6052098570043594, + 0.5119325271921695, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 210 mm; move right 5 mm; move upward 27 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 508 mm; move right 22 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 165, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 206 mm; move right 4 mm; move upward 33 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 495 mm; move right 21 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + -0.0010714286472648382, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20571430027484894, + -0.0039285714738070965, + 0.03285714611411095, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5776919662238733, + 0.4820995967922401, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 206 mm; move right 4 mm; move upward 33 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 495 mm; move right 21 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 166, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 201 mm; move right 3 mm; move upward 40 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 484 mm; move right 20 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2014285773038864, + -0.0032142859417945147, + 0.04000000283122063, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5501740993628779, + 0.5417654502987794, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 201 mm; move right 3 mm; move upward 40 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 484 mm; move right 20 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 167, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 197 mm; move right 3 mm; move upward 47 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 474 mm; move right 20 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + -0.0007142857066355646, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1971428543329239, + -0.0032142859417945147, + 0.04714285954833031, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5501740993628779, + 0.5119325271921695, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 197 mm; move right 3 mm; move upward 47 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 474 mm; move right 20 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 168, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 192 mm; move right 3 mm; move upward 55 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 463 mm; move right 19 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + -0.0007142857066355646, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.19249999523162842, + -0.0028571428265422583, + 0.05464285612106323, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5593467216498764, + 0.5119325271921695, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 192 mm; move right 3 mm; move upward 55 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 463 mm; move right 19 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 169, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 187 mm; move right 3 mm; move upward 61 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 453 mm; move right 19 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18714286386966705, + -0.002500000176951289, + 0.061071425676345825, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5685193439368748, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 187 mm; move right 3 mm; move upward 61 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 453 mm; move right 19 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 170, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 182 mm; move right 3 mm; move upward 66 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 441 mm; move right 19 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1817857176065445, + -0.002500000176951289, + 0.0657142847776413, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6052098570043594, + 0.5417654502987794, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 182 mm; move right 3 mm; move upward 66 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 441 mm; move right 19 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 171, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 176 mm; move right 3 mm; move upward 70 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 429 mm; move right 18 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.176071435213089, + -0.0028571428265422583, + 0.06964285671710968, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5868646124303623, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 176 mm; move right 3 mm; move upward 70 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 429 mm; move right 18 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 172, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 172 mm; move right 3 mm; move upward 72 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 417 mm; move right 18 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17178571224212646, + -0.0028571428265422583, + 0.07249999791383743, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5868646124303623, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 172 mm; move right 3 mm; move upward 72 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 417 mm; move right 18 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 173, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 168 mm; move right 3 mm; move upward 75 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 405 mm; move right 18 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.16821429133415222, + -0.0028571428265422583, + 0.0746428593993187, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5868646124303623, + 0.5417654502987794, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 168 mm; move right 3 mm; move upward 75 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 405 mm; move right 18 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 174, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 165 mm; move right 3 mm; move upward 77 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 394 mm; move right 18 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.16500000655651093, + -0.0028571428265422583, + 0.07678571343421936, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5776919662238733, + 0.5417654502987794, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 165 mm; move right 3 mm; move upward 77 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 394 mm; move right 18 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 175, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 163 mm; move right 4 mm; move upward 78 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 382 mm; move right 18 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + 0.0, + 0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.16285715997219086, + -0.0035714288242161274, + 0.07821428775787354, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5593467216498764, + 0.5715983734053891, + -0.3276541449422785, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 163 mm; move right 4 mm; move upward 78 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 382 mm; move right 18 mm; move upward 79 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 176, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 162 mm; move right 5 mm; move upward 78 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 371 mm; move right 18 mm; move upward 78 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + 0.0, + 0.0010714286472648382, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.16178572177886963, + -0.004642857238650322, + 0.07821429520845413, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5410014770758793, + 0.5715983734053891, + -0.2948887488927582, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 162 mm; move right 5 mm; move upward 78 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 371 mm; move right 18 mm; move upward 78 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 177, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 163 mm; move right 5 mm; move upward 77 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 361 mm; move right 18 mm; move upward 77 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + 0.0, + 0.0021428572945296764, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.16250000894069672, + -0.005000000353902578, + 0.0771428644657135, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5318288308693904, + 0.5715983734053891, + -0.2457406568210344, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 163 mm; move right 5 mm; move upward 77 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 361 mm; move right 18 mm; move upward 77 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 178, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 164 mm; move right 5 mm; move upward 75 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 352 mm; move right 18 mm; move upward 75 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + 0.0, + 0.0028571428265422583, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.16428571939468384, + -0.005000000353902578, + 0.07500001043081284, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5226562085823918, + 0.5715983734053891, + -0.21297527278685435, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 164 mm; move right 5 mm; move upward 75 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 352 mm; move right 18 mm; move upward 75 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 179, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 167 mm; move right 5 mm; move upward 72 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 343 mm; move right 18 mm; move upward 72 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008928571827709675, + 0.0, + 0.0032142859417945147, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.16678571701049805, + -0.005000000353902578, + 0.07214286178350449, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5134835862953933, + 0.5715983734053891, + -0.19659256474931075, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 167 mm; move right 5 mm; move upward 72 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 343 mm; move right 18 mm; move upward 72 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 180, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 170 mm; move right 5 mm; move upward 69 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 334 mm; move right 18 mm; move upward 69 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + 0.0, + 0.0032142859417945147, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1703571379184723, + -0.005000000353902578, + 0.06892857700586319, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5226562085823918, + 0.5715983734053891, + -0.19659256474931075, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 170 mm; move right 5 mm; move upward 69 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 334 mm; move right 18 mm; move upward 69 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 181, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 176 mm; move right 5 mm; move upward 66 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 324 mm; move right 18 mm; move upward 66 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008928571827709675, + 0.0, + 0.004285714589059353, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17571428418159485, + -0.005000000353902578, + 0.06571429967880249, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5134835862953933, + 0.5715983734053891, + -0.14744447267758698, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 176 mm; move right 5 mm; move upward 66 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 324 mm; move right 18 mm; move upward 66 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 182, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 183 mm; move right 5 mm; move upward 61 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 315 mm; move right 18 mm; move upward 61 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008928571827709675, + 0.0, + 0.004285714589059353, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18285714089870453, + -0.005000000353902578, + 0.061428576707839966, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5134835862953933, + 0.5715983734053891, + -0.14744447267758698, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 183 mm; move right 5 mm; move upward 61 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 315 mm; move right 18 mm; move upward 61 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 183, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 192 mm; move right 5 mm; move upward 57 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 306 mm; move right 18 mm; move upward 57 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008571429178118706, + 0.0, + 0.0057142856530845165, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.19178570806980133, + -0.0053571430034935474, + 0.057142872363328934, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5043109640083947, + 0.5715983734053891, + -0.08191370460922665, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 192 mm; move right 5 mm; move upward 57 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 306 mm; move right 18 mm; move upward 57 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 184, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 202 mm; move right 6 mm; move upward 51 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 298 mm; move right 18 mm; move upward 51 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008214286528527737, + 0.0, + 0.0057142856530845165, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2021428644657135, + -0.0057142856530845165, + 0.05142858251929283, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.49513834172139615, + 0.5715983734053891, + -0.08191370460922665, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 202 mm; move right 6 mm; move upward 51 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 298 mm; move right 18 mm; move upward 51 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 185, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 214 mm; move right 7 mm; move upward 46 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 290 mm; move right 18 mm; move upward 46 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007142857648432255, + -0.0003571428533177823, + 0.007142857648432255, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21392858028411865, + -0.006785714533179998, + 0.04571428894996643, + 0.0, + -0.0071428571827709675, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4676204509409101, + 0.5417654502987794, + -0.016382893819656963, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 214 mm; move right 7 mm; move upward 46 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 290 mm; move right 18 mm; move upward 46 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 186, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 231 mm; move right 9 mm; move upward 39 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 283 mm; move right 17 mm; move upward 39 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006071428768336773, + -0.0003571428533177823, + 0.007142857648432255, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23071430623531342, + -0.008928571827709675, + 0.03857143223285675, + -0.0057142856530845165, + -0.017142856493592262, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.44010256016042426, + 0.5417654502987794, + -0.016382893819656963, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 231 mm; move right 9 mm; move upward 39 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 283 mm; move right 17 mm; move upward 39 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 187, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 250 mm; move right 12 mm; move upward 31 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 276 mm; move right 17 mm; move upward 31 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0057142856530845165, + -0.0003571428533177823, + 0.007500000298023224, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2500000298023224, + -0.01214285846799612, + 0.03142857551574707, + -0.012857142835855484, + -0.03142857179045677, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4309299259136805, + 0.5417654502987794, + -2.0714271808941476e-07, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 250 mm; move right 12 mm; move upward 31 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 276 mm; move right 17 mm; move upward 31 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 188, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 271 mm; move right 16 mm; move upward 24 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 271 mm; move right 16 mm; move upward 24 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0053571430034935474, + -0.0003571428533177823, + 0.006428571883589029, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.27071431279182434, + -0.016428573057055473, + 0.023928573355078697, + -0.02428571507334709, + -0.04714285582304001, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.42175730362668196, + 0.5417654502987794, + -0.04914828853413944, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 271 mm; move right 16 mm; move upward 24 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 271 mm; move right 16 mm; move upward 24 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 189, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 293 mm; move right 21 mm; move upward 18 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 265 mm; move right 16 mm; move upward 18 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0057142856530845165, + 0.0, + 0.004642857238650322, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2925000488758087, + -0.02142857387661934, + 0.017500001937150955, + -0.0357142873108387, + -0.0657142847776413, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4309299259136805, + 0.5715983734053891, + -0.1310617860006481, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 293 mm; move right 21 mm; move upward 18 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 265 mm; move right 16 mm; move upward 18 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 190, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 1 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 315 mm; move right 27 mm; move upward 13 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 260 mm; move right 16 mm; move upward 13 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006785714533179998, + -0.0007142857066355646, + 0.0039285714738070965, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3150000274181366, + -0.027142858132719994, + 0.012857143767178059, + -0.05000000074505806, + -0.08571428060531616, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.45844781669416634, + 0.5119325271921695, + -0.16382718071513058, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 1 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 315 mm; move right 27 mm; move upward 13 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 260 mm; move right 16 mm; move upward 13 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 191, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 338 mm; move right 34 mm; move upward 9 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 253 mm; move right 15 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007500000298023224, + 0.0, + 0.0028571428265422583, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.33750006556510925, + -0.03428572043776512, + 0.008928571827709675, + -0.0714285746216774, + -0.10999999940395355, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.47679307322790865, + 0.5715983734053891, + -0.21297527278685435, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 338 mm; move right 34 mm; move upward 9 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 253 mm; move right 15 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 192, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 359 mm; move right 41 mm; move upward 6 mm; roll downward 5 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 245 mm; move right 15 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008214286528527737, + 0.0, + 0.0021428572945296764, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.35928577184677124, + -0.04107143357396126, + 0.006071428768336773, + -0.09142857789993286, + -0.1314285695552826, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.49513834172139615, + 0.5715983734053891, + -0.2457406568210344, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 359 mm; move right 41 mm; move upward 6 mm; roll downward 5 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 245 mm; move right 15 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 193, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 378 mm; move right 45 mm; move upward 4 mm; roll downward 6 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 237 mm; move right 15 mm; move upward 4 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008571429178118706, + -0.0003571428533177823, + 0.0021428572945296764, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3782143294811249, + -0.045357149094343185, + 0.0039285714738070965, + -0.10000000894069672, + -0.1485714316368103, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5043109640083947, + 0.5417654502987794, + -0.2457406568210344, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 378 mm; move right 45 mm; move upward 4 mm; roll downward 6 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 237 mm; move right 15 mm; move upward 4 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 194, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 1 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 393 mm; move right 46 mm; move upward 2 mm; roll downward 6 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 229 mm; move right 15 mm; move upward 2 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + -0.0010714286472648382, + 0.0014285714132711291, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.39250001311302185, + -0.04571428894996643, + 0.0017857144121080637, + -0.10000000894069672, + -0.15857143700122833, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5226562085823918, + 0.4820995967922401, + -0.2785060568756681, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 1 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 393 mm; move right 46 mm; move upward 2 mm; roll downward 6 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 229 mm; move right 15 mm; move upward 2 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 195, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 1 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 398 mm; move right 45 mm; move upward 0 mm; roll downward 6 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 219 mm; move right 14 mm; move upward 0 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + -0.0010714286472648382, + 0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.39821431040763855, + -0.0446428619325161, + 0.0003571428533177823, + -0.10000000894069672, + -0.15857143700122833, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5318288308693904, + 0.4820995967922401, + -0.3276541449422785, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 1 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 398 mm; move right 45 mm; move upward 0 mm; roll downward 6 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 219 mm; move right 14 mm; move upward 0 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 196, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 398 mm; move right 44 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 210 mm; move right 13 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.39750000834465027, + -0.04357143118977547, + 0.0, + -0.10000000894069672, + -0.15857143700122833, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5593467216498764, + 0.5417654502987794, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 398 mm; move right 44 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 210 mm; move right 13 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 197, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 387 mm; move right 43 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 199 mm; move right 13 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.38678571581840515, + -0.04321428760886192, + 0.0, + -0.10000000894069672, + -0.15857143700122833, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5776919662238733, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 387 mm; move right 43 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 199 mm; move right 13 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 198, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 375 mm; move right 43 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 187 mm; move right 13 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.37535715103149414, + -0.04321428760886192, + 0.0, + -0.10000000894069672, + -0.15857143700122833, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5868646124303623, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 375 mm; move right 43 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 187 mm; move right 13 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 199, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 364 mm; move right 43 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 176 mm; move right 13 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.363571435213089, + -0.04321428760886192, + 0.0, + -0.10000000894069672, + -0.15857143700122833, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6052098570043594, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 364 mm; move right 43 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 176 mm; move right 13 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 200, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 346 mm; move right 43 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 163 mm; move right 13 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3460714519023895, + -0.04321428760886192, + 0.0, + -0.10000000894069672, + -0.15857143700122833, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6602456146458409, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 346 mm; move right 43 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 163 mm; move right 13 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 201, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 318 mm; move right 43 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 149 mm; move right 13 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01607142947614193, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.31785714626312256, + -0.04285714775323868, + 0.0, + -0.09857143461704254, + -0.15857143700122833, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6969361516328159, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 318 mm; move right 43 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 149 mm; move right 13 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 202, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 282 mm; move right 42 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 132 mm; move right 13 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01785714365541935, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28214284777641296, + -0.04178571701049805, + 0.0, + -0.09428571909666061, + -0.15857143700122833, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.742799286987299, + 0.5417654502987794, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 282 mm; move right 42 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 132 mm; move right 13 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 203, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 239 mm; move right 39 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 115 mm; move right 12 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018928570672869682, + -0.0003571428533177823, + 0.0, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23892855644226074, + -0.03928571566939354, + 0.0, + -0.08571428805589676, + -0.15857143700122833, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7703171299288041, + 0.5417654502987794, + -0.34403684096448195, + 0.334449215924308, + 0.38461529202412637, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 19 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 239 mm; move right 39 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 115 mm; move right 12 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 204, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 185 mm; move right 37 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 96 mm; move right 12 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.020000001415610313, + -0.0010714286472648382, + 0.0, + 0.0, + -0.0057142856530845165, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18535713851451874, + -0.03678571432828903, + 0.0, + -0.07285714149475098, + -0.15571430325508118, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7978350685482711, + 0.4820995967922401, + -0.34403684096448195, + 0.334449215924308, + 0.33333324427456645, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 20 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 185 mm; move right 37 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 96 mm; move right 12 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 205, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 24 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 126 mm; move right 34 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 76 mm; move right 11 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.023928571492433548, + -0.002500000176951289, + 0.0, + -0.0057142856530845165, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.12642857432365417, + -0.03392857313156128, + 0.0, + -0.05714285373687744, + -0.14714285731315613, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8987339376247452, + 0.3627678946413746, + -0.34403684096448195, + 0.2674924083121182, + 0.28205119791801025, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 24 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 126 mm; move right 34 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 76 mm; move right 11 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 206, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 25 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 60 mm; move right 29 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move right 8 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.025357142090797424, + -0.0035714288242161274, + 0.0, + -0.0071428571827709675, + -0.014285714365541935, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.06000002101063728, + -0.02857143059372902, + 0.0, + -0.03428570181131363, + -0.13428571820259094, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9354244267727392, + 0.2732691180282254, + -0.34403684096448195, + 0.250753205044981, + 0.23076914598943898, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 25 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 60 mm; move right 29 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move right 8 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 207, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 26 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 12 mm; move right 21 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 26 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.026428570970892906, + -0.004642857238650322, + 0.0, + -0.011428571306169033, + -0.015714285895228386, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.011785700917243958, + -0.021071428433060646, + 0.0, + 5.587935447692871e-09, + -0.11571428924798965, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9629423175532252, + 0.18377036086392895, + -0.34403684096448195, + 0.20053560069992837, + 0.21367512867991523, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 26 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 12 mm; move right 21 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 26 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 208, + "segment_id": 10000, + "subtask": "press the stop button", + "reason": "The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm extends upward from its base position and makes contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 27 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 86 mm; move right 12 mm; move downward 0 mm; roll upward 3 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.027142858132719994, + -0.0053571430034935474, + 0.0, + -0.011428571306169033, + -0.018571428954601288, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.08607140928506851, + -0.012142856605350971, + 0.0, + 0.04714285582304001, + -0.08999999612569809, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9812876099662033, + 0.1241045097884963, + -0.34403684096448195, + 0.20053560069992837, + 0.1794870940608677, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 27 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 86 mm; move right 12 mm; move downward 0 mm; roll upward 3 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 209, + "segment_id": 10209, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving downward, leaving the microwave area after the button interaction has been completed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving downward, leaving the microwave area after the button interaction has been completed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 28 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 163 mm; move right 2 mm; move upward 0 mm; roll upward 6 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 161 mm; move right 25 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.028214285150170326, + -0.0057142856530845165, + 0.0, + -0.014285714365541935, + -0.019999999552965164, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.1632142812013626, + -0.002142858924344182, + 0.0003571428533177823, + 0.10857142508029938, + -0.05714285373687744, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.0942716036996325, + -0.34403684096448195, + 0.167057194165654, + 0.1623930878953741, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 28 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 163 mm; move right 2 mm; move upward 0 mm; roll upward 6 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 161 mm; move right 25 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 210, + "segment_id": 10209, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving downward, leaving the microwave area after the button interaction has been completed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving downward, leaving the microwave area after the button interaction has been completed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 29 mm; move right 8 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 241 mm; move left 9 mm; move upward 2 mm; roll upward 10 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 133 mm; move right 20 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.029285714030265808, + -0.007857142947614193, + 0.0, + -0.02142857201397419, + -0.02428571507334709, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.24142856895923615, + 0.008928571827709675, + 0.0017857144121080637, + 0.18285714089870453, + -0.01714285835623741, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + -0.08472594952666579, + -0.34403684096448195, + 0.0833611778299681, + 0.11111102482277269, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 29 mm; move right 8 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 241 mm; move left 9 mm; move upward 2 mm; roll upward 10 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 133 mm; move right 20 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 211, + "segment_id": 10209, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving downward, leaving the microwave area after the button interaction has been completed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving downward, leaving the microwave area after the button interaction has been completed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 29 mm; move right 7 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 321 mm; move left 23 mm; move upward 3 mm; roll upward 15 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 103 mm; move right 12 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.029285714030265808, + -0.006785714533179998, + 0.0, + -0.019999999552965164, + -0.02142857201397419, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3207142949104309, + 0.022857142612338066, + 0.002500000176951289, + 0.2671428620815277, + 0.034285709261894226, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.0047728076376307715, + -0.34403684096448195, + 0.10010039200982312, + 0.1452990594418202, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 29 mm; move right 7 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 321 mm; move left 23 mm; move upward 3 mm; roll upward 15 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 103 mm; move right 12 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 212, + "segment_id": 10209, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving downward, leaving the microwave area after the button interaction has been completed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving downward, leaving the microwave area after the button interaction has been completed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 27 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 400 mm; move left 38 mm; move upward 4 mm; roll upward 20 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 74 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.027142858132719994, + -0.004285714589059353, + 0.0, + -0.008571428246796131, + -0.017142856493592262, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4000000059604645, + 0.03750000521540642, + 0.0039285714738070965, + 0.357142835855484, + 0.08714285492897034, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9812876099662033, + 0.21360326695279275, + -0.34403684096448195, + 0.23401400723420274, + 0.1965811225144216, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 27 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 400 mm; move left 38 mm; move upward 4 mm; roll upward 20 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 74 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 213, + "segment_id": 10209, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving downward, leaving the microwave area after the button interaction has been completed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving downward, leaving the microwave area after the button interaction has been completed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 23 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 477 mm; move left 50 mm; move upward 6 mm; roll upward 26 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 47 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.022857142612338066, + -0.0007142857066355646, + 0.0, + 0.0, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.477142870426178, + 0.0503571443259716, + 0.006428571883589029, + 0.4471428394317627, + 0.14142857491970062, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8712160468442591, + 0.5119325271921695, + -0.34403684096448195, + 0.334449215924308, + 0.28205119791801025, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 23 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 477 mm; move left 50 mm; move upward 6 mm; roll upward 26 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 47 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 214, + "segment_id": 10209, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving downward, leaving the microwave area after the button interaction has been completed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving downward, leaving the microwave area after the button interaction has been completed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 500 mm; move left 51 mm; move upward 6 mm; roll upward 26 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 24 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.5, + 0.05107143148779869, + 0.006428571883589029, + 0.4471428394317627, + 0.15142856538295746, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.66941826085233, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 500 mm; move left 51 mm; move upward 6 mm; roll upward 26 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 24 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 215, + "segment_id": 10209, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving downward, leaving the microwave area after the button interaction has been completed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving downward, leaving the microwave area after the button interaction has been completed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 515 mm; move left 51 mm; move upward 6 mm; roll upward 26 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008928571827709675, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.5149999856948853, + 0.05107143148779869, + 0.006428571883589029, + 0.4471428394317627, + 0.15142856538295746, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5134835862953933, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 515 mm; move left 51 mm; move upward 6 mm; roll upward 26 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 216, + "segment_id": 10209, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving downward, leaving the microwave area after the button interaction has been completed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving downward, leaving the microwave area after the button interaction has been completed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 524 mm; move left 51 mm; move upward 6 mm; roll upward 26 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.5239285826683044, + 0.05107143148779869, + 0.006428571883589029, + 0.4471428394317627, + 0.15142856538295746, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 524 mm; move left 51 mm; move upward 6 mm; roll upward 26 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 217, + "segment_id": 10209, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving downward, leaving the microwave area after the button interaction has been completed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving downward, leaving the microwave area after the button interaction has been completed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 524 mm; move left 51 mm; move upward 6 mm; roll upward 26 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.5239285826683044, + 0.05107143148779869, + 0.006428571883589029, + 0.4471428394317627, + 0.15142856538295746, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 524 mm; move left 51 mm; move upward 6 mm; roll upward 26 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 218, + "segment_id": 10209, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving downward, leaving the microwave area after the button interaction has been completed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving downward, leaving the microwave area after the button interaction has been completed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 524 mm; move left 51 mm; move upward 6 mm; roll upward 26 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.5239285826683044, + 0.05107143148779869, + 0.006428571883589029, + 0.4471428394317627, + 0.15142856538295746, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 524 mm; move left 51 mm; move upward 6 mm; roll upward 26 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 219, + "segment_id": 10209, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving downward, leaving the microwave area after the button interaction has been completed.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving downward, leaving the microwave area after the button interaction has been completed.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 524 mm; move left 51 mm; move upward 6 mm; roll upward 26 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.005000000353902578, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.5239285826683044, + 0.05107143148779869, + 0.006428571883589029, + 0.4471428394317627, + 0.15142856538295746, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.15575108986729158, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 5 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 524 mm; move left 51 mm; move upward 6 mm; roll upward 26 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 220, + "segment_id": 10220, + "subtask": "move away from the microwave", + "reason": "The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move left 0 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 519 mm; move left 51 mm; move upward 6 mm; roll upward 26 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 469 mm; move left 43 mm; move upward 4 mm; roll upward 21 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013571429066359997, + 0.0003571428533177823, + 0.0, + 0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.5189285278320312, + 0.05107143148779869, + 0.006428571883589029, + 0.4471428394317627, + 0.15142856538295746, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.06439197657787044, + 0.601431296511999, + -0.34403684096448195, + 0.35118841782735544, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 14 mm; move left 0 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 519 mm; move left 51 mm; move upward 6 mm; roll upward 26 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 469 mm; move left 43 mm; move upward 4 mm; roll upward 21 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 221, + "segment_id": 10220, + "subtask": "move away from the microwave", + "reason": "The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move left 1 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 505 mm; move left 51 mm; move upward 6 mm; roll upward 26 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 455 mm; move left 42 mm; move upward 4 mm; roll upward 21 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01964285783469677, + 0.0010714286472648382, + 0.0, + 0.004285714123398066, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.5053571462631226, + 0.05071428418159485, + 0.006428571883589029, + 0.4457142949104309, + 0.15142856538295746, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.2203266511348071, + 0.6610971500185383, + -0.34403684096448195, + 0.3846668202693606, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 20 mm; move left 1 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 505 mm; move left 51 mm; move upward 6 mm; roll upward 26 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 455 mm; move left 42 mm; move upward 4 mm; roll upward 21 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 222, + "segment_id": 10220, + "subtask": "move away from the microwave", + "reason": "The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 25 mm; move left 2 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 486 mm; move left 50 mm; move upward 6 mm; roll upward 25 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 436 mm; move left 41 mm; move upward 4 mm; roll upward 21 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.025357142090797424, + 0.0021428572945296764, + 0.0, + 0.008571428246796131, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.48571428656578064, + 0.049642857164144516, + 0.006428571883589029, + 0.441428542137146, + 0.15142856538295746, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.3670886555657643, + 0.7505959266316873, + -0.34403684096448195, + 0.43488442461441323, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 25 mm; move left 2 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 486 mm; move left 50 mm; move upward 6 mm; roll upward 25 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 436 mm; move left 41 mm; move upward 4 mm; roll upward 21 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 223, + "segment_id": 10220, + "subtask": "move away from the microwave", + "reason": "The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 35 mm; move left 2 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 460 mm; move left 47 mm; move upward 6 mm; roll upward 25 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 410 mm; move left 39 mm; move upward 4 mm; roll upward 20 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03464285656809807, + 0.0021428572945296764, + 0.0, + 0.012857142835855484, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4603571593761444, + 0.04749999940395355, + 0.006428571883589029, + 0.4328571557998657, + 0.15142856538295746, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.6055769785446685, + 0.7505959266316873, + -0.34403684096448195, + 0.4851020344158248, + 0.41880332385716645, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 35 mm; move left 2 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 460 mm; move left 47 mm; move upward 6 mm; roll upward 25 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 410 mm; move left 39 mm; move upward 4 mm; roll upward 20 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 224, + "segment_id": 10220, + "subtask": "move away from the microwave", + "reason": "The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 39 mm; move left 2 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 426 mm; move left 45 mm; move upward 6 mm; roll upward 24 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 376 mm; move left 37 mm; move upward 4 mm; roll upward 19 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.038928572088479996, + 0.0017857144121080637, + 0.0, + 0.015714285895228386, + 0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.42571431398391724, + 0.04535714536905289, + 0.006428571883589029, + 0.42000001668930054, + 0.15000000596046448, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.7156485416666127, + 0.720763001093971, + -0.34403684096448195, + 0.5185804409500991, + 0.4358973397736863, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 39 mm; move left 2 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 426 mm; move left 45 mm; move upward 6 mm; roll upward 24 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 376 mm; move left 37 mm; move upward 4 mm; roll upward 19 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 225, + "segment_id": 10220, + "subtask": "move away from the microwave", + "reason": "The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 43 mm; move left 3 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 387 mm; move left 44 mm; move upward 6 mm; roll upward 23 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 337 mm; move left 35 mm; move upward 4 mm; roll upward 18 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.042500000447034836, + 0.0028571428265422583, + 0.0, + 0.017142856493592262, + 0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.38678571581840515, + 0.04357143118977547, + 0.006428571883589029, + 0.404285728931427, + 0.14714285731315613, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8073748123755788, + 0.8102617582582674, + -0.34403684096448195, + 0.5353196333045187, + 0.4358973397736863, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 43 mm; move left 3 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 387 mm; move left 44 mm; move upward 6 mm; roll upward 23 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 337 mm; move left 35 mm; move upward 4 mm; roll upward 18 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 226, + "segment_id": 10220, + "subtask": "move away from the microwave", + "reason": "The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 46 mm; move left 4 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 344 mm; move left 41 mm; move upward 6 mm; roll upward 22 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 294 mm; move left 32 mm; move upward 4 mm; roll upward 18 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.04642857238650322, + 0.0039285714738070965, + 0.0, + 0.027142856270074844, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3442857265472412, + 0.040714289993047714, + 0.006428571883589029, + 0.3871428370475769, + 0.14428570866584778, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.9082737292910339, + 0.8997605348714166, + -0.34403684096448195, + 0.6524940452617611, + 0.4529913542972026, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 46 mm; move left 4 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 344 mm; move left 41 mm; move upward 6 mm; roll upward 22 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 294 mm; move left 32 mm; move upward 4 mm; roll upward 18 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 227, + "segment_id": 10220, + "subtask": "move away from the microwave", + "reason": "The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 48 mm; move left 4 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 298 mm; move left 37 mm; move upward 6 mm; roll upward 21 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 248 mm; move left 28 mm; move upward 4 mm; roll upward 16 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.047857142984867096, + 0.004285714589059353, + 0.0, + 0.0357142873108387, + 0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2978571355342865, + 0.03678571805357933, + 0.006428571883589029, + 0.36000001430511475, + 0.14000000059604645, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.944964218439028, + 0.9295934798579855, + -0.34403684096448195, + 0.7529292866900197, + 0.5213674179632826, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 48 mm; move left 4 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 298 mm; move left 37 mm; move upward 6 mm; roll upward 21 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 248 mm; move left 28 mm; move upward 4 mm; roll upward 16 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 228, + "segment_id": 10220, + "subtask": "move away from the microwave", + "reason": "The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 50 mm; move left 5 mm; move upward 0 mm; roll upward 3 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 250 mm; move left 32 mm; move upward 6 mm; roll upward 19 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 200 mm; move left 24 mm; move upward 4 mm; roll upward 14 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.05000000074505806, + 0.004642857238650322, + 0.0003571428533177823, + 0.05000000074505806, + 0.014285714365541935, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.25, + 0.032499998807907104, + 0.006428571883589029, + 0.32428568601608276, + 0.12999999523162842, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.9594263859468493, + -0.3276541449422785, + 0.9203212975359558, + 0.5726494698918538, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 50 mm; move left 5 mm; move upward 0 mm; roll upward 3 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 250 mm; move left 32 mm; move upward 6 mm; roll upward 19 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 200 mm; move left 24 mm; move upward 4 mm; roll upward 14 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 229, + "segment_id": 10220, + "subtask": "move away from the microwave", + "reason": "The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 50 mm; move left 5 mm; move upward 1 mm; roll upward 3 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 200 mm; move left 28 mm; move upward 6 mm; roll upward 16 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 150 mm; move left 19 mm; move upward 4 mm; roll upward 11 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.05000000074505806, + 0.0053571430034935474, + 0.0014285714132711291, + 0.05999999865889549, + 0.019999999552965164, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.20000000298023224, + 0.027857143431901932, + 0.00607142923399806, + 0.2742857336997986, + 0.11571428179740906, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 1.0, + -0.2785060568756681, + 1.0, + 0.6410255279859187, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 50 mm; move left 5 mm; move upward 1 mm; roll upward 3 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 200 mm; move left 28 mm; move upward 6 mm; roll upward 16 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 150 mm; move left 19 mm; move upward 4 mm; roll upward 11 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 230, + "segment_id": 10220, + "subtask": "move away from the microwave", + "reason": "The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 50 mm; move left 6 mm; move upward 1 mm; roll upward 4 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 150 mm; move left 22 mm; move upward 5 mm; roll upward 12 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 100 mm; move left 14 mm; move upward 2 mm; roll upward 8 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.05000000074505806, + 0.006071428768336773, + 0.0007142857066355646, + 0.06285714358091354, + 0.027142856270074844, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.15000000596046448, + 0.022499999031424522, + 0.004642857238650322, + 0.2142857164144516, + 0.09571428596973419, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 1.0, + -0.3112714489200751, + 1.0, + 0.7264956033895074, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 50 mm; move left 6 mm; move upward 1 mm; roll upward 4 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 150 mm; move left 22 mm; move upward 5 mm; roll upward 12 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 100 mm; move left 14 mm; move upward 2 mm; roll upward 8 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 231, + "segment_id": 10220, + "subtask": "move away from the microwave", + "reason": "The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 50 mm; move left 8 mm; move upward 1 mm; roll upward 4 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 100 mm; move left 16 mm; move upward 4 mm; roll upward 9 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 50 mm; move left 8 mm; move upward 1 mm; roll upward 4 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.05000000074505806, + 0.007857142947614193, + 0.0014285714132711291, + 0.07000000029802322, + 0.03142857179045677, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.10000000149011612, + 0.016428573057055473, + 0.0039285714738070965, + 0.15142858028411865, + 0.06857143342494965, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 1.0, + -0.2785060568756681, + 1.0, + 0.7777776664621088, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 50 mm; move left 8 mm; move upward 1 mm; roll upward 4 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 100 mm; move left 16 mm; move upward 4 mm; roll upward 9 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 50 mm; move left 8 mm; move upward 1 mm; roll upward 4 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 232, + "segment_id": 10220, + "subtask": "move away from the microwave", + "reason": "The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is visible in a retracted position near the floor, having moved down and back from the microwave interface shown in the previous segment.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 50 mm; move left 9 mm; move upward 3 mm; roll upward 5 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.05000000074505806, + 0.008571429178118706, + 0.002500000176951289, + 0.08142857253551483, + 0.037142857909202576, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.2841678856034875, + 0.5715983734053891, + -0.34403684096448195, + 0.334449215924308, + 0.4017093079406464, + -0.11077084253075653, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 50 mm; move left 9 mm; move upward 3 mm; roll upward 5 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + } + ], + "all_object_names": [ + "obj_container", + "obj" + ], + "obj_cat": "obj_container", + "distr_cats": [ + "obj" + ], + "grounding_camera": "robot0_agentview_left", + "grounding_method": "self_render_selfconsistent" +} \ No newline at end of file diff --git a/grounding_cot/TurnOffMicrowave/extras/episode_000011/cot_annotations.json b/grounding_cot/TurnOffMicrowave/extras/episode_000011/cot_annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..e2564b1685315e2bc00e3b1e9dfd640e2243e36d --- /dev/null +++ b/grounding_cot/TurnOffMicrowave/extras/episode_000011/cot_annotations.json @@ -0,0 +1,9594 @@ +{ + "sample_key": "TurnOffMicrowave|11", + "subtask_list": [ + "approach the microwave", + "reach for the stop button", + "press the stop button", + "move away from the microwave" + ], + "segment_labels_raw": { + "1": [ + "reach for the stop button", + "The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact." + ], + "2": [ + "press the stop button", + "The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button." + ], + "3": [ + "press the stop button", + "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away." + ], + "4": [ + "move away from the microwave", + "The robot's end-effector is positioned near the microwave handle but shows no signs of grasping or contact; instead, it appears to be retracting or moving slightly downward and away from the appliance." + ], + "5": [ + "reach for the stop button", + "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button." + ], + "6": [ + "press the stop button", + "The robot's arm is positioned directly in front of the microwave control panel with its end-effector making contact with the surface, indicating the execution of the pressing action." + ], + "7": [ + "move away from the microwave", + "The robot's arm is positioned at the bottom of the frame and has retracted slightly compared to the previous interaction phase, indicating a withdrawal motion from the appliance." + ] + }, + "instruction": "press the stop button on the microwave", + "suite": "TurnOffMicrowave", + "num_frames": 198, + "segment_count": 7, + "movement_statistics": { + "mean": [ + -0.0006042568586623259, + -0.004586940959937908, + 0.004511183385432679, + -0.024790764784539177, + -0.034574314499758375, + -0.0005411255071080769, + 0.9797979797979798 + ], + "std": [ + 0.013274554877946822, + 0.006638786300245386, + 0.007326468095643184, + 0.03546046204824047, + 0.035639448019703916, + 0.015590682242919365, + 0.19998979669922584 + ], + "Q1": [ + -0.04751071371138096, + -0.01929642856121063, + -0.006071428768336773, + -0.107185715213418, + -0.1029428569227457, + -0.05999999865889549, + 0.94 + ], + "Q99": [ + 0.017500000074505806, + 0.007153571927919984, + 0.021796428039669993, + 0.057400000281631954, + 4.28571423981355e-05, + 0.027142856270074844, + 1.0 + ] + }, + "frames": [ + { + "frame_index": 0, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 181 mm; move left 1 mm; move upward 295 mm; roll downward 0 degrees; pitch downward 36 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 197 mm; move left 1 mm; move upward 315 mm; roll downward 1 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 103 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0003571428533177823, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.1810714304447174, + 0.0010714286472648382, + 0.2953571379184723, + -0.008571428246796131, + -0.6285714507102966, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + 0.4590866471784816, + -0.5386391311582162, + 0.3024910257681088, + 0.9991675129191495, + 0.3770490265106883, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 181 mm; move left 1 mm; move upward 295 mm; roll downward 0 degrees; pitch downward 36 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 197 mm; move left 1 mm; move upward 315 mm; roll downward 1 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 1, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 197 mm; move left 1 mm; move upward 315 mm; roll downward 1 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 197 mm; move left 1 mm; move upward 315 mm; roll downward 1 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 103 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.002500000176951289, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.1971428543329239, + 0.0010714286472648382, + 0.3149999976158142, + -0.011428571306169033, + -0.6957142949104309, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + 0.4590866471784816, + -0.38485216652281473, + 0.3024910257681088, + 0.9991675129191495, + 0.3770490265106883, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 197 mm; move left 1 mm; move upward 315 mm; roll downward 1 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 197 mm; move left 1 mm; move upward 315 mm; roll downward 1 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 2, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 213 mm; move left 1 mm; move upward 331 mm; roll downward 1 degrees; pitch downward 44 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 197 mm; move left 1 mm; move upward 312 mm; roll downward 1 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.004285714589059353, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.21321427822113037, + 0.0010714286472648382, + 0.331428587436676, + -0.015714285895228386, + -0.7642857432365417, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + 0.4590866471784816, + -0.256696364400565, + 0.3024910257681088, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 213 mm; move left 1 mm; move upward 331 mm; roll downward 1 degrees; pitch downward 44 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 197 mm; move left 1 mm; move upward 312 mm; roll downward 1 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 3, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 228 mm; move left 1 mm; move upward 345 mm; roll downward 1 degrees; pitch downward 48 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 197 mm; move left 1 mm; move upward 308 mm; roll downward 1 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.005000000353902578, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.22785714268684387, + 0.0010714286472648382, + 0.34464284777641296, + -0.015714285895228386, + -0.8385714292526245, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + 0.4590866471784816, + -0.20543404355166506, + 0.3024910257681088, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 228 mm; move left 1 mm; move upward 345 mm; roll downward 1 degrees; pitch downward 48 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 197 mm; move left 1 mm; move upward 308 mm; roll downward 1 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 4, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move left 1 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 242 mm; move left 1 mm; move upward 356 mm; roll downward 1 degrees; pitch downward 52 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 197 mm; move left 1 mm; move upward 303 mm; roll downward 1 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0007142857066355646, + 0.0007142857066355646, + 0.008571429178118706, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.24178571999073029, + 0.0010714286472648382, + 0.3557142913341522, + -0.015714285895228386, + -0.912857174873352, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.43965257666934243, + 0.5130968871312478, + 0.050877560692834445, + 0.3024910257681088, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 1 mm; move left 1 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 242 mm; move left 1 mm; move upward 356 mm; roll downward 1 degrees; pitch downward 52 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 197 mm; move left 1 mm; move upward 303 mm; roll downward 1 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 5, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move left 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 254 mm; move left 0 mm; move upward 363 mm; roll downward 1 degrees; pitch downward 56 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 196 mm; move left 0 mm; move upward 295 mm; roll downward 1 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.004642857238650322, + 0.0003571428533177823, + 0.010357143357396126, + 0.0, + -0.008571428246796131, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.25392860174179077, + 0.0003571428533177823, + 0.3628571629524231, + -0.015714285895228386, + -0.985714316368103, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.318793392115313, + 0.4860917671548648, + 0.1790333461054705, + 0.3024910257681088, + 0.832708941605435, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 5 mm; move left 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 254 mm; move left 0 mm; move upward 363 mm; roll downward 1 degrees; pitch downward 56 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 196 mm; move left 0 mm; move upward 295 mm; roll downward 1 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 6, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 0 mm; move upward 12 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 263 mm; move right 1 mm; move upward 368 mm; roll downward 1 degrees; pitch downward 60 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 192 mm; move right 0 mm; move upward 284 mm; roll downward 1 degrees; pitch downward 39 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0053571430034935474, + 0.0, + 0.012142857536673546, + 0.0, + -0.017142856493592262, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.26250001788139343, + -0.0010714286472648382, + 0.3678571581840515, + -0.017142856493592262, + -1.0514286756515503, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.2968189939469206, + 0.4590866471784816, + 0.30718913151810656, + 0.3024910257681088, + 0.6662503702917206, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 5 mm; move right 0 mm; move upward 12 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 263 mm; move right 1 mm; move upward 368 mm; roll downward 1 degrees; pitch downward 60 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 192 mm; move right 0 mm; move upward 284 mm; roll downward 1 degrees; pitch downward 39 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 7, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 270 mm; move right 4 mm; move upward 370 mm; roll downward 1 degrees; pitch downward 64 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 186 mm; move right 0 mm; move upward 272 mm; roll downward 1 degrees; pitch downward 38 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006071428768336773, + 0.0, + 0.016785714775323868, + 0.0, + -0.02428571507334709, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.27000004053115845, + -0.0039285714738070965, + 0.36964285373687744, + -0.01857142709195614, + -1.1085715293884277, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.2748445957785284, + 0.4590866471784816, + 0.6403942003263423, + 0.3024910257681088, + 0.5275348610384847, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 6 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 270 mm; move right 4 mm; move upward 370 mm; roll downward 1 degrees; pitch downward 64 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 186 mm; move right 0 mm; move upward 272 mm; roll downward 1 degrees; pitch downward 38 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 8, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 276 mm; move right 9 mm; move upward 366 mm; roll downward 1 degrees; pitch downward 66 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 180 mm; move right 0 mm; move upward 255 mm; roll downward 1 degrees; pitch downward 37 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008214286528527737, + 0.0, + 0.017500000074505806, + 0.0, + -0.029999999329447746, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.27642858028411865, + -0.008571429178118706, + 0.3660714328289032, + -0.01857142709195614, + -1.1585716009140015, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.20892138694767515, + 0.4590866471784816, + 0.691656487756015, + 0.3024910257681088, + 0.41656250427792885, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 8 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 276 mm; move right 9 mm; move upward 366 mm; roll downward 1 degrees; pitch downward 66 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 180 mm; move right 0 mm; move upward 255 mm; roll downward 1 degrees; pitch downward 37 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 9, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 281 mm; move right 14 mm; move upward 363 mm; roll downward 1 degrees; pitch downward 69 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 172 mm; move right 0 mm; move upward 238 mm; roll downward 1 degrees; pitch downward 35 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.010000000707805157, + 0.0, + 0.016785714775323868, + 0.0, + -0.029999999329447746, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2810714542865753, + -0.01428571529686451, + 0.3628571629524231, + -0.01857142709195614, + -1.2042858600616455, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.15398539868953232, + 0.4590866471784816, + 0.6403942003263423, + 0.3024910257681088, + 0.41656250427792885, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 10 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 281 mm; move right 14 mm; move upward 363 mm; roll downward 1 degrees; pitch downward 69 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 172 mm; move right 0 mm; move upward 238 mm; roll downward 1 degrees; pitch downward 35 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 10, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 284 mm; move right 21 mm; move upward 360 mm; roll downward 1 degrees; pitch downward 72 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 162 mm; move right 0 mm; move upward 221 mm; roll downward 1 degrees; pitch downward 34 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.010714286006987095, + 0.0, + 0.01714285835623741, + 0.0, + -0.03142857179045677, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.28392860293388367, + -0.021071430295705795, + 0.3603571355342865, + -0.01857142709195614, + -1.2528573274612427, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.1320110148468161, + 0.4590866471784816, + 0.6660254108796333, + 0.3024910257681088, + 0.3888193879581294, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 11 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 284 mm; move right 21 mm; move upward 360 mm; roll downward 1 degrees; pitch downward 72 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 162 mm; move right 0 mm; move upward 221 mm; roll downward 1 degrees; pitch downward 34 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 11, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 286 mm; move right 30 mm; move upward 359 mm; roll downward 1 degrees; pitch downward 75 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 151 mm; move right 0 mm; move upward 204 mm; roll downward 1 degrees; pitch downward 32 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.010714286006987095, + 0.0, + 0.01714285835623741, + 0.0, + -0.034285712987184525, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2857142984867096, + -0.0296428594738245, + 0.3585714101791382, + -0.019999997690320015, + -1.3028571605682373, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.1320110148468161, + 0.4590866471784816, + 0.6660254108796333, + 0.3024910257681088, + 0.33333322766429174, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 11 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 286 mm; move right 30 mm; move upward 359 mm; roll downward 1 degrees; pitch downward 75 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 151 mm; move right 0 mm; move upward 204 mm; roll downward 1 degrees; pitch downward 32 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 12, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 288 mm; move right 40 mm; move upward 357 mm; roll downward 1 degrees; pitch downward 77 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 141 mm; move right 0 mm; move upward 187 mm; roll downward 1 degrees; pitch downward 30 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 98 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011428571306169033, + 0.0, + 0.01785714365541935, + 0.0, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.28785714507102966, + -0.03964285925030708, + 0.35678571462631226, + -0.02142856828868389, + -1.3514286279678345, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.11003663100409988, + 0.4590866471784816, + 0.7172876983093059, + 0.3024910257681088, + 0.30559007517161163, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 11 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 288 mm; move right 40 mm; move upward 357 mm; roll downward 1 degrees; pitch downward 77 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 141 mm; move right 0 mm; move upward 187 mm; roll downward 1 degrees; pitch downward 30 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 13, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 289 mm; move right 51 mm; move upward 355 mm; roll downward 1 degrees; pitch downward 80 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 129 mm; move right 0 mm; move upward 169 mm; roll downward 1 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 155, + 98 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.015000000596046448, + 0.0, + 0.01964285783469677, + 0.0, + -0.04857143014669418, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2892857491970062, + -0.05107143148779869, + 0.3546428382396698, + -0.022857138887047768, + -1.3971428871154785, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.0001646258364620401, + 0.4590866471784816, + 0.845443483721942, + 0.3024910257681088, + 0.05590220915781985, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 15 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 289 mm; move right 51 mm; move upward 355 mm; roll downward 1 degrees; pitch downward 80 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 129 mm; move right 0 mm; move upward 169 mm; roll downward 1 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 14, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 0 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 287 mm; move right 62 mm; move upward 352 mm; roll downward 2 degrees; pitch downward 82 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 114 mm; move right 0 mm; move upward 149 mm; roll downward 1 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 155, + 97 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.015714285895228386, + 0.0, + 0.02142857201397419, + 0.0, + -0.05285714194178581, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.286785751581192, + -0.0625, + 0.35178571939468384, + -0.029999995604157448, + -1.4314285516738892, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.021809758006254176, + 0.4590866471784816, + 0.9735992691345781, + 0.3024910257681088, + -0.027327031282936565, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 16 mm; move right 0 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 287 mm; move right 62 mm; move upward 352 mm; roll downward 2 degrees; pitch downward 82 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 114 mm; move right 0 mm; move upward 149 mm; roll downward 1 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 15, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 0 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 284 mm; move right 74 mm; move upward 348 mm; roll downward 2 degrees; pitch downward 84 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 99 mm; move right 0 mm; move upward 128 mm; roll downward 1 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 156, + 96 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01607142947614193, + 0.0, + 0.021071428433060646, + 0.0, + -0.05714285746216774, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.28392860293388367, + -0.07428571581840515, + 0.34785711765289307, + -0.03714285418391228, + -1.4614285230636597, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.032796978578964575, + 0.4590866471784816, + 0.9479680585812873, + 0.3024910257681088, + -0.11055634406945425, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 16 mm; move right 0 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 284 mm; move right 74 mm; move upward 348 mm; roll downward 2 degrees; pitch downward 84 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 99 mm; move right 0 mm; move upward 128 mm; roll downward 1 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 16, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 0 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 281 mm; move right 86 mm; move upward 345 mm; roll downward 2 degrees; pitch downward 85 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 83 mm; move right 0 mm; move upward 107 mm; roll downward 1 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 156, + 95 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.016428573057055473, + 0.0, + 0.022142857313156128, + 0.0, + -0.06142857298254967, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2807143032550812, + -0.08642857521772385, + 0.34464284777641296, + -0.04285714030265808, + -1.4871429204940796, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.043784199151674974, + 0.4590866471784816, + 1.0, + 0.3024910257681088, + -0.19378565685597193, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 16 mm; move right 0 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 281 mm; move right 86 mm; move upward 345 mm; roll downward 2 degrees; pitch downward 85 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 83 mm; move right 0 mm; move upward 107 mm; roll downward 1 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 17, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 0 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 278 mm; move right 99 mm; move upward 340 mm; roll downward 3 degrees; pitch downward 87 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 66 mm; move right 0 mm; move upward 85 mm; roll downward 1 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 95 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.016785714775323868, + 0.0, + 0.022499999031424522, + -0.0014285714132711291, + -0.0657142847776413, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2775000035762787, + -0.09857142716646194, + 0.34035712480545044, + -0.048571426421403885, + -1.5099999904632568, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.05477136242168079, + 0.4590866471784816, + 1.0, + 0.28513142293530924, + -0.27701489729672846, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 17 mm; move right 0 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 278 mm; move right 99 mm; move upward 340 mm; roll downward 3 degrees; pitch downward 87 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 66 mm; move right 0 mm; move upward 85 mm; roll downward 1 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 18, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 0 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 274 mm; move right 111 mm; move upward 336 mm; roll downward 3 degrees; pitch downward 88 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 49 mm; move right 0 mm; move upward 62 mm; roll downward 1 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 94 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.016785714775323868, + 0.0, + 0.021785713732242584, + -0.004285714123398066, + -0.0657142847776413, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.27392858266830444, + -0.11142857372760773, + 0.3360714614391327, + -0.05571427941322327, + -1.53000009059906, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.05477136242168079, + 0.4590866471784816, + 0.99923034601096, + 0.2504122186843565, + -0.27701489729672846, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 17 mm; move right 0 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 274 mm; move right 111 mm; move upward 336 mm; roll downward 3 degrees; pitch downward 88 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 49 mm; move right 0 mm; move upward 62 mm; roll downward 1 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 19, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 271 mm; move right 124 mm; move upward 332 mm; roll downward 4 degrees; pitch downward 89 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 32 mm; move right 0 mm; move upward 40 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 158, + 93 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.016428573057055473, + 0.0, + 0.020357143133878708, + -0.0028571428265422583, + -0.0657142847776413, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.27071425318717957, + -0.12428571283817291, + 0.33249998092651367, + -0.06428571045398712, + -1.5514285564422607, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.043784199151674974, + 0.4590866471784816, + 0.8967057711516147, + 0.26777182010250944, + -0.27701489729672846, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 16 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 271 mm; move right 124 mm; move upward 332 mm; roll downward 4 degrees; pitch downward 89 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 32 mm; move right 0 mm; move upward 40 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 20, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 268 mm; move right 138 mm; move upward 330 mm; roll downward 4 degrees; pitch downward 90 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 16 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 158, + 92 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01607142947614193, + 0.0, + 0.020000001415610313, + -0.0028571428265422583, + -0.06714285910129547, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2678571343421936, + -0.13750000298023224, + 0.33000001311302185, + -0.07571428269147873, + -1.5757144689559937, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.032796978578964575, + 0.4590866471784816, + 0.871074694275233, + 0.26777182010250944, + -0.30475804978940846, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 16 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 268 mm; move right 138 mm; move upward 330 mm; roll downward 4 degrees; pitch downward 90 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 16 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 21, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm is positioned directly over the microwave's control panel, moving its end-effector into the immediate vicinity of the buttons to prepare for contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 265 mm; move right 151 mm; move upward 328 mm; roll downward 5 degrees; pitch downward 92 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 159, + 92 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01607142947614193, + 0.0, + 0.018928570672869682, + -0.004285714123398066, + -0.06857142597436905, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.265357106924057, + -0.1510714292526245, + 0.32750001549720764, + -0.08999999612569809, + -1.6014286279678345, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.032796978578964575, + 0.4590866471784816, + 0.7941810626153603, + 0.2504122186843565, + -0.33250105759056603, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 16 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 265 mm; move right 151 mm; move upward 328 mm; roll downward 5 degrees; pitch downward 92 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 22, + "segment_id": 10000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 261 mm; move right 165 mm; move upward 325 mm; roll downward 6 degrees; pitch downward 93 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 222 mm; move right 124 mm; move upward 273 mm; roll downward 3 degrees; pitch downward 77 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 160, + 91 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.014642857015132904, + 0.0, + 0.017500000074505806, + 0.0, + -0.07428571581840515, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.261428564786911, + -0.16500000655651093, + 0.32500001788139343, + -0.10428570955991745, + -1.6242856979370117, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.011151846409172439, + 0.4590866471784816, + 0.691656487756015, + 0.3024910257681088, + -0.4434735228697637, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 15 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 261 mm; move right 165 mm; move upward 325 mm; roll downward 6 degrees; pitch downward 93 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 222 mm; move right 124 mm; move upward 273 mm; roll downward 3 degrees; pitch downward 77 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 23, + "segment_id": 10000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 256 mm; move right 182 mm; move upward 323 mm; roll downward 8 degrees; pitch downward 94 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 208 mm; move right 124 mm; move upward 256 mm; roll downward 3 degrees; pitch downward 73 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 160, + 90 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013928571715950966, + 0.0, + 0.01607142947614193, + 0.0, + -0.07428571581840515, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2557142674922943, + -0.1817857176065445, + 0.3228571116924286, + -0.13428570330142975, + -1.644285798072815, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.033126230251888655, + 0.4590866471784816, + 0.5891319128966699, + 0.3024910257681088, + -0.4434735228697637, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 14 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 256 mm; move right 182 mm; move upward 323 mm; roll downward 8 degrees; pitch downward 94 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 208 mm; move right 124 mm; move upward 256 mm; roll downward 3 degrees; pitch downward 73 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 24, + "segment_id": 10000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 248 mm; move right 201 mm; move upward 321 mm; roll downward 10 degrees; pitch downward 96 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 194 mm; move right 124 mm; move upward 240 mm; roll downward 3 degrees; pitch downward 69 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 161, + 90 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012857143767178059, + 0.0, + 0.015714285895228386, + 0.0, + -0.07285714149475098, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.24750001728534698, + -0.20071427524089813, + 0.32107141613960266, + -0.18142855167388916, + -1.6714284420013428, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.06608780601596287, + 0.4590866471784816, + 0.5635007023433789, + 0.3024910257681088, + -0.4157303703770837, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 13 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 248 mm; move right 201 mm; move upward 321 mm; roll downward 10 degrees; pitch downward 96 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 194 mm; move right 124 mm; move upward 240 mm; roll downward 3 degrees; pitch downward 69 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 25, + "segment_id": 10000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 1 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 239 mm; move right 220 mm; move upward 317 mm; roll downward 13 degrees; pitch downward 97 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 181 mm; move right 124 mm; move upward 224 mm; roll downward 3 degrees; pitch downward 65 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 161, + 89 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013214285485446453, + -0.0010714286472648382, + 0.015357143245637417, + -0.0014285714132711291, + -0.07428571581840515, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.23928573727607727, + -0.21964286267757416, + 0.31749996542930603, + -0.22571426630020142, + -1.7014284133911133, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.05510064274595705, + 0.37807128064733164, + 0.5378695586285427, + 0.28513142293530924, + -0.4434735228697637, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 13 mm; move right 1 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 239 mm; move right 220 mm; move upward 317 mm; roll downward 13 degrees; pitch downward 97 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 181 mm; move right 124 mm; move upward 224 mm; roll downward 3 degrees; pitch downward 65 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 26, + "segment_id": 10000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 3 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 231 mm; move right 237 mm; move upward 312 mm; roll downward 14 degrees; pitch downward 99 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 168 mm; move right 123 mm; move upward 209 mm; roll downward 3 degrees; pitch downward 60 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 162, + 89 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012857143767178059, + -0.0028571428265422583, + 0.013928571715950966, + -0.0014285714132711291, + -0.07428571581840515, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2307143211364746, + -0.23714284598827362, + 0.31214281916618347, + -0.2442857176065445, + -1.7271429300308228, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.06608780601596287, + 0.2430456873674165, + 0.43534491693074284, + 0.28513142293530924, + -0.4434735228697637, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 13 mm; move right 3 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 231 mm; move right 237 mm; move upward 312 mm; roll downward 14 degrees; pitch downward 99 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 168 mm; move right 123 mm; move upward 209 mm; roll downward 3 degrees; pitch downward 60 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 27, + "segment_id": 10000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 5 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 223 mm; move right 251 mm; move upward 306 mm; roll downward 14 degrees; pitch downward 100 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 155 mm; move right 120 mm; move upward 195 mm; roll downward 3 degrees; pitch downward 56 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 162, + 88 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012500000186264515, + -0.004642857238650322, + 0.013214285485446453, + 0.0, + -0.07428571581840515, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.22285719215869904, + -0.2514285743236542, + 0.30607137084007263, + -0.24285714328289032, + -1.7471429109573364, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.07707502658867327, + 0.1080200764821666, + 0.38408256266261565, + 0.3024910257681088, + -0.4434735228697637, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 13 mm; move right 5 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 223 mm; move right 251 mm; move upward 306 mm; roll downward 14 degrees; pitch downward 100 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 155 mm; move right 120 mm; move upward 195 mm; roll downward 3 degrees; pitch downward 56 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 28, + "segment_id": 10000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 6 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 215 mm; move right 263 mm; move upward 300 mm; roll downward 14 degrees; pitch downward 101 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 142 mm; move right 116 mm; move upward 181 mm; roll downward 3 degrees; pitch downward 52 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 163, + 87 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012857143767178059, + -0.0057142856530845165, + 0.01428571529686451, + 0.0, + -0.07571428269147873, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.21500003337860107, + -0.2628571689128876, + 0.29964280128479004, + -0.24285714328289032, + -1.76714289188385, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.06608780601596287, + 0.027004727556351416, + 0.4609761274840336, + 0.3024910257681088, + -0.4712165306709214, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 13 mm; move right 6 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 215 mm; move right 263 mm; move upward 300 mm; roll downward 14 degrees; pitch downward 101 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 142 mm; move right 116 mm; move upward 181 mm; roll downward 3 degrees; pitch downward 52 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 29, + "segment_id": 10000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 7 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 206 mm; move right 273 mm; move upward 291 mm; roll downward 14 degrees; pitch downward 102 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 129 mm; move right 110 mm; move upward 167 mm; roll downward 3 degrees; pitch downward 48 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 164, + 87 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012857143767178059, + -0.006785714533179998, + 0.01428571529686451, + 0.0, + -0.07857143133878708, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.20642860233783722, + -0.2728571593761444, + 0.2914285361766815, + -0.24285714328289032, + -1.782857060432434, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.06608780601596287, + -0.054010656580133154, + 0.4609761274840336, + 0.3024910257681088, + -0.5267028356562814, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 13 mm; move right 7 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 206 mm; move right 273 mm; move upward 291 mm; roll downward 14 degrees; pitch downward 102 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 129 mm; move right 110 mm; move upward 167 mm; roll downward 3 degrees; pitch downward 48 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 30, + "segment_id": 10000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 9 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 198 mm; move right 282 mm; move upward 282 mm; roll downward 14 degrees; pitch downward 103 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 116 mm; move right 103 mm; move upward 153 mm; roll downward 3 degrees; pitch downward 43 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 165, + 86 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012500000186264515, + -0.008571429178118706, + 0.015357143245637417, + -0.0014285714132711291, + -0.08142857253551483, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.19750000536441803, + -0.2817857563495636, + 0.2821428179740906, + -0.24714285135269165, + -1.791428565979004, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.07707502658867327, + -0.18903628507071768, + 0.5378695586285427, + 0.28513142293530924, + -0.582188995950119, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 13 mm; move right 9 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 198 mm; move right 282 mm; move upward 282 mm; roll downward 14 degrees; pitch downward 103 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 116 mm; move right 103 mm; move upward 153 mm; roll downward 3 degrees; pitch downward 43 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 31, + "segment_id": 10000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 10 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 188 mm; move right 291 mm; move upward 271 mm; roll downward 15 degrees; pitch downward 103 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 104 mm; move right 95 mm; move upward 138 mm; roll downward 3 degrees; pitch downward 38 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 165, + 86 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012857143767178059, + -0.010000000707805157, + 0.015357143245637417, + -0.0014285714132711291, + -0.08285713940858841, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.1882142871618271, + -0.2907143235206604, + 0.2710713744163513, + -0.261428564786911, + -1.794285535812378, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.06608780601596287, + -0.2970567737789175, + 0.5378695586285427, + 0.28513142293530924, + -0.6099320037512768, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 13 mm; move right 10 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 188 mm; move right 291 mm; move upward 271 mm; roll downward 15 degrees; pitch downward 103 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 104 mm; move right 95 mm; move upward 138 mm; roll downward 3 degrees; pitch downward 38 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 32, + "segment_id": 10000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 11 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 178 mm; move right 299 mm; move upward 260 mm; roll downward 17 degrees; pitch downward 103 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 91 mm; move right 85 mm; move upward 122 mm; roll downward 3 degrees; pitch downward 34 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 167, + 85 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012857143767178059, + -0.011428571306169033, + 0.015714285895228386, + -0.0014285714132711291, + -0.08142857253551483, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.17750000953674316, + -0.2985714375972748, + 0.25999996066093445, + -0.29999998211860657, + -1.7999999523162842, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.06608780601596287, + -0.40507719206577864, + 0.5635007023433789, + 0.28513142293530924, + -0.582188995950119, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 13 mm; move right 11 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 178 mm; move right 299 mm; move upward 260 mm; roll downward 17 degrees; pitch downward 103 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 91 mm; move right 85 mm; move upward 122 mm; roll downward 3 degrees; pitch downward 34 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 33, + "segment_id": 10000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 11 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 165 mm; move right 306 mm; move upward 247 mm; roll downward 21 degrees; pitch downward 104 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 78 mm; move right 73 mm; move upward 106 mm; roll downward 3 degrees; pitch downward 29 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 168, + 85 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012500000186264515, + -0.011428571306169033, + 0.016785714775323868, + -0.0071428571827709675, + -0.08285713940858841, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.16535715758800507, + -0.30571430921554565, + 0.24714283645153046, + -0.3585714101791382, + -1.8114285469055176, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.07707502658867327, + -0.40507719206577864, + 0.6403942003263423, + 0.21569301018946385, + -0.6099320037512768, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 13 mm; move right 11 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 165 mm; move right 306 mm; move upward 247 mm; roll downward 21 degrees; pitch downward 104 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 78 mm; move right 73 mm; move upward 106 mm; roll downward 3 degrees; pitch downward 29 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 34, + "segment_id": 10000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 12 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 153 mm; move right 316 mm; move upward 232 mm; roll downward 25 degrees; pitch downward 105 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 66 mm; move right 62 mm; move upward 90 mm; roll downward 2 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 169, + 84 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012857143767178059, + -0.011785714887082577, + 0.017500000074505806, + -0.0071428571827709675, + -0.08285713940858841, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.15285715460777283, + -0.3157142996788025, + 0.23178569972515106, + -0.4285714030265808, + -1.8342857360839844, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.06608780601596287, + -0.43208236705883263, + 0.691656487756015, + 0.21569301018946385, + -0.6099320037512768, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 13 mm; move right 12 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 153 mm; move right 316 mm; move upward 232 mm; roll downward 25 degrees; pitch downward 105 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 66 mm; move right 62 mm; move upward 90 mm; roll downward 2 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 35, + "segment_id": 10000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 12 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 140 mm; move right 324 mm; move upward 214 mm; roll downward 29 degrees; pitch downward 107 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 53 mm; move right 50 mm; move upward 72 mm; roll downward 2 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 170, + 83 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012857143767178059, + -0.012142857536673546, + 0.01785714365541935, + -0.0057142856530845165, + -0.08285713940858841, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.14000000059604645, + -0.32357141375541687, + 0.2142857313156128, + -0.5099999904632568, + -1.8600000143051147, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.06608780601596287, + -0.45908747163054797, + 0.7172876983093059, + 0.23305261443691028, + -0.6099320037512768, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 13 mm; move right 12 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 140 mm; move right 324 mm; move upward 214 mm; roll downward 29 degrees; pitch downward 107 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 53 mm; move right 50 mm; move upward 72 mm; roll downward 2 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 36, + "segment_id": 10000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 12 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 127 mm; move right 331 mm; move upward 196 mm; roll downward 34 degrees; pitch downward 108 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move backward 40 mm; move right 38 mm; move upward 54 mm; roll downward 2 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 171, + 82 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013214285485446453, + -0.012142857536673546, + 0.01785714365541935, + -0.0057142856530845165, + -0.08428571373224258, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.12714286148548126, + -0.33071428537368774, + 0.1964285969734192, + -0.5971428155899048, + -1.8799999952316284, + 0.0014285714132711291, + 1.0 + ], + "delta_full_state_norm": [ + 0.05510064274595705, + -0.45908747163054797, + 0.7172876983093059, + 0.23305261443691028, + -0.6376751562439567, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 13 mm; move right 12 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 127 mm; move right 331 mm; move upward 196 mm; roll downward 34 degrees; pitch downward 108 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 40 mm; move right 38 mm; move upward 54 mm; roll downward 2 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 37, + "segment_id": 10000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 13 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 114 mm; move right 337 mm; move upward 179 mm; roll downward 39 degrees; pitch downward 109 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move backward 27 mm; move right 26 mm; move upward 36 mm; roll downward 1 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 173, + 82 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013214285485446453, + -0.012857143767178059, + 0.018214285373687744, + -0.008571428246796131, + -0.08571428805589676, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.11392857134342194, + -0.3367857038974762, + 0.1785714477300644, + -0.6871428489685059, + -1.8942856788635254, + 0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + 0.05510064274595705, + -0.5130977511953172, + 0.7429187751856876, + 0.19833341160060414, + -0.6654183087366368, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 13 mm; move right 13 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 114 mm; move right 337 mm; move upward 179 mm; roll downward 39 degrees; pitch downward 109 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 27 mm; move right 26 mm; move upward 36 mm; roll downward 1 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 38, + "segment_id": 10000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 13 mm; move upward 18 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 101 mm; move right 340 mm; move upward 160 mm; roll downward 44 degrees; pitch downward 109 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 13 mm; move upward 18 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 174, + 81 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013571429066359997, + -0.012857143767178059, + 0.018214285373687744, + -0.012857142835855484, + -0.08714285492897034, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.1007142886519432, + -0.34035712480545044, + 0.16035714745521545, + -0.7742856740951538, + -1.9028570652008057, + 0.011428571306169033, + 1.0 + ], + "delta_full_state_norm": [ + 0.04411342217324665, + -0.5130977511953172, + 0.7429187751856876, + 0.1462545988582653, + -0.6931613165377943, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 14 mm; move right 13 mm; move upward 18 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 101 mm; move right 340 mm; move upward 160 mm; roll downward 44 degrees; pitch downward 109 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 13 mm; move upward 18 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 39, + "segment_id": 10000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically hovering over or pressing the buttons. The hand remains stationary at this specific interaction point across the frames, consistent with the action of pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 13 mm; move upward 18 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 87 mm; move right 344 mm; move upward 142 mm; roll downward 49 degrees; pitch downward 109 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 176, + 80 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013571429066359997, + -0.013214285485446453, + 0.01785714365541935, + -0.014285714365541935, + -0.09000000357627869, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.08714286237955093, + -0.34357139468193054, + 0.1421428620815277, + -0.8528571128845215, + -1.9028571844100952, + 0.018571428954601288, + 1.0 + ], + "delta_full_state_norm": [ + 0.04411342217324665, + -0.5401027853456937, + 0.7172876983093059, + 0.12889499461081888, + -0.7486476215231543, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 14 mm; move right 13 mm; move upward 18 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 87 mm; move right 344 mm; move upward 142 mm; roll downward 49 degrees; pitch downward 109 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 40, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 14 mm; move upward 18 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 74 mm; move right 346 mm; move upward 124 mm; roll downward 53 degrees; pitch downward 109 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 74 mm; move right 415 mm; move upward 124 mm; roll downward 83 degrees; pitch downward 132 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 177, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013571429066359997, + -0.013571429066359997, + 0.017500000074505806, + -0.017142856493592262, + -0.09285714477300644, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.07357143610715866, + -0.3457142412662506, + 0.12428572028875351, + -0.9299999475479126, + -1.8971428871154785, + 0.027142856270074844, + 1.0 + ], + "delta_full_state_norm": [ + 0.04411342217324665, + -0.5671079603387478, + 0.691656487756015, + 0.09417579743309945, + -0.804133781816992, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 14 mm; move right 14 mm; move upward 18 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 74 mm; move right 346 mm; move upward 124 mm; roll downward 53 degrees; pitch downward 109 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 74 mm; move right 415 mm; move upward 124 mm; roll downward 83 degrees; pitch downward 132 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 41, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 14 mm; move upward 16 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 60 mm; move right 347 mm; move upward 107 mm; roll downward 58 degrees; pitch downward 108 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 60 mm; move right 402 mm; move upward 107 mm; roll downward 83 degrees; pitch downward 127 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 179, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012142857536673546, + -0.013928571715950966, + 0.016428573057055473, + -0.018571428954601288, + -0.09142857044935226, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.05999999865889549, + -0.3474999666213989, + 0.10678572952747345, + -1.014285683631897, + -1.8885713815689087, + 0.037142857909202576, + 1.0 + ], + "delta_full_state_norm": [ + 0.08806221851003149, + -0.5941130649104631, + 0.6147631234499606, + 0.07681618186848005, + -0.776390629324312, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 12 mm; move right 14 mm; move upward 16 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 60 mm; move right 347 mm; move upward 107 mm; roll downward 58 degrees; pitch downward 108 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 60 mm; move right 402 mm; move upward 107 mm; roll downward 83 degrees; pitch downward 127 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 42, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 17 mm; move upward 15 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 48 mm; move right 348 mm; move upward 90 mm; roll downward 63 degrees; pitch downward 108 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move backward 48 mm; move right 388 mm; move upward 90 mm; roll downward 81 degrees; pitch downward 122 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 180, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008928571827709675, + -0.016785714775323868, + 0.015357143245637417, + -0.029999999329447746, + -0.09428571164608002, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.047857146710157394, + -0.3482142686843872, + 0.09035715460777283, + -1.1028571128845215, + -1.881428599357605, + 0.05000000074505806, + 1.0 + ], + "delta_full_state_norm": [ + 0.18694700310495893, + -0.8101540423268628, + 0.5378695586285427, + -0.06206062947674429, + -0.8318767896181497, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 9 mm; move right 17 mm; move upward 15 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 48 mm; move right 348 mm; move upward 90 mm; roll downward 63 degrees; pitch downward 108 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move backward 48 mm; move right 388 mm; move upward 90 mm; roll downward 81 degrees; pitch downward 122 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 43, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 19 mm; move upward 14 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 39 mm; move right 345 mm; move upward 75 mm; roll downward 68 degrees; pitch downward 107 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move backward 39 mm; move right 371 mm; move upward 75 mm; roll downward 80 degrees; pitch downward 116 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 182, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0057142856530845165, + -0.018928570672869682, + 0.01428571529686451, + -0.04714285582304001, + -0.1014285683631897, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.038928575813770294, + -0.3449999988079071, + 0.07500001043081284, + -1.1814285516738892, + -1.868571400642395, + 0.06428571790456772, + 1.0 + ], + "delta_full_state_norm": [ + 0.2858318020255626, + -0.9721846697571545, + 0.4609761274840336, + -0.2703758578117538, + -0.970592262698505, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 6 mm; move right 19 mm; move upward 14 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 39 mm; move right 345 mm; move upward 75 mm; roll downward 68 degrees; pitch downward 107 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 39 mm; move right 371 mm; move upward 75 mm; roll downward 80 degrees; pitch downward 116 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 44, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 19 mm; move upward 12 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 33 mm; move right 339 mm; move upward 61 mm; roll downward 71 degrees; pitch downward 106 degrees; yaw counterclockwise 5 degrees; open gripper;\nSubtask Movement: move backward 33 mm; move right 352 mm; move upward 61 mm; roll downward 77 degrees; pitch downward 111 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 184, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.004642857238650322, + -0.018928570672869682, + 0.012142857536673546, + -0.044285714626312256, + -0.10285714268684387, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.03321428969502449, + -0.3392857015132904, + 0.06071429327130318, + -1.2400000095367432, + -1.8485714197158813, + 0.08000000566244125, + 1.0 + ], + "delta_full_state_norm": [ + 0.318793392115313, + -0.9721846697571545, + 0.30718913151810656, + -0.23565667195120743, + -0.998335415191185, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 5 mm; move right 19 mm; move upward 12 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 33 mm; move right 339 mm; move upward 61 mm; roll downward 71 degrees; pitch downward 106 degrees; yaw counterclockwise 5 degrees; open gripper;", + "subtask_movement_text": "move backward 33 mm; move right 352 mm; move upward 61 mm; roll downward 77 degrees; pitch downward 111 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 45, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 19 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 29 mm; move right 333 mm; move upward 49 mm; roll downward 74 degrees; pitch downward 105 degrees; yaw counterclockwise 5 degrees; open gripper;\nSubtask Movement: move backward 29 mm; move right 333 mm; move upward 49 mm; roll downward 74 degrees; pitch downward 105 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 185, + 75 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.004642857238650322, + -0.018571428954601288, + 0.010000000707805157, + -0.019999999552965164, + -0.10000000149011612, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.02857143245637417, + -0.33321428298950195, + 0.04857143014669418, + -1.3000000715255737, + -1.8271427154541016, + 0.09571429342031479, + 1.0 + ], + "delta_full_state_norm": [ + 0.318793392115313, + -0.945179635606778, + 0.1534022023906343, + 0.05945658893820682, + -0.9428492548973473, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 5 mm; move right 19 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 29 mm; move right 333 mm; move upward 49 mm; roll downward 74 degrees; pitch downward 105 degrees; yaw counterclockwise 5 degrees; open gripper;", + "subtask_movement_text": "move backward 29 mm; move right 333 mm; move upward 49 mm; roll downward 74 degrees; pitch downward 105 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 46, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 17 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 24 mm; move right 326 mm; move upward 39 mm; roll downward 79 degrees; pitch downward 103 degrees; yaw counterclockwise 6 degrees; open gripper;\nSubtask Movement: move backward 24 mm; move right 315 mm; move upward 39 mm; roll downward 73 degrees; pitch downward 99 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 187, + 74 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.005000000353902578, + -0.01714285835623741, + 0.007857142947614193, + 0.0, + -0.09428571164608002, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.023928573355078697, + -0.3264285922050476, + 0.03857142850756645, + -1.3742858171463013, + -1.8028569221496582, + 0.1128571480512619, + 1.0 + ], + "delta_full_state_norm": [ + 0.3078061858682788, + -0.8371592173199168, + -0.00038479357529275227, + 0.3024910257681088, + -0.8318767896181497, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 5 mm; move right 17 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 24 mm; move right 326 mm; move upward 39 mm; roll downward 79 degrees; pitch downward 103 degrees; yaw counterclockwise 6 degrees; open gripper;", + "subtask_movement_text": "move backward 24 mm; move right 315 mm; move upward 39 mm; roll downward 73 degrees; pitch downward 99 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 47, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 16 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 19 mm; move right 321 mm; move upward 31 mm; roll downward 84 degrees; pitch downward 102 degrees; yaw counterclockwise 8 degrees; open gripper;\nSubtask Movement: move backward 19 mm; move right 297 mm; move upward 31 mm; roll downward 73 degrees; pitch downward 94 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 188, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.004642857238650322, + -0.01607142947614193, + 0.006785714533179998, + 0.0, + -0.09428571164608002, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.01892857253551483, + -0.32107144594192505, + 0.030714286491274834, + -1.4642858505249023, + -1.781428337097168, + 0.1314285695552826, + 1.0 + ], + "delta_full_state_norm": [ + 0.318793392115313, + -0.7561438331834323, + -0.077278258139029, + 0.3024910257681088, + -0.8318767896181497, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 5 mm; move right 16 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 19 mm; move right 321 mm; move upward 31 mm; roll downward 84 degrees; pitch downward 102 degrees; yaw counterclockwise 8 degrees; open gripper;", + "subtask_movement_text": "move backward 19 mm; move right 297 mm; move upward 31 mm; roll downward 73 degrees; pitch downward 94 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 48, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 16 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 14 mm; move right 315 mm; move upward 24 mm; roll downward 89 degrees; pitch downward 101 degrees; yaw counterclockwise 9 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 281 mm; move upward 24 mm; roll downward 73 degrees; pitch downward 88 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 190, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.004285714589059353, + -0.015714285895228386, + 0.006071428768336773, + 0.0, + -0.09142857044935226, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.01428571529686451, + -0.3150000274181366, + 0.023928571492433548, + -1.5528572797775269, + -1.7585712671279907, + 0.15142856538295746, + 1.0 + ], + "delta_full_state_norm": [ + 0.3297805840366712, + -0.7291386581903783, + -0.12854057898792892, + 0.3024910257681088, + -0.776390629324312, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 4 mm; move right 16 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 14 mm; move right 315 mm; move upward 24 mm; roll downward 89 degrees; pitch downward 101 degrees; yaw counterclockwise 9 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 281 mm; move upward 24 mm; roll downward 73 degrees; pitch downward 88 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 49, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 16 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 10 mm; move right 309 mm; move upward 18 mm; roll downward 94 degrees; pitch downward 100 degrees; yaw counterclockwise 10 degrees; open gripper;\nSubtask Movement: move backward 10 mm; move right 266 mm; move upward 18 mm; roll downward 73 degrees; pitch downward 83 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 191, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0039285714738070965, + -0.015714285895228386, + 0.005000000353902578, + -0.004285714123398066, + -0.08714285492897034, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.010000000707805157, + -0.30892857909202576, + 0.01785714365541935, + -1.6371430158615112, + -1.7371426820755005, + 0.1728571355342865, + 1.0 + ], + "delta_full_state_norm": [ + 0.3407677902837054, + -0.7291386581903783, + -0.20543404355166506, + 0.2504122186843565, + -0.6931613165377943, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 4 mm; move right 16 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 10 mm; move right 309 mm; move upward 18 mm; roll downward 94 degrees; pitch downward 100 degrees; yaw counterclockwise 10 degrees; open gripper;", + "subtask_movement_text": "move backward 10 mm; move right 266 mm; move upward 18 mm; roll downward 73 degrees; pitch downward 83 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 50, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 18 mm; move upward 4 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 6 mm; move right 304 mm; move upward 13 mm; roll downward 98 degrees; pitch downward 98 degrees; yaw counterclockwise 11 degrees; open gripper;\nSubtask Movement: move backward 6 mm; move right 250 mm; move upward 13 mm; roll downward 73 degrees; pitch downward 78 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 193, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0032142859417945147, + -0.017500000074505806, + 0.004285714589059353, + -0.015714285895228386, + -0.08428571373224258, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.00607142923399806, + -0.3035714328289032, + 0.012857143767178059, + -1.718571662902832, + -1.7171427011489868, + 0.19428570568561554, + 1.0 + ], + "delta_full_state_norm": [ + 0.3627421812892597, + -0.8641642514702934, + -0.256696364400565, + 0.11153539036337268, + -0.6376751562439567, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 3 mm; move right 18 mm; move upward 4 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 6 mm; move right 304 mm; move upward 13 mm; roll downward 98 degrees; pitch downward 98 degrees; yaw counterclockwise 11 degrees; open gripper;", + "subtask_movement_text": "move backward 6 mm; move right 250 mm; move upward 13 mm; roll downward 73 degrees; pitch downward 78 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 51, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 2 mm; move right 18 mm; move upward 4 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 3 mm; move right 299 mm; move upward 9 mm; roll downward 103 degrees; pitch downward 97 degrees; yaw counterclockwise 12 degrees; open gripper;\nSubtask Movement: move backward 3 mm; move right 233 mm; move upward 9 mm; roll downward 72 degrees; pitch downward 73 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 194, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0021428572945296764, + -0.01785714365541935, + 0.004285714589059353, + -0.03999999910593033, + -0.08857142925262451, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.0028571428265422583, + -0.2985714375972748, + 0.008571429178118706, + -1.7985717058181763, + -1.6999999284744263, + 0.20999999344348907, + 1.0 + ], + "delta_full_state_norm": [ + 0.39570377854184824, + -0.8911694264633474, + -0.256696364400565, + -0.1835778478916953, + -0.7209044690304743, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 2 mm; move right 18 mm; move upward 4 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 3 mm; move right 299 mm; move upward 9 mm; roll downward 103 degrees; pitch downward 97 degrees; yaw counterclockwise 12 degrees; open gripper;", + "subtask_movement_text": "move backward 3 mm; move right 233 mm; move upward 9 mm; roll downward 72 degrees; pitch downward 73 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 52, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move right 19 mm; move upward 3 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 1 mm; move right 294 mm; move upward 4 mm; roll downward 107 degrees; pitch downward 96 degrees; yaw counterclockwise 13 degrees; open gripper;\nSubtask Movement: move backward 1 mm; move right 215 mm; move upward 4 mm; roll downward 70 degrees; pitch downward 68 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 195, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0007142857066355646, + -0.018571428954601288, + 0.0028571428265422583, + -0.05999999865889549, + -0.09285714477300644, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.0007142857066355646, + -0.2939285933971405, + 0.004285714589059353, + -1.8671430349349976, + -1.6814285516738892, + 0.22285713255405426, + 1.0 + ], + "delta_full_state_norm": [ + 0.43965257666934243, + -0.945179635606778, + -0.3592210228079784, + -0.4266122847215974, + -0.804133781816992, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 1 mm; move right 19 mm; move upward 3 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 1 mm; move right 294 mm; move upward 4 mm; roll downward 107 degrees; pitch downward 96 degrees; yaw counterclockwise 13 degrees; open gripper;", + "subtask_movement_text": "move backward 1 mm; move right 215 mm; move upward 4 mm; roll downward 70 degrees; pitch downward 68 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 53, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 21 mm; move upward 1 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 288 mm; move upward 1 mm; roll downward 110 degrees; pitch downward 95 degrees; yaw counterclockwise 14 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 196 mm; move upward 1 mm; roll downward 66 degrees; pitch downward 63 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.02142857201397419, + 0.0014285714132711291, + -0.0771428570151329, + -0.10571428388357162, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.2882142961025238, + 0.0014285714132711291, + -1.9142857789993286, + -1.6614285707473755, + 0.23714284598827362, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + -1.0, + -0.4617456561509714, + -0.6349275356909532, + -1.0, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 21 mm; move upward 1 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 288 mm; move upward 1 mm; roll downward 110 degrees; pitch downward 95 degrees; yaw counterclockwise 14 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 196 mm; move upward 1 mm; roll downward 66 degrees; pitch downward 63 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 54, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 20 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 279 mm; move downward 0 mm; roll downward 111 degrees; pitch downward 93 degrees; yaw counterclockwise 15 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 175 mm; move downward 0 mm; roll downward 62 degrees; pitch downward 57 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01964285783469677, + 0.0, + -0.08857142925262451, + -0.10857142508029938, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.2785714268684387, + 0.0, + -1.9371429681777954, + -1.6242858171463013, + 0.25428569316864014, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + -1.0, + -0.5642702894939644, + -0.7738043696705237, + -1.0, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 20 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 279 mm; move downward 0 mm; roll downward 111 degrees; pitch downward 93 degrees; yaw counterclockwise 15 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 175 mm; move downward 0 mm; roll downward 62 degrees; pitch downward 57 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 55, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 19 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 270 mm; move downward 0 mm; roll downward 111 degrees; pitch downward 91 degrees; yaw counterclockwise 16 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 155 mm; move downward 0 mm; roll downward 57 degrees; pitch downward 50 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.019285714253783226, + 0.0, + -0.09285714477300644, + -0.10285714268684387, + 0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.2696428596973419, + 0.0, + -1.9457143545150757, + -1.5828572511672974, + 0.27571427822113037, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + -0.9991898447502084, + -0.5642702894939644, + -0.8258831937300357, + -0.998335415191185, + 0.4098359084759655, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 19 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 270 mm; move downward 0 mm; roll downward 111 degrees; pitch downward 91 degrees; yaw counterclockwise 16 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 155 mm; move downward 0 mm; roll downward 57 degrees; pitch downward 50 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 56, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 259 mm; move downward 0 mm; roll downward 112 degrees; pitch downward 89 degrees; yaw counterclockwise 17 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 136 mm; move downward 0 mm; roll downward 52 degrees; pitch downward 45 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.018214285373687744, + 0.0, + -0.09571428596973419, + -0.09857142716646194, + 0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.25928571820259094, + 0.0, + -1.9514285326004028, + -1.5542858839035034, + 0.2971428334712982, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + -0.9181744606137239, + -0.5642702894939644, + -0.8606023795905821, + -0.9151061024046674, + 0.47540966973469345, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 259 mm; move downward 0 mm; roll downward 112 degrees; pitch downward 89 degrees; yaw counterclockwise 17 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 136 mm; move downward 0 mm; roll downward 52 degrees; pitch downward 45 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 57, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 16 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 248 mm; move downward 0 mm; roll downward 112 degrees; pitch downward 88 degrees; yaw counterclockwise 18 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 117 mm; move downward 0 mm; roll downward 46 degrees; pitch downward 39 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.016428573057055473, + 0.0, + -0.09571428596973419, + -0.09428571164608002, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.24821427464485168, + 0.0, + -1.9514286518096924, + -1.5300002098083496, + 0.3157142400741577, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + -0.7831490081764862, + -0.5642702894939644, + -0.8606023795905821, + -0.8318767896181497, + 0.5081965543717977, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 16 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 248 mm; move downward 0 mm; roll downward 112 degrees; pitch downward 88 degrees; yaw counterclockwise 18 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 117 mm; move downward 0 mm; roll downward 46 degrees; pitch downward 39 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 58, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 16 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 237 mm; move downward 0 mm; roll downward 112 degrees; pitch downward 87 degrees; yaw counterclockwise 19 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 101 mm; move downward 0 mm; roll downward 41 degrees; pitch downward 33 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01607142947614193, + 0.0, + -0.09142857044935226, + -0.08714285492897034, + 0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.23749999701976776, + 0.0, + -1.9514286518096924, + -1.510000228881836, + 0.3342856764793396, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + -0.7561438331834323, + -0.5642702894939644, + -0.80852355553107, + -0.6931613165377943, + 0.5409834390089019, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 16 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 237 mm; move downward 0 mm; roll downward 112 degrees; pitch downward 87 degrees; yaw counterclockwise 19 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 101 mm; move downward 0 mm; roll downward 41 degrees; pitch downward 33 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 59, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 227 mm; move downward 0 mm; roll downward 112 degrees; pitch downward 86 degrees; yaw counterclockwise 20 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 85 mm; move downward 0 mm; roll downward 35 degrees; pitch downward 28 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.015357143245637417, + 0.0, + -0.09142857044935226, + -0.08428571373224258, + 0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.22678570449352264, + 0.0, + -1.9514286518096924, + -1.497143030166626, + 0.34999996423721313, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + -0.7021335536186629, + -0.5642702894939644, + -0.80852355553107, + -0.6376751562439567, + 0.5737703129586986, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 227 mm; move downward 0 mm; roll downward 112 degrees; pitch downward 86 degrees; yaw counterclockwise 20 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 85 mm; move downward 0 mm; roll downward 35 degrees; pitch downward 28 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 60, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 216 mm; move downward 0 mm; roll downward 112 degrees; pitch downward 85 degrees; yaw counterclockwise 21 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 70 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 24 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.015357143245637417, + 0.0, + -0.1014285683631897, + -0.08428571373224258, + 0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.2160714715719223, + 0.0, + -1.9500000476837158, + -1.4871430397033691, + 0.3628571033477783, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + -0.7021335536186629, + -0.5642702894939644, + -0.9300407513116749, + -0.6376751562439567, + 0.6065571975958028, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 216 mm; move downward 0 mm; roll downward 112 degrees; pitch downward 85 degrees; yaw counterclockwise 21 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 70 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 24 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 61, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 205 mm; move downward 0 mm; roll downward 111 degrees; pitch downward 84 degrees; yaw counterclockwise 21 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 54 mm; move downward 0 mm; roll downward 24 degrees; pitch downward 19 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.014642857015132904, + 0.0, + -0.1071428582072258, + -0.08428571373224258, + 0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.20500002801418304, + 0.0, + -1.9371428489685059, + -1.4728573560714722, + 0.37285712361335754, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + -0.6481232740538936, + -0.5642702894939644, + -0.9994792135701526, + -0.6376751562439567, + 0.6721309668700113, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 205 mm; move downward 0 mm; roll downward 111 degrees; pitch downward 84 degrees; yaw counterclockwise 21 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 54 mm; move downward 0 mm; roll downward 24 degrees; pitch downward 19 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 62, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 195 mm; move downward 0 mm; roll downward 110 degrees; pitch downward 83 degrees; yaw counterclockwise 22 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 40 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 14 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.013571429066359997, + 0.0, + -0.10857142508029938, + -0.08142857253551483, + 0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.19464287161827087, + 0.0, + -1.9171427488327026, + -1.451428771018982, + 0.37857142090797424, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + -0.5671079603387478, + -0.5642702894939644, + -1.0, + -0.582188995950119, + 0.7049178515071155, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 195 mm; move downward 0 mm; roll downward 110 degrees; pitch downward 83 degrees; yaw counterclockwise 22 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 40 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 14 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 63, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 186 mm; move downward 0 mm; roll downward 108 degrees; pitch downward 82 degrees; yaw counterclockwise 22 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 26 mm; move downward 0 mm; roll downward 12 degrees; pitch downward 9 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.013214285485446453, + 0.0, + -0.10571428388357162, + -0.08142857253551483, + 0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.18607142567634583, + 0.0, + -1.8928570747375488, + -1.424285888671875, + 0.38285714387893677, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + -0.5401027853456937, + -0.5642702894939644, + -0.9821195753711869, + -0.582188995950119, + 0.7377047361442195, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 186 mm; move downward 0 mm; roll downward 108 degrees; pitch downward 82 degrees; yaw counterclockwise 22 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 26 mm; move downward 0 mm; roll downward 12 degrees; pitch downward 9 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 64, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 179 mm; move downward 0 mm; roll downward 106 degrees; pitch downward 79 degrees; yaw counterclockwise 22 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.012857143767178059, + 0.0, + -0.10428571701049805, + -0.08142857253551483, + 0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.17892855405807495, + 0.0, + -1.8571429252624512, + -1.382857322692871, + 0.3857143223285675, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + -0.5130977511953172, + -0.5642702894939644, + -0.9647600277096062, + -0.582188995950119, + 0.7377047361442195, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 179 mm; move downward 0 mm; roll downward 106 degrees; pitch downward 79 degrees; yaw counterclockwise 22 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 65, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the buttons. The arm maintains this static pressing posture throughout the sequence without retracting or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 12 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 172 mm; move downward 0 mm; roll downward 104 degrees; pitch downward 77 degrees; yaw counterclockwise 22 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.011785714887082577, + 0.0, + -0.09428571164608002, + -0.07571428269147873, + 0.017142856493592262, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.1721428483724594, + 0.0, + -1.8157144784927368, + -1.337143063545227, + 0.3914286196231842, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + -0.43208236705883263, + -0.5642702894939644, + -0.8432427413916164, + -0.4712165306709214, + 0.7704915994067092, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 12 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 172 mm; move downward 0 mm; roll downward 104 degrees; pitch downward 77 degrees; yaw counterclockwise 22 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 66, + "segment_id": 20100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned near the microwave handle but shows no signs of grasping or contact; instead, it appears to be retracting or moving slightly downward and away from the appliance.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned near the microwave handle but shows no signs of grasping or contact; instead, it appears to be retracting or moving slightly downward and away from the appliance.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 12 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 1 mm; move right 166 mm; move downward 0 mm; roll downward 102 degrees; pitch downward 74 degrees; yaw counterclockwise 23 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 80 mm; move downward 0 mm; roll downward 38 degrees; pitch downward 28 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.011785714887082577, + 0.0, + -0.09000000357627869, + -0.07285714149475098, + 0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + 0.0007142857066355646, + -0.165714293718338, + 0.0, + -1.77571439743042, + -1.2900002002716064, + 0.40000006556510925, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + -0.43208236705883263, + -0.5642702894939644, + -0.7911640078694894, + -0.4157303703770837, + 0.8032785054184279, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 12 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 1 mm; move right 166 mm; move downward 0 mm; roll downward 102 degrees; pitch downward 74 degrees; yaw counterclockwise 23 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 80 mm; move downward 0 mm; roll downward 38 degrees; pitch downward 28 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 67, + "segment_id": 20100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned near the microwave handle but shows no signs of grasping or contact; instead, it appears to be retracting or moving slightly downward and away from the appliance.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned near the microwave handle but shows no signs of grasping or contact; instead, it appears to be retracting or moving slightly downward and away from the appliance.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 10 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 2 mm; move right 159 mm; move downward 0 mm; roll downward 99 degrees; pitch downward 71 degrees; yaw counterclockwise 23 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 69 mm; move downward 0 mm; roll downward 33 degrees; pitch downward 24 degrees; yaw counterclockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.010000000707805157, + 0.0, + -0.08857142925262451, + -0.0714285746216774, + 0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + 0.0021428572945296764, + -0.15928570926189423, + 0.0, + -1.735714316368103, + -1.2414286136627197, + 0.4085714817047119, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + -0.2970567737789175, + -0.5642702894939644, + -0.7738043696705237, + -0.38798736257592603, + 0.8360653686809176, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 10 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 2 mm; move right 159 mm; move downward 0 mm; roll downward 99 degrees; pitch downward 71 degrees; yaw counterclockwise 23 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 69 mm; move downward 0 mm; roll downward 33 degrees; pitch downward 24 degrees; yaw counterclockwise 6 degrees; open gripper;" + }, + { + "frame_index": 68, + "segment_id": 20100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned near the microwave handle but shows no signs of grasping or contact; instead, it appears to be retracting or moving slightly downward and away from the appliance.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned near the microwave handle but shows no signs of grasping or contact; instead, it appears to be retracting or moving slightly downward and away from the appliance.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 10 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 4 mm; move right 155 mm; move downward 0 mm; roll downward 97 degrees; pitch downward 68 degrees; yaw counterclockwise 24 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 59 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 20 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.009642857126891613, + 0.0, + -0.08428571373224258, + -0.07000000029802322, + 0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + 0.0035714288242161274, + -0.15535715222358704, + 0.0, + -1.6957143545150757, + -1.192857265472412, + 0.415714293718338, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + -0.2700515987858635, + -0.5642702894939644, + -0.7217255456110117, + -0.36024421008324603, + 0.8688522746926364, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 10 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 4 mm; move right 155 mm; move downward 0 mm; roll downward 97 degrees; pitch downward 68 degrees; yaw counterclockwise 24 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 59 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 20 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 69, + "segment_id": 20100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned near the microwave handle but shows no signs of grasping or contact; instead, it appears to be retracting or moving slightly downward and away from the appliance.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned near the microwave handle but shows no signs of grasping or contact; instead, it appears to be retracting or moving slightly downward and away from the appliance.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 10 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 5 mm; move right 153 mm; move downward 0 mm; roll downward 95 degrees; pitch downward 65 degrees; yaw counterclockwise 24 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 49 mm; move downward 0 mm; roll downward 23 degrees; pitch downward 16 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.010357143357396126, + 0.0, + -0.08571428805589676, + -0.06714285910129547, + 0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + 0.005000000353902578, + -0.15285713970661163, + 0.0, + -1.6571428775787354, + -1.1428571939468384, + 0.4214285910129547, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + -0.3240618783506328, + -0.5642702894939644, + -0.7390851838099772, + -0.30475804978940846, + 0.8688522746926364, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 10 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 5 mm; move right 153 mm; move downward 0 mm; roll downward 95 degrees; pitch downward 65 degrees; yaw counterclockwise 24 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 49 mm; move downward 0 mm; roll downward 23 degrees; pitch downward 16 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 70, + "segment_id": 20100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned near the microwave handle but shows no signs of grasping or contact; instead, it appears to be retracting or moving slightly downward and away from the appliance.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned near the microwave handle but shows no signs of grasping or contact; instead, it appears to be retracting or moving slightly downward and away from the appliance.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 6 mm; move right 151 mm; move downward 0 mm; roll downward 93 degrees; pitch downward 63 degrees; yaw counterclockwise 24 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 39 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 12 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.012500000186264515, + 0.0, + -0.09571428596973419, + -0.06714285910129547, + 0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + 0.006428571883589029, + -0.15071427822113037, + 0.0, + -1.6185715198516846, + -1.0971429347991943, + 0.4242857098579407, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + -0.4860925762022632, + -0.5642702894939644, + -0.8606023795905821, + -0.30475804978940846, + 0.7377047361442195, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 6 mm; move right 151 mm; move downward 0 mm; roll downward 93 degrees; pitch downward 63 degrees; yaw counterclockwise 24 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 39 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 12 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 71, + "segment_id": 20100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned near the microwave handle but shows no signs of grasping or contact; instead, it appears to be retracting or moving slightly downward and away from the appliance.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned near the microwave handle but shows no signs of grasping or contact; instead, it appears to be retracting or moving slightly downward and away from the appliance.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 8 mm; move right 147 mm; move downward 0 mm; roll downward 90 degrees; pitch downward 60 degrees; yaw counterclockwise 25 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 26 mm; move downward 0 mm; roll downward 12 degrees; pitch downward 8 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.013214285485446453, + 0.0, + -0.10857142508029938, + -0.07000000029802322, + 0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + 0.008214286528527737, + -0.14714287221431732, + 0.0, + -1.5700000524520874, + -1.0500000715255737, + 0.4285714328289032, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + -0.5401027853456937, + -0.5642702894939644, + -1.0, + -0.36024421008324603, + 0.6721309668700113, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 8 mm; move right 147 mm; move downward 0 mm; roll downward 90 degrees; pitch downward 60 degrees; yaw counterclockwise 25 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 26 mm; move downward 0 mm; roll downward 12 degrees; pitch downward 8 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 72, + "segment_id": 20100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned near the microwave handle but shows no signs of grasping or contact; instead, it appears to be retracting or moving slightly downward and away from the appliance.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned near the microwave handle but shows no signs of grasping or contact; instead, it appears to be retracting or moving slightly downward and away from the appliance.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 10 mm; move right 145 mm; move downward 0 mm; roll downward 86 degrees; pitch downward 57 degrees; yaw counterclockwise 25 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.012857143767178059, + 0.0, + -0.1071428582072258, + -0.07285714149475098, + 0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + 0.009642857126891613, + -0.14500001072883606, + 0.0, + -1.5042858123779297, + -1.0028572082519531, + 0.4300000071525574, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + -0.5130977511953172, + -0.5642702894939644, + -0.9994792135701526, + -0.4157303703770837, + 0.7049178515071155, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 10 mm; move right 145 mm; move downward 0 mm; roll downward 86 degrees; pitch downward 57 degrees; yaw counterclockwise 25 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 73, + "segment_id": 20100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned near the microwave handle but shows no signs of grasping or contact; instead, it appears to be retracting or moving slightly downward and away from the appliance.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned near the microwave handle but shows no signs of grasping or contact; instead, it appears to be retracting or moving slightly downward and away from the appliance.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 12 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 12 mm; move right 143 mm; move downward 0 mm; roll downward 82 degrees; pitch downward 54 degrees; yaw counterclockwise 24 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.011785714887082577, + 0.0, + -0.10000000149011612, + -0.06857142597436905, + 0.017142856493592262, + 1.0 + ], + "delta_next_20": [ + 0.011785714887082577, + -0.14321430027484894, + 0.0, + -1.4371428489685059, + -0.949999988079071, + 0.427142858505249, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + -0.43208236705883263, + -0.5642702894939644, + -0.9126812036500942, + -0.33250105759056603, + 0.7704915994067092, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 12 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 12 mm; move right 143 mm; move downward 0 mm; roll downward 82 degrees; pitch downward 54 degrees; yaw counterclockwise 24 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 74, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 11 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 15 mm; move right 144 mm; move downward 0 mm; roll downward 78 degrees; pitch downward 51 degrees; yaw counterclockwise 24 degrees; open gripper;\nSubtask Movement: move forward 724 mm; move right 295 mm; move upward 44 mm; roll downward 165 degrees; pitch downward 96 degrees; yaw counterclockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.010714286006987095, + 0.0, + -0.09714286029338837, + -0.06714285910129547, + 0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + 0.015357143245637417, + -0.14428572356700897, + 0.0, + -1.3700000047683716, + -0.8942856788635254, + 0.418571412563324, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + -0.35106698292234806, + -0.5642702894939644, + -0.8779620177895477, + -0.30475804978940846, + 0.8688522746926364, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 11 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 15 mm; move right 144 mm; move downward 0 mm; roll downward 78 degrees; pitch downward 51 degrees; yaw counterclockwise 24 degrees; open gripper;", + "subtask_movement_text": "move forward 724 mm; move right 295 mm; move upward 44 mm; roll downward 165 degrees; pitch downward 96 degrees; yaw counterclockwise 23 degrees; open gripper;" + }, + { + "frame_index": 75, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 9 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 19 mm; move right 148 mm; move downward 0 mm; roll downward 75 degrees; pitch downward 48 degrees; yaw counterclockwise 23 degrees; open gripper;\nSubtask Movement: move forward 724 mm; move right 285 mm; move upward 44 mm; roll downward 159 degrees; pitch downward 92 degrees; yaw counterclockwise 22 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.008928571827709675, + 0.0, + -0.09857142716646194, + -0.07428571581840515, + 0.022857142612338066, + 1.0 + ], + "delta_next_20": [ + 0.019285714253783226, + -0.14750000834465027, + 0.0, + -1.3057143688201904, + -0.8385713696479797, + 0.4028571546077728, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + -0.2160413896424329, + -0.5642702894939644, + -0.8953215654511285, + -0.4434735228697637, + 0.9016391379551258, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 9 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 19 mm; move right 148 mm; move downward 0 mm; roll downward 75 degrees; pitch downward 48 degrees; yaw counterclockwise 23 degrees; open gripper;", + "subtask_movement_text": "move forward 724 mm; move right 285 mm; move upward 44 mm; roll downward 159 degrees; pitch downward 92 degrees; yaw counterclockwise 22 degrees; open gripper;" + }, + { + "frame_index": 76, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 7 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 24 mm; move right 153 mm; move downward 0 mm; roll downward 71 degrees; pitch downward 44 degrees; yaw counterclockwise 22 degrees; open gripper;\nSubtask Movement: move forward 724 mm; move right 276 mm; move upward 44 mm; roll downward 154 degrees; pitch downward 88 degrees; yaw counterclockwise 21 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.007142857648432255, + 0.0, + -0.09571428596973419, + -0.07428571581840515, + 0.022857142612338066, + 1.0 + ], + "delta_next_20": [ + 0.023928573355078697, + -0.15321429073810577, + 0.0, + -1.2400001287460327, + -0.772857129573822, + 0.3814285695552826, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + -0.08101579636251777, + -0.5642702894939644, + -0.8606023795905821, + -0.4434735228697637, + 0.9016391379551258, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 7 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 24 mm; move right 153 mm; move downward 0 mm; roll downward 71 degrees; pitch downward 44 degrees; yaw counterclockwise 22 degrees; open gripper;", + "subtask_movement_text": "move forward 724 mm; move right 276 mm; move upward 44 mm; roll downward 154 degrees; pitch downward 88 degrees; yaw counterclockwise 21 degrees; open gripper;" + }, + { + "frame_index": 77, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 6 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 29 mm; move right 162 mm; move downward 0 mm; roll downward 67 degrees; pitch downward 40 degrees; yaw counterclockwise 21 degrees; open gripper;\nSubtask Movement: move forward 724 mm; move right 269 mm; move upward 44 mm; roll downward 148 degrees; pitch downward 84 degrees; yaw counterclockwise 20 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0057142856530845165, + 0.0, + -0.09571428596973419, + -0.07428571581840515, + 0.02428571507334709, + 1.0 + ], + "delta_next_20": [ + 0.02857143059372902, + -0.16178572177886963, + 0.0, + -1.1742857694625854, + -0.7057142853736877, + 0.3585714101791382, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + 0.027004727556351416, + -0.5642702894939644, + -0.8606023795905821, + -0.4434735228697637, + 0.9344260439668446, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 6 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 29 mm; move right 162 mm; move downward 0 mm; roll downward 67 degrees; pitch downward 40 degrees; yaw counterclockwise 21 degrees; open gripper;", + "subtask_movement_text": "move forward 724 mm; move right 269 mm; move upward 44 mm; roll downward 148 degrees; pitch downward 84 degrees; yaw counterclockwise 20 degrees; open gripper;" + }, + { + "frame_index": 78, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 5 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 33 mm; move right 172 mm; move downward 0 mm; roll downward 63 degrees; pitch downward 37 degrees; yaw counterclockwise 19 degrees; open gripper;\nSubtask Movement: move forward 724 mm; move right 263 mm; move upward 44 mm; roll downward 143 degrees; pitch downward 80 degrees; yaw counterclockwise 18 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0053571430034935474, + 0.0, + -0.09142857044935226, + -0.07428571581840515, + 0.022857142612338066, + 1.0 + ], + "delta_next_20": [ + 0.03285714611411095, + -0.17178572714328766, + 0.0, + -1.1071429252624512, + -0.6371428370475769, + 0.334285706281662, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + 0.05400983212806665, + -0.5642702894939644, + -0.80852355553107, + -0.4434735228697637, + 0.9016391379551258, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 5 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 33 mm; move right 172 mm; move downward 0 mm; roll downward 63 degrees; pitch downward 37 degrees; yaw counterclockwise 19 degrees; open gripper;", + "subtask_movement_text": "move forward 724 mm; move right 263 mm; move upward 44 mm; roll downward 143 degrees; pitch downward 80 degrees; yaw counterclockwise 18 degrees; open gripper;" + }, + { + "frame_index": 79, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 5 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 38 mm; move right 181 mm; move downward 0 mm; roll downward 60 degrees; pitch downward 32 degrees; yaw counterclockwise 18 degrees; open gripper;\nSubtask Movement: move forward 724 mm; move right 257 mm; move upward 44 mm; roll downward 137 degrees; pitch downward 75 degrees; yaw counterclockwise 17 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.004642857238650322, + 0.0, + -0.09000000357627869, + -0.07428571581840515, + 0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + 0.03750000149011612, + -0.1810714453458786, + 0.0, + -1.0428571701049805, + -0.5671428442001343, + 0.3114285469055176, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + 0.1080200764821666, + -0.5642702894939644, + -0.7911640078694894, + -0.4434735228697637, + 0.8688522746926364, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 5 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 38 mm; move right 181 mm; move downward 0 mm; roll downward 60 degrees; pitch downward 32 degrees; yaw counterclockwise 18 degrees; open gripper;", + "subtask_movement_text": "move forward 724 mm; move right 257 mm; move upward 44 mm; roll downward 137 degrees; pitch downward 75 degrees; yaw counterclockwise 17 degrees; open gripper;" + }, + { + "frame_index": 80, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 4 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 44 mm; move right 189 mm; move downward 0 mm; roll downward 56 degrees; pitch downward 28 degrees; yaw counterclockwise 17 degrees; open gripper;\nSubtask Movement: move forward 724 mm; move right 253 mm; move upward 44 mm; roll downward 132 degrees; pitch downward 71 degrees; yaw counterclockwise 16 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.004285714589059353, + 0.0, + -0.08857142925262451, + -0.07000000029802322, + 0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + 0.044285714626312256, + -0.18928572535514832, + 0.0, + -0.9728570580482483, + -0.4928571581840515, + 0.28999999165534973, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + 0.13502518105388206, + -0.5642702894939644, + -0.7738043696705237, + -0.36024421008324603, + 0.8360653686809176, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 4 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 44 mm; move right 189 mm; move downward 0 mm; roll downward 56 degrees; pitch downward 28 degrees; yaw counterclockwise 17 degrees; open gripper;", + "subtask_movement_text": "move forward 724 mm; move right 253 mm; move upward 44 mm; roll downward 132 degrees; pitch downward 71 degrees; yaw counterclockwise 16 degrees; open gripper;" + }, + { + "frame_index": 81, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 4 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 51 mm; move right 196 mm; move downward 0 mm; roll downward 52 degrees; pitch downward 24 degrees; yaw counterclockwise 15 degrees; open gripper;\nSubtask Movement: move forward 724 mm; move right 249 mm; move upward 44 mm; roll downward 127 degrees; pitch downward 67 degrees; yaw counterclockwise 14 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.004285714589059353, + 0.0, + -0.08714285492897034, + -0.06285714358091354, + 0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + 0.051428575068712234, + -0.19607144594192505, + 0.0, + -0.9014285206794739, + -0.4228571653366089, + 0.26999998092651367, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + 0.13502518105388206, + -0.5642702894939644, + -0.756444731471558, + -0.22152873700289077, + 0.8032785054184279, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 4 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 51 mm; move right 196 mm; move downward 0 mm; roll downward 52 degrees; pitch downward 24 degrees; yaw counterclockwise 15 degrees; open gripper;", + "subtask_movement_text": "move forward 724 mm; move right 249 mm; move upward 44 mm; roll downward 127 degrees; pitch downward 67 degrees; yaw counterclockwise 14 degrees; open gripper;" + }, + { + "frame_index": 82, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 5 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 59 mm; move right 201 mm; move downward 0 mm; roll downward 47 degrees; pitch downward 21 degrees; yaw counterclockwise 14 degrees; open gripper;\nSubtask Movement: move forward 724 mm; move right 244 mm; move upward 44 mm; roll downward 122 degrees; pitch downward 64 degrees; yaw counterclockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.005000000353902578, + 0.0, + -0.08428571373224258, + -0.05428571254014969, + 0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + 0.05892857536673546, + -0.20107145607471466, + 0.0, + -0.8285713791847229, + -0.36000001430511475, + 0.2514285445213318, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + 0.0810149366997821, + -0.5642702894939644, + -0.7217255456110117, + -0.055070111429855406, + 0.8032785054184279, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 5 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 59 mm; move right 201 mm; move downward 0 mm; roll downward 47 degrees; pitch downward 21 degrees; yaw counterclockwise 14 degrees; open gripper;", + "subtask_movement_text": "move forward 724 mm; move right 244 mm; move upward 44 mm; roll downward 122 degrees; pitch downward 64 degrees; yaw counterclockwise 13 degrees; open gripper;" + }, + { + "frame_index": 83, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 6 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 67 mm; move right 205 mm; move downward 1 mm; roll downward 43 degrees; pitch downward 18 degrees; yaw counterclockwise 13 degrees; open gripper;\nSubtask Movement: move forward 724 mm; move right 239 mm; move upward 44 mm; roll downward 117 degrees; pitch downward 60 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.006071428768336773, + 0.0, + -0.07000000029802322, + -0.03999999910593033, + 0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + 0.06714285910129547, + -0.2046428769826889, + -0.0007142857066355646, + -0.7528570890426636, + -0.30571430921554565, + 0.2328571230173111, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + -4.122260331973493e-07, + -0.5642702894939644, + -0.5481295257708947, + 0.22236083473085522, + 0.8032785054184279, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 6 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 67 mm; move right 205 mm; move downward 1 mm; roll downward 43 degrees; pitch downward 18 degrees; yaw counterclockwise 13 degrees; open gripper;", + "subtask_movement_text": "move forward 724 mm; move right 239 mm; move upward 44 mm; roll downward 117 degrees; pitch downward 60 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 84, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 6 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 76 mm; move right 206 mm; move downward 1 mm; roll downward 40 degrees; pitch downward 15 degrees; yaw counterclockwise 12 degrees; open gripper;\nSubtask Movement: move forward 724 mm; move right 233 mm; move upward 44 mm; roll downward 113 degrees; pitch downward 58 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.006071428768336773, + 0.0, + -0.06285714358091354, + -0.0357142873108387, + 0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + 0.07571428269147873, + -0.20607145130634308, + -0.0014285714132711291, + -0.691428542137146, + -0.26571428775787354, + 0.2142857015132904, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + -4.122260331973493e-07, + -0.5642702894939644, + -0.4613315158508363, + 0.30559007517161163, + 0.8688522746926364, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 6 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 76 mm; move right 206 mm; move downward 1 mm; roll downward 40 degrees; pitch downward 15 degrees; yaw counterclockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 724 mm; move right 233 mm; move upward 44 mm; roll downward 113 degrees; pitch downward 58 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 85, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 5 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 85 mm; move right 206 mm; move downward 3 mm; roll downward 37 degrees; pitch downward 13 degrees; yaw counterclockwise 11 degrees; open gripper;\nSubtask Movement: move forward 724 mm; move right 227 mm; move upward 44 mm; roll downward 110 degrees; pitch downward 56 degrees; yaw counterclockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0007142857066355646, + -0.0053571430034935474, + 0.0, + -0.05428571254014969, + -0.02857142873108387, + 0.025714285671710968, + 1.0 + ], + "delta_next_20": [ + 0.08500000089406967, + -0.20607145130634308, + -0.0028571428265422583, + -0.6385715007781982, + -0.22999997437000275, + 0.19285713136196136, + 1.0 + ], + "delta_full_state_norm": [ + 0.4836013694247081, + 0.05400983212806665, + -0.5642702894939644, + -0.35717386773181226, + 0.4443055844248476, + 0.9672129072293343, + 0.9999996666667221 + ], + "movement_text": "move forward 1 mm; move right 5 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 85 mm; move right 206 mm; move downward 3 mm; roll downward 37 degrees; pitch downward 13 degrees; yaw counterclockwise 11 degrees; open gripper;", + "subtask_movement_text": "move forward 724 mm; move right 227 mm; move upward 44 mm; roll downward 110 degrees; pitch downward 56 degrees; yaw counterclockwise 10 degrees; open gripper;" + }, + { + "frame_index": 86, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 5 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 94 mm; move right 206 mm; move downward 5 mm; roll downward 34 degrees; pitch downward 12 degrees; yaw counterclockwise 10 degrees; open gripper;\nSubtask Movement: move forward 723 mm; move right 222 mm; move upward 44 mm; roll downward 107 degrees; pitch downward 55 degrees; yaw counterclockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0014285714132711291, + -0.0053571430034935474, + 0.0, + -0.05000000074505806, + -0.02428571507334709, + 0.027142856270074844, + 1.0 + ], + "delta_next_20": [ + 0.09428571164608002, + -0.20571430027484894, + -0.005000000353902578, + -0.5928571820259094, + -0.20142854750156403, + 0.167142853140831, + 1.0 + ], + "delta_full_state_norm": [ + 0.5055757658023909, + 0.05400983212806665, + -0.5642702894939644, + -0.3050950889409927, + 0.5275348610384847, + 0.999999770491824, + 0.9999996666667221 + ], + "movement_text": "move forward 1 mm; move right 5 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 94 mm; move right 206 mm; move downward 5 mm; roll downward 34 degrees; pitch downward 12 degrees; yaw counterclockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 723 mm; move right 222 mm; move upward 44 mm; roll downward 107 degrees; pitch downward 55 degrees; yaw counterclockwise 9 degrees; open gripper;" + }, + { + "frame_index": 87, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 6 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 104 mm; move right 204 mm; move downward 8 mm; roll downward 32 degrees; pitch downward 10 degrees; yaw counterclockwise 8 degrees; open gripper;\nSubtask Movement: move forward 721 mm; move right 216 mm; move upward 44 mm; roll downward 104 degrees; pitch downward 53 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0014285714132711291, + -0.006071428768336773, + 0.0, + -0.04857143014669418, + -0.022857142612338066, + 0.027142856270074844, + 1.0 + ], + "delta_next_20": [ + 0.10357142984867096, + -0.20428572595119476, + -0.008214286528527737, + -0.5528572201728821, + -0.17714282870292664, + 0.13999998569488525, + 1.0 + ], + "delta_full_state_norm": [ + 0.5055757658023909, + -4.122260331973493e-07, + -0.5642702894939644, + -0.28773549601071946, + 0.5552779773582841, + 0.999999770491824, + 0.9999996666667221 + ], + "movement_text": "move forward 1 mm; move right 6 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 104 mm; move right 204 mm; move downward 8 mm; roll downward 32 degrees; pitch downward 10 degrees; yaw counterclockwise 8 degrees; open gripper;", + "subtask_movement_text": "move forward 721 mm; move right 216 mm; move upward 44 mm; roll downward 104 degrees; pitch downward 53 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 88, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 7 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 115 mm; move right 200 mm; move downward 13 mm; roll downward 30 degrees; pitch downward 9 degrees; yaw counterclockwise 6 degrees; open gripper;\nSubtask Movement: move forward 720 mm; move right 210 mm; move upward 44 mm; roll downward 101 degrees; pitch downward 52 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0014285714132711291, + -0.007142857648432255, + 0.0, + -0.04571428522467613, + -0.019999999552965164, + 0.027142856270074844, + 1.0 + ], + "delta_next_20": [ + 0.11464285850524902, + -0.1996428519487381, + -0.012500000186264515, + -0.5157142877578735, + -0.15428569912910461, + 0.1128571406006813, + 1.0 + ], + "delta_full_state_norm": [ + 0.5055757658023909, + -0.08101579636251777, + -0.5642702894939644, + -0.25301626488148055, + 0.6107641738250023, + 0.999999770491824, + 0.9999996666667221 + ], + "movement_text": "move forward 1 mm; move right 7 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 115 mm; move right 200 mm; move downward 13 mm; roll downward 30 degrees; pitch downward 9 degrees; yaw counterclockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 720 mm; move right 210 mm; move upward 44 mm; roll downward 101 degrees; pitch downward 52 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 89, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 8 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 126 mm; move right 192 mm; move downward 17 mm; roll downward 28 degrees; pitch downward 8 degrees; yaw counterclockwise 5 degrees; open gripper;\nSubtask Movement: move forward 719 mm; move right 203 mm; move upward 44 mm; roll downward 98 degrees; pitch downward 51 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0014285714132711291, + -0.008214286528527737, + 0.0, + -0.04714285582304001, + -0.02142857201397419, + 0.02428571507334709, + 1.0 + ], + "delta_next_20": [ + 0.12607143819332123, + -0.19249999523162842, + -0.01714285835623741, + -0.4828571081161499, + -0.13428571820259094, + 0.08571428805589676, + 1.0 + ], + "delta_full_state_norm": [ + 0.5055757658023909, + -0.16203118049900234, + -0.5642702894939644, + -0.2703758578117538, + 0.5830210575052028, + 0.9344260439668446, + 0.9999996666667221 + ], + "movement_text": "move forward 1 mm; move right 8 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 126 mm; move right 192 mm; move downward 17 mm; roll downward 28 degrees; pitch downward 8 degrees; yaw counterclockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 719 mm; move right 203 mm; move upward 44 mm; roll downward 98 degrees; pitch downward 51 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 90, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 9 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 138 mm; move right 184 mm; move downward 22 mm; roll downward 26 degrees; pitch downward 6 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move forward 717 mm; move right 195 mm; move upward 44 mm; roll downward 96 degrees; pitch downward 49 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0017857144121080637, + -0.008928571827709675, + 0.0, + -0.04714285582304001, + -0.019999999552965164, + 0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + 0.13785715401172638, + -0.1842857152223587, + -0.022142857313156128, + -0.4485713839530945, + -0.11285713315010071, + 0.06142856925725937, + 1.0 + ], + "delta_full_state_norm": [ + 0.516562968468006, + -0.2160413896424329, + -0.5642702894939644, + -0.2703758578117538, + 0.6107641738250023, + 0.8360653686809176, + 0.9999996666667221 + ], + "movement_text": "move forward 2 mm; move right 9 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 138 mm; move right 184 mm; move downward 22 mm; roll downward 26 degrees; pitch downward 6 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 717 mm; move right 195 mm; move upward 44 mm; roll downward 96 degrees; pitch downward 49 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 91, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 11 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 150 mm; move right 175 mm; move downward 29 mm; roll downward 24 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move forward 715 mm; move right 186 mm; move upward 44 mm; roll downward 93 degrees; pitch downward 48 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0014285714132711291, + -0.011071428656578064, + 0.0, + -0.04285714402794838, + -0.022857142612338066, + 0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + 0.15035715699195862, + -0.1753571480512619, + -0.028928572311997414, + -0.4171428084373474, + -0.09285713732242584, + 0.041428569704294205, + 1.0 + ], + "delta_full_state_norm": [ + 0.5055757658023909, + -0.3780720874940633, + -0.5642702894939644, + -0.2182970790209342, + 0.5552779773582841, + 0.7049178515071155, + 0.9999996666667221 + ], + "movement_text": "move forward 1 mm; move right 11 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 150 mm; move right 175 mm; move downward 29 mm; roll downward 24 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 715 mm; move right 186 mm; move upward 44 mm; roll downward 93 degrees; pitch downward 48 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 92, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 11 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 163 mm; move right 164 mm; move downward 35 mm; roll downward 22 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move forward 714 mm; move right 175 mm; move upward 44 mm; roll downward 91 degrees; pitch downward 47 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0021428572945296764, + -0.011071428656578064, + 0.0, + -0.03999999910593033, + -0.019999999552965164, + 0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + 0.163214311003685, + -0.16428571939468384, + -0.03500000014901161, + -0.3885713517665863, + -0.07000000029802322, + 0.027142856270074844, + 1.0 + ], + "delta_full_state_norm": [ + 0.5275501675522023, + -0.3780720874940633, + -0.5642702894939644, + -0.1835778478916953, + 0.6107641738250023, + 0.6393440822329071, + 0.9999996666667221 + ], + "movement_text": "move forward 2 mm; move right 11 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 163 mm; move right 164 mm; move downward 35 mm; roll downward 22 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 714 mm; move right 175 mm; move upward 44 mm; roll downward 91 degrees; pitch downward 47 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 93, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 13 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 175 mm; move right 153 mm; move downward 41 mm; roll downward 21 degrees; pitch downward 3 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 712 mm; move right 164 mm; move upward 44 mm; roll downward 88 degrees; pitch downward 46 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0035714288242161274, + -0.012857143767178059, + 0.0, + -0.03285714238882065, + -0.012857142835855484, + 0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + 0.17500001192092896, + -0.15321429073810577, + -0.040714286267757416, + -0.3657142221927643, + -0.05000000074505806, + 0.015714284032583237, + 1.0 + ], + "delta_full_state_norm": [ + 0.5714989638889869, + -0.5130977511953172, + -0.5642702894939644, + -0.09677983797163692, + 0.7494796469053577, + 0.5737703129586986, + 0.9999996666667221 + ], + "movement_text": "move forward 4 mm; move right 13 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 175 mm; move right 153 mm; move downward 41 mm; roll downward 21 degrees; pitch downward 3 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 712 mm; move right 164 mm; move upward 44 mm; roll downward 88 degrees; pitch downward 46 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 94, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 14 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 185 mm; move right 140 mm; move downward 47 mm; roll downward 20 degrees; pitch downward 2 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 708 mm; move right 151 mm; move upward 44 mm; roll downward 86 degrees; pitch downward 45 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0039285714738070965, + -0.013928571715950966, + 0.0, + -0.03285714238882065, + -0.011428571306169033, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.18535715341567993, + -0.1403571367263794, + -0.046785712242126465, + -0.3514285981655121, + -0.037142857909202576, + 0.0071428571827709675, + 1.0 + ], + "delta_full_state_norm": [ + 0.5824861558103451, + -0.5941130649104631, + -0.5642702894939644, + -0.09677983797163692, + 0.7772227451387168, + 0.5081965543717977, + 0.9999996666667221 + ], + "movement_text": "move forward 4 mm; move right 14 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 185 mm; move right 140 mm; move downward 47 mm; roll downward 20 degrees; pitch downward 2 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 708 mm; move right 151 mm; move upward 44 mm; roll downward 86 degrees; pitch downward 45 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 95, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 15 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 195 mm; move right 126 mm; move downward 53 mm; roll downward 19 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 704 mm; move right 137 mm; move upward 44 mm; roll downward 84 degrees; pitch downward 44 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004642857238650322, + -0.014642857015132904, + 0.0, + -0.03285714238882065, + -0.008571428246796131, + 0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.19500002264976501, + -0.12642857432365417, + -0.05285714194178581, + -0.3371428847312927, + -0.025714285671710968, + 0.0014285714132711291, + 1.0 + ], + "delta_full_state_norm": [ + 0.6044605539787373, + -0.6481232740538936, + -0.5642702894939644, + -0.09677983797163692, + 0.832708941605435, + 0.4098359084759655, + 0.9999996666667221 + ], + "movement_text": "move forward 5 mm; move right 15 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 195 mm; move right 126 mm; move downward 53 mm; roll downward 19 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 704 mm; move right 137 mm; move upward 44 mm; roll downward 84 degrees; pitch downward 44 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 96, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 16 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 204 mm; move right 112 mm; move downward 58 mm; roll downward 19 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 700 mm; move right 123 mm; move upward 44 mm; roll downward 83 degrees; pitch downward 44 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004642857238650322, + -0.015714285895228386, + 0.0, + -0.029999999329447746, + -0.0071428571827709675, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20392858982086182, + -0.11178570240736008, + -0.05821428447961807, + -0.3257143199443817, + -0.017142856493592262, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6044605539787373, + -0.7291386581903783, + -0.5642702894939644, + -0.06206062947674429, + 0.8604520307955739, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 5 mm; move right 16 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 204 mm; move right 112 mm; move downward 58 mm; roll downward 19 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 700 mm; move right 123 mm; move upward 44 mm; roll downward 83 degrees; pitch downward 44 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 97, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 16 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 213 mm; move right 96 mm; move downward 62 mm; roll downward 18 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 695 mm; move right 107 mm; move upward 44 mm; roll downward 81 degrees; pitch downward 44 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004285714589059353, + -0.015714285895228386, + 0.0, + -0.02857142873108387, + -0.0057142856530845165, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21250002086162567, + -0.09607143700122833, + -0.061785709112882614, + -0.31714290380477905, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5934733620573793, + -0.7291386581903783, + -0.5642702894939644, + -0.04470103654647106, + 0.8881951290289332, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 4 mm; move right 16 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 213 mm; move right 96 mm; move downward 62 mm; roll downward 18 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 695 mm; move right 107 mm; move upward 44 mm; roll downward 81 degrees; pitch downward 44 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 98, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 15 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 221 mm; move right 80 mm; move downward 65 mm; roll downward 18 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 691 mm; move right 91 mm; move upward 44 mm; roll downward 79 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004642857238650322, + -0.014642857015132904, + 0.0, + -0.027142856270074844, + -0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22071431577205658, + -0.0803571566939354, + -0.06499999761581421, + -0.31285715103149414, + -0.004285714123398066, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6044605539787373, + -0.6481232740538936, + -0.5642702894939644, + -0.02734142098185166, + 0.9159382272622922, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 5 mm; move right 15 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 221 mm; move right 80 mm; move downward 65 mm; roll downward 18 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 691 mm; move right 91 mm; move upward 44 mm; roll downward 79 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 99, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 13 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 228 mm; move right 66 mm; move downward 65 mm; roll downward 18 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 686 mm; move right 76 mm; move upward 44 mm; roll downward 78 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006785714533179998, + -0.012857143767178059, + 0.0, + -0.019999999552965164, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22785715758800507, + -0.0657142922282219, + -0.06535714119672775, + -0.3114285469055176, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6703837484839144, + -0.5130977511953172, + -0.5642702894939644, + 0.05945658893820682, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 7 mm; move right 13 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 228 mm; move right 66 mm; move downward 65 mm; roll downward 18 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 686 mm; move right 76 mm; move upward 44 mm; roll downward 78 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 100, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 11 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 232 mm; move right 53 mm; move downward 65 mm; roll downward 18 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 679 mm; move right 64 mm; move upward 44 mm; roll downward 77 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007142857648432255, + -0.011071428656578064, + 0.0, + -0.017142856493592262, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2321428805589676, + -0.05285714194178581, + -0.06535714119672775, + -0.3199999928474426, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6813709547309488, + -0.3780720874940633, + -0.5642702894939644, + 0.09417579743309945, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 7 mm; move right 11 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 232 mm; move right 53 mm; move downward 65 mm; roll downward 18 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 679 mm; move right 64 mm; move upward 44 mm; roll downward 77 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 101, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 9 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 236 mm; move right 42 mm; move downward 65 mm; roll downward 19 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 672 mm; move right 53 mm; move upward 44 mm; roll downward 76 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007500000298023224, + -0.009285714477300644, + 0.0, + -0.014285714365541935, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23571430146694183, + -0.04178571701049805, + -0.06535714119672775, + -0.33571431040763855, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6923581466523068, + -0.24304649421414815, + -0.5642702894939644, + 0.12889499461081888, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 8 mm; move right 9 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 236 mm; move right 42 mm; move downward 65 mm; roll downward 19 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 672 mm; move right 53 mm; move upward 44 mm; roll downward 76 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 102, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 9 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 237 mm; move right 33 mm; move downward 65 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 665 mm; move right 43 mm; move upward 44 mm; roll downward 75 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008214286528527737, + -0.008571429178118706, + -0.0007142857066355646, + -0.008571428246796131, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23714284598827362, + -0.0325000025331974, + -0.06535714119672775, + -0.35428574681282043, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7143325591463752, + -0.18903628507071768, + -0.6155326061654609, + 0.19833341160060414, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 8 mm; move right 9 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 237 mm; move right 33 mm; move downward 65 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 665 mm; move right 43 mm; move upward 44 mm; roll downward 75 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 103, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 8 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 238 mm; move right 24 mm; move downward 65 mm; roll downward 22 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 656 mm; move right 35 mm; move upward 45 mm; roll downward 74 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008571429178118706, + -0.007500000298023224, + -0.0007142857066355646, + -0.008571428246796131, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2378571331501007, + -0.023928573355078697, + -0.06464286148548126, + -0.3800000250339508, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7253197510677334, + -0.108020900934233, + -0.6155326061654609, + 0.19833341160060414, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 9 mm; move right 8 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 238 mm; move right 24 mm; move downward 65 mm; roll downward 22 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 656 mm; move right 35 mm; move upward 45 mm; roll downward 74 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 104, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 6 mm; move downward 1 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 239 mm; move right 16 mm; move downward 64 mm; roll downward 23 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 648 mm; move right 27 mm; move upward 45 mm; roll downward 74 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 227, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + -0.006071428768336773, + -0.0014285714132711291, + -0.009999999776482582, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23892855644226074, + -0.016428573057055473, + -0.06392856687307358, + -0.4042857587337494, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7472941349104496, + -4.122260331973493e-07, + -0.6667949228369574, + 0.1809738073531577, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 9 mm; move right 6 mm; move downward 1 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 239 mm; move right 16 mm; move downward 64 mm; roll downward 23 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 648 mm; move right 27 mm; move upward 45 mm; roll downward 74 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 105, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 5 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 240 mm; move right 10 mm; move downward 62 mm; roll downward 24 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 639 mm; move right 21 mm; move upward 47 mm; roll downward 73 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 227, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + -0.005000000353902578, + -0.0021428572945296764, + -0.008571428246796131, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23964284360408783, + -0.010357143357396126, + -0.0625, + -0.42428573966026306, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.769268547404518, + 0.0810149366997821, + -0.7180572520406642, + 0.19833341160060414, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 10 mm; move right 5 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 240 mm; move right 10 mm; move downward 62 mm; roll downward 24 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 639 mm; move right 21 mm; move upward 47 mm; roll downward 73 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 106, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 4 mm; move downward 3 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 240 mm; move right 5 mm; move downward 60 mm; roll downward 26 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 629 mm; move right 16 mm; move upward 49 mm; roll downward 73 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 227, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + -0.0039285714738070965, + -0.0032142859417945147, + -0.009999999776482582, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23964284360408783, + -0.0053571430034935474, + -0.060357142239809036, + -0.44714289903640747, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7912429312472342, + 0.16203032083626656, + -0.794950733314014, + 0.1809738073531577, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 11 mm; move right 4 mm; move downward 3 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 240 mm; move right 5 mm; move downward 60 mm; roll downward 26 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 629 mm; move right 16 mm; move upward 49 mm; roll downward 73 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 107, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 1 mm; move downward 4 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 239 mm; move right 2 mm; move downward 57 mm; roll downward 27 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 618 mm; move right 12 mm; move upward 52 mm; roll downward 72 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + -0.0014285714132711291, + -0.004285714589059353, + -0.011428571306169033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23892854154109955, + -0.0017857144121080637, + -0.05714286118745804, + -0.4685714840888977, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.846178919505377, + 0.35106616727294915, + -0.8718442145873639, + 0.1636142031057115, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 13 mm; move right 1 mm; move downward 4 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 239 mm; move right 2 mm; move downward 57 mm; roll downward 27 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 618 mm; move right 12 mm; move upward 52 mm; roll downward 72 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 108, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 5 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 236 mm; move right 1 mm; move downward 53 mm; roll downward 28 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 605 mm; move right 11 mm; move upward 56 mm; roll downward 71 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + -0.004642857238650322, + -0.012857142835855484, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23642852902412415, + -0.0010714286472648382, + -0.05285714939236641, + -0.4885714650154114, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8571661400780874, + 0.4590866471784816, + -0.8974753583022002, + 0.1462545988582653, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 5 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 236 mm; move right 1 mm; move downward 53 mm; roll downward 28 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 605 mm; move right 11 mm; move upward 56 mm; roll downward 71 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 109, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 5 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 233 mm; move right 2 mm; move downward 48 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 593 mm; move right 11 mm; move upward 61 mm; roll downward 71 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + -0.005000000353902578, + -0.012857142835855484, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23321428894996643, + -0.0017857144121080637, + -0.04821428284049034, + -0.5071429014205933, + -0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8681533033480933, + 0.4590866471784816, + -0.9231065354362638, + 0.1462545988582653, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 5 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 233 mm; move right 2 mm; move downward 48 mm; roll downward 29 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 593 mm; move right 11 mm; move upward 61 mm; roll downward 71 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 110, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 7 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 230 mm; move right 3 mm; move downward 43 mm; roll downward 30 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 579 mm; move right 11 mm; move upward 66 mm; roll downward 70 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + 0.0, + -0.006785714533179998, + -0.015714285895228386, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22999997437000275, + -0.002500000176951289, + -0.04321428760886192, + -0.5271428823471069, + -0.0057142856530845165, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9011149364148721, + 0.4590866471784816, + -1.0, + 0.11153539036337268, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 7 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 230 mm; move right 3 mm; move downward 43 mm; roll downward 30 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 579 mm; move right 11 mm; move upward 66 mm; roll downward 70 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 111, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 6 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 226 mm; move right 3 mm; move downward 36 mm; roll downward 31 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 565 mm; move right 11 mm; move upward 73 mm; roll downward 69 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + 0.0, + -0.006071428768336773, + -0.014285714365541935, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22607143223285675, + -0.0032142859417945147, + -0.03642857074737549, + -0.5442857146263123, + -0.0071428571827709675, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9011149364148721, + 0.4590866471784816, + -1.0, + 0.12889499461081888, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 6 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 226 mm; move right 3 mm; move downward 36 mm; roll downward 31 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 565 mm; move right 11 mm; move upward 73 mm; roll downward 69 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 112, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 6 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 222 mm; move right 4 mm; move downward 30 mm; roll downward 32 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 551 mm; move right 11 mm; move upward 79 mm; roll downward 68 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + 0.0, + -0.0057142856530845165, + -0.017142856493592262, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22214286029338837, + -0.0039285714738070965, + -0.03035714291036129, + -0.5657142996788025, + -0.011428571306169033, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8901277158421617, + 0.4590866471784816, + -0.9743688228659364, + 0.09417579743309945, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 6 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 222 mm; move right 4 mm; move downward 30 mm; roll downward 32 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 551 mm; move right 11 mm; move upward 79 mm; roll downward 68 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 113, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 6 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 219 mm; move right 5 mm; move downward 25 mm; roll downward 34 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 537 mm; move right 11 mm; move upward 85 mm; roll downward 67 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + 0.0, + -0.006071428768336773, + -0.018571428954601288, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21857145428657532, + -0.004642857238650322, + -0.024642858654260635, + -0.5857143402099609, + -0.015714285895228386, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8901277158421617, + 0.4590866471784816, + -1.0, + 0.07681618186848005, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 6 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 219 mm; move right 5 mm; move downward 25 mm; roll downward 34 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 537 mm; move right 11 mm; move upward 85 mm; roll downward 67 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 114, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 6 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 215 mm; move right 6 mm; move downward 19 mm; roll downward 35 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 523 mm; move right 11 mm; move upward 91 mm; roll downward 66 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013571429066359997, + 0.0, + -0.006071428768336773, + -0.018571428954601288, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21500003337860107, + -0.006071428768336773, + -0.018571430817246437, + -0.6028571724891663, + -0.019999999552965164, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8791405239208037, + 0.4590866471784816, + -1.0, + 0.07681618186848005, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 6 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 215 mm; move right 6 mm; move downward 19 mm; roll downward 35 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 523 mm; move right 11 mm; move upward 91 mm; roll downward 66 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 115, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 5 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 213 mm; move right 7 mm; move downward 13 mm; roll downward 36 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 509 mm; move right 11 mm; move upward 97 mm; roll downward 65 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013571429066359997, + 0.0, + -0.0053571430034935474, + -0.02142857201397419, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21250002086162567, + -0.007142857648432255, + -0.012500002048909664, + -0.6228571534156799, + -0.027142856270074844, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8791405239208037, + 0.4590866471784816, + -0.9487376791511001, + 0.04209697337358742, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 5 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 213 mm; move right 7 mm; move downward 13 mm; roll downward 36 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 509 mm; move right 11 mm; move upward 97 mm; roll downward 65 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 116, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 4 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 210 mm; move right 8 mm; move downward 7 mm; roll downward 37 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 496 mm; move right 11 mm; move upward 102 mm; roll downward 64 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + -0.0035714288242161274, + -0.02142857201397419, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20999999344348907, + -0.008214286528527737, + -0.007142857648432255, + -0.6399999856948853, + -0.0357142835855484, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8681533033480933, + 0.4590866471784816, + -0.8205818937384639, + 0.04209697337358742, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 4 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 210 mm; move right 8 mm; move downward 7 mm; roll downward 37 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 496 mm; move right 11 mm; move upward 102 mm; roll downward 64 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 117, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 3 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 209 mm; move right 10 mm; move downward 4 mm; roll downward 37 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 483 mm; move right 11 mm; move upward 106 mm; roll downward 63 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + -0.0032142859417945147, + -0.02428571507334709, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2085714340209961, + -0.010000000707805157, + -0.0035714288242161274, + -0.6542856693267822, + -0.045714281499385834, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.846178919505377, + 0.4590866471784816, + -0.794950733314014, + 0.0073777648786947925, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 3 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 209 mm; move right 10 mm; move downward 4 mm; roll downward 37 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 483 mm; move right 11 mm; move upward 106 mm; roll downward 63 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 118, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 208 mm; move right 11 mm; move downward 0 mm; roll downward 38 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 470 mm; move right 11 mm; move upward 109 mm; roll downward 61 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + 0.0, + -0.0003571428533177823, + -0.025714285671710968, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20750001072883606, + -0.011428571306169033, + -0.0003571428533177823, + -0.6671428680419922, + -0.05571427941322327, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8242045356626608, + 0.4590866471784816, + -0.5899014478297127, + -0.009981828051578434, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 208 mm; move right 11 mm; move downward 0 mm; roll downward 38 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 470 mm; move right 11 mm; move upward 109 mm; roll downward 61 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 119, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 207 mm; move right 12 mm; move downward 0 mm; roll downward 39 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 458 mm; move right 11 mm; move upward 109 mm; roll downward 60 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + -0.02857142873108387, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2071428745985031, + -0.012142857536673546, + 0.0, + -0.6785715222358704, + -0.0657142773270607, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8022301231685924, + 0.4590866471784816, + -0.5642702894939644, + -0.04470103654647106, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 207 mm; move right 12 mm; move downward 0 mm; roll downward 39 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 458 mm; move right 11 mm; move upward 109 mm; roll downward 60 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 120, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 208 mm; move right 12 mm; move downward 0 mm; roll downward 39 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 447 mm; move right 11 mm; move upward 109 mm; roll downward 58 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + 0.0, + 0.0, + -0.03285714238882065, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20750001072883606, + -0.012142857536673546, + 0.0, + -0.6857143640518188, + -0.07714284956455231, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7912429312472342, + 0.4590866471784816, + -0.5642702894939644, + -0.09677983797163692, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 208 mm; move right 12 mm; move downward 0 mm; roll downward 39 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 447 mm; move right 11 mm; move upward 109 mm; roll downward 58 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 121, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 208 mm; move right 12 mm; move downward 0 mm; roll downward 39 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 436 mm; move right 11 mm; move upward 109 mm; roll downward 56 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008928571827709675, + 0.0, + 0.0, + -0.03285714238882065, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20821428298950195, + -0.012142857536673546, + 0.0, + -0.6842857599258423, + -0.08999998867511749, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7363069429890914, + 0.4590866471784816, + -0.5642702894939644, + -0.09677983797163692, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 208 mm; move right 12 mm; move downward 0 mm; roll downward 39 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 436 mm; move right 11 mm; move upward 109 mm; roll downward 56 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 122, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 211 mm; move right 12 mm; move downward 0 mm; roll downward 39 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 427 mm; move right 11 mm; move upward 109 mm; roll downward 54 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008928571827709675, + 0.0, + 0.0, + -0.034285712987184525, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21071429550647736, + -0.012142857536673546, + 0.0, + -0.6800000667572021, + -0.1014285609126091, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7363069429890914, + 0.4590866471784816, + -0.5642702894939644, + -0.11413943090191014, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 211 mm; move right 12 mm; move downward 0 mm; roll downward 39 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 427 mm; move right 11 mm; move upward 109 mm; roll downward 54 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 123, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 213 mm; move right 12 mm; move downward 0 mm; roll downward 38 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 419 mm; move right 11 mm; move upward 109 mm; roll downward 52 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + 0.0, + 0.0, + -0.03285714238882065, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21285712718963623, + -0.012142857536673546, + 0.0, + -0.6714286208152771, + -0.11285713315010071, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7582813268318076, + 0.4590866471784816, + -0.5642702894939644, + -0.09677983797163692, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 213 mm; move right 12 mm; move downward 0 mm; roll downward 38 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 419 mm; move right 11 mm; move upward 109 mm; roll downward 52 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 124, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 213 mm; move right 12 mm; move downward 0 mm; roll downward 38 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 409 mm; move right 11 mm; move upward 109 mm; roll downward 51 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + 0.0, + 0.0, + -0.029999999329447746, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21321427822113037, + -0.012142857536673546, + 0.0, + -0.6600000262260437, + -0.12428570538759232, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.769268547404518, + 0.4590866471784816, + -0.5642702894939644, + -0.06206062947674429, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 213 mm; move right 12 mm; move downward 0 mm; roll downward 38 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 409 mm; move right 11 mm; move upward 109 mm; roll downward 51 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 125, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 212 mm; move right 12 mm; move downward 0 mm; roll downward 37 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 399 mm; move right 11 mm; move upward 109 mm; roll downward 49 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + 0.0, + 0.0, + -0.03142857179045677, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21214285492897034, + -0.012142857536673546, + 0.0, + -0.6514285802841187, + -0.13857142627239227, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.769268547404518, + 0.4590866471784816, + -0.5642702894939644, + -0.07942024504136369, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 212 mm; move right 12 mm; move downward 0 mm; roll downward 37 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 399 mm; move right 11 mm; move upward 109 mm; roll downward 49 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 126, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 209 mm; move right 12 mm; move upward 0 mm; roll downward 37 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 389 mm; move right 11 mm; move upward 109 mm; roll downward 47 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + -0.0003571428533177823, + 0.0, + -0.03142857179045677, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20892858505249023, + -0.012142857536673546, + 0.0003571428533177823, + -0.6385714411735535, + -0.15714284777641296, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.769268547404518, + 0.43208152720209836, + -0.5642702894939644, + -0.07942024504136369, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 209 mm; move right 12 mm; move upward 0 mm; roll downward 37 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 389 mm; move right 11 mm; move upward 109 mm; roll downward 47 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 127, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 205 mm; move right 12 mm; move upward 2 mm; roll downward 36 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 379 mm; move right 10 mm; move upward 109 mm; roll downward 45 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + -0.0007142857066355646, + 0.0, + -0.03142857179045677, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2046428769826889, + -0.011785714887082577, + 0.0021428572945296764, + -0.6242857575416565, + -0.17999999225139618, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.769268547404518, + 0.40507640722571536, + -0.5642702894939644, + -0.07942024504136369, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 10 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 205 mm; move right 12 mm; move upward 2 mm; roll downward 36 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 379 mm; move right 10 mm; move upward 109 mm; roll downward 45 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 128, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 200 mm; move right 11 mm; move upward 5 mm; roll downward 35 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 369 mm; move right 10 mm; move upward 109 mm; roll downward 43 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + -0.0007142857066355646, + 0.0, + -0.03142857179045677, + -0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1996428668498993, + -0.011071428656578064, + 0.005000000353902578, + -0.6085715293884277, + -0.20428571105003357, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7582813268318076, + 0.40507640722571536, + -0.5642702894939644, + -0.07942024504136369, + 0.9436813209740413, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 10 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 200 mm; move right 11 mm; move upward 5 mm; roll downward 35 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 369 mm; move right 10 mm; move upward 109 mm; roll downward 43 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 129, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 195 mm; move right 10 mm; move upward 8 mm; roll downward 34 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 359 mm; move right 9 mm; move upward 109 mm; roll downward 42 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + -0.0007142857066355646, + 0.0, + -0.03285714238882065, + -0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.19464287161827087, + -0.010357143357396126, + 0.008214286528527737, + -0.5885714888572693, + -0.225714311003685, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.769268547404518, + 0.40507640722571536, + -0.5642702894939644, + -0.09677983797163692, + 0.9436813209740413, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 10 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 195 mm; move right 10 mm; move upward 8 mm; roll downward 34 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 359 mm; move right 9 mm; move upward 109 mm; roll downward 42 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 130, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 189 mm; move right 10 mm; move upward 12 mm; roll downward 32 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 349 mm; move right 8 mm; move upward 109 mm; roll downward 40 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + -0.0007142857066355646, + 0.0, + -0.03285714238882065, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18928572535514832, + -0.009642857126891613, + 0.01214285846799612, + -0.567142903804779, + -0.2485714554786682, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7802557393258762, + 0.40507640722571536, + -0.5642702894939644, + -0.09677983797163692, + 0.9714244169465953, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 10 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 189 mm; move right 10 mm; move upward 12 mm; roll downward 32 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 349 mm; move right 8 mm; move upward 109 mm; roll downward 40 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 131, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 183 mm; move right 9 mm; move upward 17 mm; roll downward 31 degrees; pitch downward 16 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 339 mm; move right 8 mm; move upward 109 mm; roll downward 38 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + -0.0007142857066355646, + 0.0, + -0.0357142873108387, + -0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18321429193019867, + -0.008928571827709675, + 0.01714285835623741, + -0.5471429824829102, + -0.27571430802345276, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7802557393258762, + 0.40507640722571536, + -0.5642702894939644, + -0.13149906910087583, + 0.9159382272622922, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 10 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 183 mm; move right 9 mm; move upward 17 mm; roll downward 31 degrees; pitch downward 16 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 339 mm; move right 8 mm; move upward 109 mm; roll downward 38 degrees; pitch downward 43 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 132, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 177 mm; move right 8 mm; move upward 24 mm; roll downward 30 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 329 mm; move right 7 mm; move upward 109 mm; roll downward 36 degrees; pitch downward 42 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + -0.0007142857066355646, + 0.0, + -0.037142857909202576, + -0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17678570747375488, + -0.008214286528527737, + 0.023928573355078697, + -0.5242857336997986, + -0.30142858624458313, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7802557393258762, + 0.40507640722571536, + -0.5642702894939644, + -0.14885866203114895, + 0.9159382272622922, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 10 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 177 mm; move right 8 mm; move upward 24 mm; roll downward 30 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 329 mm; move right 7 mm; move upward 109 mm; roll downward 36 degrees; pitch downward 42 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 133, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 169 mm; move right 8 mm; move upward 33 mm; roll downward 29 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 318 mm; move right 6 mm; move upward 109 mm; roll downward 34 degrees; pitch downward 42 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + -0.0014285714132711291, + 0.0, + -0.0357142873108387, + -0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.16892856359481812, + -0.007500000298023224, + 0.03285714611411095, + -0.5014286041259766, + -0.3328571617603302, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7802557393258762, + 0.35106616727294915, + -0.5642702894939644, + -0.13149906910087583, + 0.9159382272622922, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 10 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 169 mm; move right 8 mm; move upward 33 mm; roll downward 29 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 318 mm; move right 6 mm; move upward 109 mm; roll downward 34 degrees; pitch downward 42 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 134, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 160 mm; move right 6 mm; move upward 43 mm; roll downward 28 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 308 mm; move right 5 mm; move upward 109 mm; roll downward 32 degrees; pitch downward 42 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + -0.0010714286472648382, + 0.0, + -0.03857142850756645, + -0.0071428571827709675, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.15964286029338837, + -0.006071428768336773, + 0.04321428760886192, + -0.4814285933971405, + -0.3700000047683716, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8022301231685924, + 0.37807128064733164, + -0.5642702894939644, + -0.16621825496142217, + 0.8604520307955739, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 11 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 160 mm; move right 6 mm; move upward 43 mm; roll downward 28 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 308 mm; move right 5 mm; move upward 109 mm; roll downward 32 degrees; pitch downward 42 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 135, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 149 mm; move right 5 mm; move upward 54 mm; roll downward 26 degrees; pitch downward 23 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 297 mm; move right 4 mm; move upward 109 mm; roll downward 29 degrees; pitch downward 41 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + -0.0010714286472648382, + 0.0, + -0.03857142850756645, + -0.008571428246796131, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.14892856776714325, + -0.005000000353902578, + 0.053928572684526443, + -0.4585714638233185, + -0.4057143032550812, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8022301231685924, + 0.37807128064733164, + -0.5642702894939644, + -0.16621825496142217, + 0.832708941605435, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 11 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 149 mm; move right 5 mm; move upward 54 mm; roll downward 26 degrees; pitch downward 23 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 297 mm; move right 4 mm; move upward 109 mm; roll downward 29 degrees; pitch downward 41 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 136, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 2 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 138 mm; move right 4 mm; move upward 66 mm; roll downward 25 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 286 mm; move right 3 mm; move upward 109 mm; roll downward 27 degrees; pitch downward 41 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + -0.0017857144121080637, + 0.0, + -0.0357142873108387, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.137857124209404, + -0.0039285714738070965, + 0.06607142835855484, + -0.4342857301235199, + -0.4414285719394684, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8242045356626608, + 0.3240610362932317, + -0.5642702894939644, + -0.13149906910087583, + 0.8049658433720759, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 12 mm; move right 2 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 138 mm; move right 4 mm; move upward 66 mm; roll downward 25 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 286 mm; move right 3 mm; move upward 109 mm; roll downward 27 degrees; pitch downward 41 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 137, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 126 mm; move right 2 mm; move upward 77 mm; roll downward 24 degrees; pitch downward 27 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 274 mm; move right 1 mm; move upward 109 mm; roll downward 25 degrees; pitch downward 40 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + -0.0014285714132711291, + 0.0, + -0.037142857909202576, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.12607142329216003, + -0.0021428572945296764, + 0.0771428570151329, + -0.4114285707473755, + -0.4757142961025238, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8132173150899504, + 0.35106616727294915, + -0.5642702894939644, + -0.14885866203114895, + 0.8049658433720759, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 11 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 126 mm; move right 2 mm; move upward 77 mm; roll downward 24 degrees; pitch downward 27 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 274 mm; move right 1 mm; move upward 109 mm; roll downward 25 degrees; pitch downward 40 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 138, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 115 mm; move right 1 mm; move upward 86 mm; roll downward 22 degrees; pitch downward 29 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 263 mm; move left 1 mm; move upward 109 mm; roll downward 23 degrees; pitch downward 40 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + -0.0007142857066355646, + 0.0, + -0.037142857909202576, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.11464285850524902, + -0.0007142857066355646, + 0.0860714316368103, + -0.38428568840026855, + -0.5028571486473083, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8132173150899504, + 0.40507640722571536, + -0.5642702894939644, + -0.14885866203114895, + 0.8049658433720759, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 11 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 115 mm; move right 1 mm; move upward 86 mm; roll downward 22 degrees; pitch downward 29 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 263 mm; move left 1 mm; move upward 109 mm; roll downward 23 degrees; pitch downward 40 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 139, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 103 mm; move right 0 mm; move upward 95 mm; roll downward 20 degrees; pitch downward 30 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 251 mm; move left 1 mm; move upward 109 mm; roll downward 21 degrees; pitch downward 39 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + 0.0, + -0.0357142873108387, + -0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.10321428626775742, + 0.0, + 0.09464286267757416, + -0.35428571701049805, + -0.5285714268684387, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8132173150899504, + 0.4590866471784816, + -0.5642702894939644, + -0.13149906910087583, + 0.7772227451387168, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 103 mm; move right 0 mm; move upward 95 mm; roll downward 20 degrees; pitch downward 30 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 251 mm; move left 1 mm; move upward 109 mm; roll downward 21 degrees; pitch downward 39 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 140, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 92 mm; move right 0 mm; move upward 102 mm; roll downward 19 degrees; pitch downward 32 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 240 mm; move left 1 mm; move upward 109 mm; roll downward 19 degrees; pitch downward 39 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + 0.0, + -0.03142857179045677, + -0.012857142835855484, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0917857214808464, + 0.0, + 0.10178571939468384, + -0.3257142901420593, + -0.5514285564422607, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8132173150899504, + 0.4590866471784816, + -0.5642702894939644, + -0.07942024504136369, + 0.7494796469053577, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 92 mm; move right 0 mm; move upward 102 mm; roll downward 19 degrees; pitch downward 32 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 240 mm; move left 1 mm; move upward 109 mm; roll downward 19 degrees; pitch downward 39 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 141, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 80 mm; move right 0 mm; move upward 106 mm; roll downward 17 degrees; pitch downward 32 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 228 mm; move left 1 mm; move upward 109 mm; roll downward 17 degrees; pitch downward 38 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + 0.0, + -0.02857142873108387, + -0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0803571492433548, + 0.0, + 0.10642857849597931, + -0.2985714375972748, + -0.5671428442001343, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8132173150899504, + 0.4590866471784816, + -0.5642702894939644, + -0.04470103654647106, + 0.7772227451387168, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 80 mm; move right 0 mm; move upward 106 mm; roll downward 17 degrees; pitch downward 32 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 228 mm; move left 1 mm; move upward 109 mm; roll downward 17 degrees; pitch downward 38 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 142, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 72 mm; move right 0 mm; move upward 109 mm; roll downward 15 degrees; pitch downward 33 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 217 mm; move left 1 mm; move upward 109 mm; roll downward 15 degrees; pitch downward 37 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + -0.025714285671710968, + -0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.07178571820259094, + 0.0, + 0.10892857611179352, + -0.27000001072883606, + -0.5785714387893677, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8022301231685924, + 0.4590866471784816, + -0.5642702894939644, + -0.009981828051578434, + 0.7772227451387168, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 72 mm; move right 0 mm; move upward 109 mm; roll downward 15 degrees; pitch downward 33 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 217 mm; move left 1 mm; move upward 109 mm; roll downward 15 degrees; pitch downward 37 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 143, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 65 mm; move right 0 mm; move upward 109 mm; roll downward 14 degrees; pitch downward 33 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 206 mm; move left 1 mm; move upward 109 mm; roll downward 14 degrees; pitch downward 37 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + 0.0, + 0.0, + -0.02142857201397419, + -0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.06535714119672775, + 0.0, + 0.10928571224212646, + -0.2442857176065445, + -0.5828571319580078, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.769268547404518, + 0.4590866471784816, + -0.5642702894939644, + 0.04209697337358742, + 0.7772227451387168, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 65 mm; move right 0 mm; move upward 109 mm; roll downward 14 degrees; pitch downward 33 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 206 mm; move left 1 mm; move upward 109 mm; roll downward 14 degrees; pitch downward 37 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 144, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 61 mm; move right 0 mm; move upward 109 mm; roll downward 13 degrees; pitch downward 34 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 196 mm; move left 1 mm; move upward 109 mm; roll downward 13 degrees; pitch downward 36 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008928571827709675, + 0.0, + 0.0, + -0.02142857201397419, + -0.014285714365541935, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.061071425676345825, + 0.0, + 0.10928571224212646, + -0.22285713255405426, + -0.5857142806053162, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7363069429890914, + 0.4590866471784816, + -0.5642702894939644, + 0.04209697337358742, + 0.7217365486719984, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 61 mm; move right 0 mm; move upward 109 mm; roll downward 13 degrees; pitch downward 34 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 196 mm; move left 1 mm; move upward 109 mm; roll downward 13 degrees; pitch downward 36 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 145, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move upward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 59 mm; move left 0 mm; move upward 109 mm; roll downward 12 degrees; pitch downward 33 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 187 mm; move left 1 mm; move upward 109 mm; roll downward 12 degrees; pitch downward 35 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006785714533179998, + 0.0, + 0.0003571428533177823, + -0.018571428954601288, + -0.018571428954601288, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05892857536673546, + 0.0003571428533177823, + 0.10928571224212646, + -0.20142856240272522, + -0.5828572511672974, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6703837484839144, + 0.4590866471784816, + -0.5386391311582162, + 0.07681618186848005, + 0.6385072539719212, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move upward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 59 mm; move left 0 mm; move upward 109 mm; roll downward 12 degrees; pitch downward 33 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 187 mm; move left 1 mm; move upward 109 mm; roll downward 12 degrees; pitch downward 35 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 146, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move upward 2 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 61 mm; move left 1 mm; move upward 109 mm; roll downward 10 degrees; pitch downward 33 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 180 mm; move left 1 mm; move upward 109 mm; roll downward 10 degrees; pitch downward 34 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0057142856530845165, + 0.0, + 0.0017857144121080637, + -0.017142856493592262, + -0.022857142612338066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.06071428582072258, + 0.0007142857066355646, + 0.10892856121063232, + -0.18285714089870453, + -0.5728572607040405, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6374221440684877, + 0.4590866471784816, + -0.43611448737171465, + 0.09417579743309945, + 0.5552779773582841, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move upward 2 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 61 mm; move left 1 mm; move upward 109 mm; roll downward 10 degrees; pitch downward 33 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 180 mm; move left 1 mm; move upward 109 mm; roll downward 10 degrees; pitch downward 34 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 147, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move upward 3 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 64 mm; move left 1 mm; move upward 107 mm; roll downward 9 degrees; pitch downward 32 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 174 mm; move left 1 mm; move upward 107 mm; roll downward 9 degrees; pitch downward 33 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.005000000353902578, + 0.0, + 0.0028571428265422583, + -0.015714285895228386, + -0.02428571507334709, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.06428571790456772, + 0.0010714286472648382, + 0.1071428582072258, + -0.16571427881717682, + -0.557142972946167, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6154477602257715, + 0.4590866471784816, + -0.3592210228079784, + 0.11153539036337268, + 0.5275348610384847, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move upward 3 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 64 mm; move left 1 mm; move upward 107 mm; roll downward 9 degrees; pitch downward 32 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 174 mm; move left 1 mm; move upward 107 mm; roll downward 9 degrees; pitch downward 33 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 148, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move upward 3 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 70 mm; move left 1 mm; move upward 104 mm; roll downward 9 degrees; pitch downward 31 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 169 mm; move left 1 mm; move upward 104 mm; roll downward 9 degrees; pitch downward 31 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004642857238650322, + 0.0, + 0.0032142859417945147, + -0.011428571306169033, + -0.02428571507334709, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.06964286416769028, + 0.0010714286472648382, + 0.10428570955991745, + -0.15000000596046448, + -0.5328571796417236, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6044605539787373, + 0.4590866471784816, + -0.3335898456739149, + 0.1636142031057115, + 0.5275348610384847, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move upward 3 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 70 mm; move left 1 mm; move upward 104 mm; roll downward 9 degrees; pitch downward 31 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 169 mm; move left 1 mm; move upward 104 mm; roll downward 9 degrees; pitch downward 31 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 149, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move upward 4 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 76 mm; move left 1 mm; move upward 101 mm; roll downward 8 degrees; pitch downward 29 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 165 mm; move left 1 mm; move upward 101 mm; roll downward 8 degrees; pitch downward 30 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004642857238650322, + 0.0, + 0.0039285714738070965, + -0.011428571306169033, + -0.025714285671710968, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.07571429014205933, + 0.0010714286472648382, + 0.10107143223285675, + -0.13857142627239227, + -0.5085713863372803, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6044605539787373, + 0.4590866471784816, + -0.2823275415346286, + 0.1636142031057115, + 0.49979178089156573, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move upward 4 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 76 mm; move left 1 mm; move upward 101 mm; roll downward 8 degrees; pitch downward 29 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 165 mm; move left 1 mm; move upward 101 mm; roll downward 8 degrees; pitch downward 30 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 150, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move upward 5 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 82 mm; move left 1 mm; move upward 97 mm; roll downward 7 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 160 mm; move left 1 mm; move upward 97 mm; roll downward 7 degrees; pitch downward 28 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004285714589059353, + 0.0, + 0.005000000353902578, + -0.012857142835855484, + -0.02857142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.08214285224676132, + 0.0010714286472648382, + 0.09714286029338837, + -0.12714286148548126, + -0.4828571379184723, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5934733620573793, + 0.4590866471784816, + -0.20543404355166506, + 0.1462545988582653, + 0.4443055844248476, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move upward 5 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 82 mm; move left 1 mm; move upward 97 mm; roll downward 7 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 160 mm; move left 1 mm; move upward 97 mm; roll downward 7 degrees; pitch downward 28 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 151, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move upward 7 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 89 mm; move left 1 mm; move upward 92 mm; roll downward 7 degrees; pitch downward 26 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 156 mm; move left 1 mm; move upward 92 mm; roll downward 7 degrees; pitch downward 27 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0039285714738070965, + 0.0, + 0.006785714533179998, + -0.012857142835855484, + -0.029999999329447746, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.08892858028411865, + 0.0010714286472648382, + 0.09214286506175995, + -0.11428570747375488, + -0.45428571105003357, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5824861558103451, + 0.4590866471784816, + -0.077278258139029, + 0.1462545988582653, + 0.41656250427792885, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move upward 7 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 89 mm; move left 1 mm; move upward 92 mm; roll downward 7 degrees; pitch downward 26 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 156 mm; move left 1 mm; move upward 92 mm; roll downward 7 degrees; pitch downward 27 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 152, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 0 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 96 mm; move left 1 mm; move upward 85 mm; roll downward 6 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 152 mm; move left 1 mm; move upward 85 mm; roll downward 6 degrees; pitch downward 25 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.002500000176951289, + 0.0, + 0.008928571827709675, + -0.014285714365541935, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.09607143700122833, + 0.0010714286472648382, + 0.08535715192556381, + -0.1014285683631897, + -0.42571428418159485, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5385373666363984, + 0.4590866471784816, + 0.07650870440767066, + 0.12889499461081888, + 0.30559007517161163, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 3 mm; move right 0 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 96 mm; move left 1 mm; move upward 85 mm; roll downward 6 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 152 mm; move left 1 mm; move upward 85 mm; roll downward 6 degrees; pitch downward 25 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 153, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 106 mm; move left 1 mm; move upward 76 mm; roll downward 5 degrees; pitch downward 23 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 149 mm; move left 1 mm; move upward 76 mm; roll downward 5 degrees; pitch downward 23 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0010714286472648382, + 0.0, + 0.010357143357396126, + -0.015714285895228386, + -0.041428569704294205, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.10571429878473282, + 0.0010714286472648382, + 0.07642857730388641, + -0.08714285492897034, + -0.3928571343421936, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4945885702996138, + 0.4590866471784816, + 0.1790333461054705, + 0.11153539036337268, + 0.19461775458393626, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 106 mm; move left 1 mm; move upward 76 mm; roll downward 5 degrees; pitch downward 23 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 149 mm; move left 1 mm; move upward 76 mm; roll downward 5 degrees; pitch downward 23 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 154, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 0 mm; move right 0 mm; move upward 11 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 118 mm; move left 1 mm; move upward 66 mm; roll downward 4 degrees; pitch downward 20 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 148 mm; move left 1 mm; move upward 66 mm; roll downward 4 degrees; pitch downward 21 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0003571428533177823, + 0.0, + 0.010714286006987095, + -0.015714285895228386, + -0.04285714402794838, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.11785715818405151, + 0.0014285714132711291, + 0.06607143580913544, + -0.0714285746216774, + -0.35428571701049805, + -0.0014285714132711291, + 1.0 + ], + "delta_full_state_norm": [ + 0.4726141712358667, + 0.4590866471784816, + 0.20466448982030694, + 0.11153539036337268, + 0.16687460209125637, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 0 mm; move right 0 mm; move upward 11 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 118 mm; move left 1 mm; move upward 66 mm; roll downward 4 degrees; pitch downward 20 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 148 mm; move left 1 mm; move upward 66 mm; roll downward 4 degrees; pitch downward 21 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 155, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 12 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 132 mm; move left 1 mm; move upward 55 mm; roll downward 3 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 148 mm; move left 1 mm; move upward 55 mm; roll downward 3 degrees; pitch downward 18 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.012142857536673546, + -0.014285714365541935, + -0.044285714626312256, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.13214288651943207, + 0.0014285714132711291, + 0.05535714700818062, + -0.055714286863803864, + -0.3142857253551483, + -0.0071428571827709675, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + 0.4590866471784816, + 0.30718913151810656, + 0.12889499461081888, + 0.13913152194433764, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 12 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 132 mm; move left 1 mm; move upward 55 mm; roll downward 3 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 148 mm; move left 1 mm; move upward 55 mm; roll downward 3 degrees; pitch downward 18 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 156, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 11 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 148 mm; move left 1 mm; move upward 43 mm; roll downward 2 degrees; pitch downward 16 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 148 mm; move left 1 mm; move upward 43 mm; roll downward 2 degrees; pitch downward 16 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.011071428656578064, + -0.012857142835855484, + -0.044285714626312256, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1478571742773056, + 0.0014285714132711291, + 0.04321428760886192, + -0.0414285734295845, + -0.2728571593761444, + -0.017142856493592262, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + 0.4590866471784816, + 0.23029563353514315, + 0.1462545988582653, + 0.13913152194433764, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 11 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 148 mm; move left 1 mm; move upward 43 mm; roll downward 2 degrees; pitch downward 16 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 148 mm; move left 1 mm; move upward 43 mm; roll downward 2 degrees; pitch downward 16 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 157, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 165 mm; move left 1 mm; move upward 32 mm; roll downward 2 degrees; pitch downward 13 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 148 mm; move left 1 mm; move upward 32 mm; roll downward 2 degrees; pitch downward 13 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.008928571827709675, + -0.009999999776482582, + -0.037142857909202576, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.16500002145767212, + 0.0014285714132711291, + 0.03214285895228386, + -0.02857142686843872, + -0.2314285933971405, + -0.03142857179045677, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + 0.4590866471784816, + 0.07650870440767066, + 0.1809738073531577, + 0.2778469950246929, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 165 mm; move left 1 mm; move upward 32 mm; roll downward 2 degrees; pitch downward 13 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 148 mm; move left 1 mm; move upward 32 mm; roll downward 2 degrees; pitch downward 13 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 158, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 183 mm; move left 1 mm; move upward 23 mm; roll downward 1 degrees; pitch downward 11 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 148 mm; move left 1 mm; move upward 23 mm; roll downward 1 degrees; pitch downward 11 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.008571429178118706, + -0.0071428571827709675, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18250001966953278, + 0.0014285714132711291, + 0.02321428805589676, + -0.018571428954601288, + -0.19714288413524628, + -0.04714285582304001, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + 0.4590866471784816, + 0.050877560692834445, + 0.21569301018946385, + 0.30559007517161163, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 183 mm; move left 1 mm; move upward 23 mm; roll downward 1 degrees; pitch downward 11 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 148 mm; move left 1 mm; move upward 23 mm; roll downward 1 degrees; pitch downward 11 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 159, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 200 mm; move left 1 mm; move upward 15 mm; roll downward 1 degrees; pitch downward 9 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 148 mm; move left 1 mm; move upward 15 mm; roll downward 1 degrees; pitch downward 9 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.007142857648432255, + -0.0071428571827709675, + -0.034285712987184525, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20000003278255463, + 0.0014285714132711291, + 0.014642858877778053, + -0.011428571306169033, + -0.16428576409816742, + -0.06285714358091354, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + 0.4590866471784816, + -0.0516470810049654, + 0.21569301018946385, + 0.33333322766429174, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 200 mm; move left 1 mm; move upward 15 mm; roll downward 1 degrees; pitch downward 9 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 148 mm; move left 1 mm; move upward 15 mm; roll downward 1 degrees; pitch downward 9 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 160, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 218 mm; move left 1 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 148 mm; move left 1 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.004642857238650322, + -0.004285714123398066, + -0.02857142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2175000160932541, + 0.0014285714132711291, + 0.007500000298023224, + -0.004285714123398066, + -0.13428571820259094, + -0.07999999821186066, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + 0.4590866471784816, + -0.23106522068572866, + 0.2504122186843565, + 0.4443055844248476, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 218 mm; move left 1 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 148 mm; move left 1 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 161, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 235 mm; move left 1 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 148 mm; move left 1 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0028571428265422583, + 0.0, + 0.002500000176951289, + 0.0, + -0.022857142612338066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23500001430511475, + 0.0014285714132711291, + 0.0028571428265422583, + 0.0, + -0.10999999195337296, + -0.09857142716646194, + 1.0 + ], + "delta_full_state_norm": [ + 0.5495245585577566, + 0.4590866471784816, + -0.38485216652281473, + 0.3024910257681088, + 0.5552779773582841, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 3 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 235 mm; move left 1 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 148 mm; move left 1 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 162, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 249 mm; move left 1 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move forward 145 mm; move left 1 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004642857238650322, + 0.0, + 0.0003571428533177823, + 0.0, + -0.015714285895228386, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.24892857670783997, + 0.0014285714132711291, + 0.0003571428533177823, + 0.0, + -0.09142856299877167, + -0.11714285612106323, + 1.0 + ], + "delta_full_state_norm": [ + 0.6044605539787373, + 0.4590866471784816, + -0.5386391311582162, + 0.3024910257681088, + 0.6939934504386394, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 249 mm; move left 1 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 145 mm; move left 1 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 163, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 260 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move forward 140 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0057142856530845165, + 0.0, + 0.0, + 0.0, + -0.014285714365541935, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.25999999046325684, + 0.0014285714132711291, + 0.0, + 0.0, + -0.07857141643762589, + -0.1371428519487381, + 1.0 + ], + "delta_full_state_norm": [ + 0.6374221440684877, + 0.4590866471784816, + -0.5642702894939644, + 0.3024910257681088, + 0.7217365486719984, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 260 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move forward 140 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 164, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 265 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 9 degrees; open gripper;\nSubtask Movement: move forward 135 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006785714533179998, + 0.0003571428533177823, + 0.0, + 0.0, + -0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2653571367263794, + 0.0014285714132711291, + 0.0, + 0.0, + -0.06428570300340652, + -0.1557142734527588, + 1.0 + ], + "delta_full_state_norm": [ + 0.6703837484839144, + 0.4860917671548648, + -0.5642702894939644, + 0.3024910257681088, + 0.7772227451387168, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 7 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 265 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 9 degrees; open gripper;", + "subtask_movement_text": "move forward 135 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 165, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 259 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move forward 128 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008571429178118706, + 0.0003571428533177823, + 0.0, + 0.0, + -0.008571428246796131, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.25857141613960266, + 0.0010714286472648382, + 0.0, + 0.0, + -0.05285714194178581, + -0.17714284360408783, + 1.0 + ], + "delta_full_state_norm": [ + 0.7253197510677334, + 0.4860917671548648, + -0.5642702894939644, + 0.3024910257681088, + 0.832708941605435, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 9 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 259 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 128 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 166, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 243 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 119 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + 0.0003571428533177823, + 0.0, + 0.0, + -0.0071428571827709675, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.24321427941322327, + 0.0007142857066355646, + 0.0, + 0.0, + -0.044285714626312256, + -0.21142855286598206, + 1.0 + ], + "delta_full_state_norm": [ + 0.7472941349104496, + 0.4860917671548648, + -0.5642702894939644, + 0.3024910257681088, + 0.8604520307955739, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 9 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 243 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 119 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 167, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 210 mm; move left 0 mm; move upward 0 mm; roll upward 0 degrees; pitch downward 2 degrees; yaw clockwise 14 degrees; open gripper;\nSubtask Movement: move forward 110 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2099999636411667, + 0.0003571428533177823, + 0.0003571428533177823, + 0.0028571428265422583, + -0.03714285418391228, + -0.2514285445213318, + 1.0 + ], + "delta_full_state_norm": [ + 0.7802557393258762, + 0.4590866471784816, + -0.5642702894939644, + 0.3024910257681088, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 210 mm; move left 0 mm; move upward 0 mm; roll upward 0 degrees; pitch downward 2 degrees; yaw clockwise 14 degrees; open gripper;", + "subtask_movement_text": "move forward 110 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 168, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 168 mm; move left 0 mm; move upward 5 mm; roll upward 0 degrees; pitch downward 2 degrees; yaw clockwise 17 degrees; open gripper;\nSubtask Movement: move forward 100 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.16821424663066864, + 0.0003571428533177823, + 0.005000000353902578, + 0.004285714123398066, + -0.03714285418391228, + -0.2928571105003357, + 1.0 + ], + "delta_full_state_norm": [ + 0.7912429312472342, + 0.4590866471784816, + -0.5642702894939644, + 0.3024910257681088, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 168 mm; move left 0 mm; move upward 5 mm; roll upward 0 degrees; pitch downward 2 degrees; yaw clockwise 17 degrees; open gripper;", + "subtask_movement_text": "move forward 100 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 169, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 122 mm; move left 0 mm; move upward 11 mm; roll upward 1 degrees; pitch downward 2 degrees; yaw clockwise 19 degrees; open gripper;\nSubtask Movement: move forward 89 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.12249995768070221, + 0.0003571428533177823, + 0.010714286006987095, + 0.009999999776482582, + -0.03714285418391228, + -0.3399999737739563, + 1.0 + ], + "delta_full_state_norm": [ + 0.8022301231685924, + 0.4590866471784816, + -0.5642702894939644, + 0.3024910257681088, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 122 mm; move left 0 mm; move upward 11 mm; roll upward 1 degrees; pitch downward 2 degrees; yaw clockwise 19 degrees; open gripper;", + "subtask_movement_text": "move forward 89 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 170, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 73 mm; move left 0 mm; move upward 17 mm; roll upward 1 degrees; pitch downward 2 degrees; yaw clockwise 23 degrees; open gripper;\nSubtask Movement: move forward 78 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.07321427017450333, + 0.0003571428533177823, + 0.01714285835623741, + 0.025714285671710968, + -0.03714285418391228, + -0.3928571045398712, + 1.0 + ], + "delta_full_state_norm": [ + 0.8022301231685924, + 0.4590866471784816, + -0.5642702894939644, + 0.3024910257681088, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 73 mm; move left 0 mm; move upward 17 mm; roll upward 1 degrees; pitch downward 2 degrees; yaw clockwise 23 degrees; open gripper;", + "subtask_movement_text": "move forward 78 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 171, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 22 mm; move left 2 mm; move upward 25 mm; roll upward 3 degrees; pitch downward 2 degrees; yaw clockwise 26 degrees; open gripper;\nSubtask Movement: move forward 67 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.021785695105791092, + 0.0021428572945296764, + 0.02500000037252903, + 0.04857143014669418, + -0.03714285418391228, + -0.45142853260040283, + 1.0 + ], + "delta_full_state_norm": [ + 0.8022301231685924, + 0.4590866471784816, + -0.5642702894939644, + 0.3024910257681088, + 0.9714244169465953, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 22 mm; move left 2 mm; move upward 25 mm; roll upward 3 degrees; pitch downward 2 degrees; yaw clockwise 26 degrees; open gripper;", + "subtask_movement_text": "move forward 67 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 172, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 31 mm; move left 7 mm; move upward 34 mm; roll upward 4 degrees; pitch downward 2 degrees; yaw clockwise 29 degrees; open gripper;\nSubtask Movement: move forward 56 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + 0.0, + 0.0, + 0.0, + -0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.03142858296632767, + 0.006785714533179998, + 0.03428571671247482, + 0.0771428570151329, + -0.0357142835855484, + -0.5114285349845886, + 1.0 + ], + "delta_full_state_norm": [ + 0.835191727584019, + 0.4590866471784816, + -0.5642702894939644, + 0.3024910257681088, + 0.9436813209740413, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 31 mm; move left 7 mm; move upward 34 mm; roll upward 4 degrees; pitch downward 2 degrees; yaw clockwise 29 degrees; open gripper;", + "subtask_movement_text": "move forward 56 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 173, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 88 mm; move left 14 mm; move upward 46 mm; roll upward 7 degrees; pitch downward 2 degrees; yaw clockwise 33 degrees; open gripper;\nSubtask Movement: move forward 44 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + 0.0003571428533177823, + 0.0, + 0.0, + -0.0028571428265422583, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + -0.08821428567171097, + 0.01428571529686451, + 0.04571428522467613, + 0.11714285612106323, + -0.03285713866353035, + -0.5742856860160828, + 1.0 + ], + "delta_full_state_norm": [ + 0.8681533033480933, + 0.4860917671548648, + -0.5642702894939644, + 0.3024910257681088, + 0.9436813209740413, + 0.3442621445454108, + 0.9999996666667221 + ], + "movement_text": "move forward 13 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 88 mm; move left 14 mm; move upward 46 mm; roll upward 7 degrees; pitch downward 2 degrees; yaw clockwise 33 degrees; open gripper;", + "subtask_movement_text": "move forward 44 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 174, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 147 mm; move left 21 mm; move upward 58 mm; roll upward 10 degrees; pitch downward 2 degrees; yaw clockwise 36 degrees; open gripper;\nSubtask Movement: move forward 30 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + 0.0, + 0.0, + 0.0, + -0.0028571428265422583, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + -0.14714285731315613, + 0.02142857201397419, + 0.05821428447961807, + 0.167142853140831, + -0.029999999329447746, + -0.6328571438789368, + 1.0 + ], + "delta_full_state_norm": [ + 0.9121020996848779, + 0.4590866471784816, + -0.5642702894939644, + 0.3024910257681088, + 0.9436813209740413, + 0.24590149864957866, + 0.9999996666667221 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 147 mm; move left 21 mm; move upward 58 mm; roll upward 10 degrees; pitch downward 2 degrees; yaw clockwise 36 degrees; open gripper;", + "subtask_movement_text": "move forward 30 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 175, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 210 mm; move left 29 mm; move upward 72 mm; roll upward 13 degrees; pitch downward 2 degrees; yaw clockwise 39 degrees; open gripper;\nSubtask Movement: move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015714285895228386, + 0.0, + 0.0, + 0.0, + -0.0028571428265422583, + -0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + -0.20964284241199493, + 0.02857143059372902, + 0.07178571075201035, + 0.22428570687770844, + -0.027142856270074844, + -0.6800000071525574, + 1.0 + ], + "delta_full_state_norm": [ + 0.9450637041003047, + 0.4590866471784816, + -0.5642702894939644, + 0.3024910257681088, + 0.9436813209740413, + 0.1475408554255735, + 0.9999996666667221 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 210 mm; move left 29 mm; move upward 72 mm; roll upward 13 degrees; pitch downward 2 degrees; yaw clockwise 39 degrees; open gripper;", + "subtask_movement_text": "move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 176, + "segment_id": 20200, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave, extending towards the control panel. The end-effector has moved from a lower position to align with the interface, indicating it is approaching the target area to interact with the stop button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 17 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 273 mm; move left 36 mm; move upward 86 mm; roll upward 17 degrees; pitch downward 1 degrees; yaw clockwise 41 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01714285835623741, + 0.0, + 0.0, + 0.0, + -0.0028571428265422583, + -0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + -0.27321428060531616, + 0.0357142873108387, + 0.0860714241862297, + 0.28999999165534973, + -0.022857142612338066, + -0.7200000286102295, + 1.0 + ], + "delta_full_state_norm": [ + 0.9890125290884417, + 0.4590866471784816, + -0.5642702894939644, + 0.3024910257681088, + 0.9436813209740413, + 0.049180201514260835, + 0.9999996666667221 + ], + "movement_text": "move forward 17 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 273 mm; move left 36 mm; move upward 86 mm; roll upward 17 degrees; pitch downward 1 degrees; yaw clockwise 41 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 177, + "segment_id": 20377, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel with its end-effector making contact with the surface, indicating the execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel with its end-effector making contact with the surface, indicating the execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 338 mm; move left 43 mm; move upward 100 mm; roll upward 21 degrees; pitch downward 1 degrees; yaw clockwise 43 degrees; open gripper;\nSubtask Movement: move forward 107 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.017500000074505806, + 0.0, + 0.0, + 0.0, + -0.0028571428265422583, + -0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + -0.33785712718963623, + 0.04285714402794838, + 0.09964285790920258, + 0.3642857074737549, + -0.011428571306169033, + -0.7557142972946167, + 1.0 + ], + "delta_full_state_norm": [ + 0.9999996923584475, + 0.4590866471784816, + -0.5642702894939644, + 0.3024910257681088, + 0.9436813209740413, + 0.01639331687715684, + 0.9999996666667221 + ], + "movement_text": "move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 338 mm; move left 43 mm; move upward 100 mm; roll upward 21 degrees; pitch downward 1 degrees; yaw clockwise 43 degrees; open gripper;", + "subtask_movement_text": "move forward 107 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 178, + "segment_id": 20377, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel with its end-effector making contact with the surface, indicating the execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel with its end-effector making contact with the surface, indicating the execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 402 mm; move left 51 mm; move upward 112 mm; roll upward 25 degrees; pitch upward 0 degrees; yaw clockwise 45 degrees; open gripper;\nSubtask Movement: move forward 89 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.017500000074505806, + 0.0, + 0.0, + 0.0, + -0.0028571428265422583, + -0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + -0.4024999737739563, + 0.05071428418159485, + 0.11214285343885422, + 0.4399999976158142, + 0.002857143059372902, + -0.7914285659790039, + 1.0 + ], + "delta_full_state_norm": [ + 0.9999996923584475, + 0.4590866471784816, + -0.5642702894939644, + 0.3024910257681088, + 0.9436813209740413, + 0.01639331687715684, + 0.9999996666667221 + ], + "movement_text": "move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 402 mm; move left 51 mm; move upward 112 mm; roll upward 25 degrees; pitch upward 0 degrees; yaw clockwise 45 degrees; open gripper;", + "subtask_movement_text": "move forward 89 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 9 degrees; open gripper;" + }, + { + "frame_index": 179, + "segment_id": 20377, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel with its end-effector making contact with the surface, indicating the execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel with its end-effector making contact with the surface, indicating the execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 420 mm; move left 51 mm; move upward 112 mm; roll upward 25 degrees; pitch upward 0 degrees; yaw clockwise 44 degrees; open gripper;\nSubtask Movement: move forward 72 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.017500000074505806, + 0.0, + 0.0, + 0.0, + -0.004285714123398066, + -0.017142856493592262, + 1.0 + ], + "delta_next_20": [ + -0.41999998688697815, + 0.05071428418159485, + 0.11214285343885422, + 0.4399999976158142, + 0.005714285187423229, + -0.7757142782211304, + 1.0 + ], + "delta_full_state_norm": [ + 0.9999996923584475, + 0.4590866471784816, + -0.5642702894939644, + 0.3024910257681088, + 0.9159382272622922, + -0.016393546385332858, + 0.9999996666667221 + ], + "movement_text": "move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 420 mm; move left 51 mm; move upward 112 mm; roll upward 25 degrees; pitch upward 0 degrees; yaw clockwise 44 degrees; open gripper;", + "subtask_movement_text": "move forward 72 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 9 degrees; open gripper;" + }, + { + "frame_index": 180, + "segment_id": 20377, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel with its end-effector making contact with the surface, indicating the execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel with its end-effector making contact with the surface, indicating the execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 438 mm; move left 51 mm; move upward 112 mm; roll upward 25 degrees; pitch upward 1 degrees; yaw clockwise 43 degrees; open gripper;\nSubtask Movement: move forward 54 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.017500000074505806, + 0.0, + 0.0, + 0.0, + -0.004285714123398066, + -0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + -0.4375, + 0.05071428418159485, + 0.11214285343885422, + 0.4399999976158142, + 0.009999999776482582, + -0.758571445941925, + 1.0 + ], + "delta_full_state_norm": [ + 0.9999996923584475, + 0.4590866471784816, + -0.5642702894939644, + 0.3024910257681088, + 0.9159382272622922, + -0.0491804523970516, + 0.9999996666667221 + ], + "movement_text": "move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 438 mm; move left 51 mm; move upward 112 mm; roll upward 25 degrees; pitch upward 1 degrees; yaw clockwise 43 degrees; open gripper;", + "subtask_movement_text": "move forward 54 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 8 degrees; open gripper;" + }, + { + "frame_index": 181, + "segment_id": 20377, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel with its end-effector making contact with the surface, indicating the execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel with its end-effector making contact with the surface, indicating the execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 17 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 455 mm; move left 51 mm; move upward 112 mm; roll upward 25 degrees; pitch upward 1 degrees; yaw clockwise 42 degrees; open gripper;\nSubtask Movement: move forward 37 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.016785714775323868, + 0.0, + 0.0, + 0.0, + -0.004285714123398066, + -0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + -0.45499998331069946, + 0.05071428418159485, + 0.11214285343885422, + 0.4399999976158142, + 0.014285714365541935, + -0.7400000095367432, + 1.0 + ], + "delta_full_state_norm": [ + 0.9780253085157313, + 0.4590866471784816, + -0.5642702894939644, + 0.3024910257681088, + 0.9159382272622922, + -0.0491804523970516, + 0.9999996666667221 + ], + "movement_text": "move forward 17 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 455 mm; move left 51 mm; move upward 112 mm; roll upward 25 degrees; pitch upward 1 degrees; yaw clockwise 42 degrees; open gripper;", + "subtask_movement_text": "move forward 37 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 182, + "segment_id": 20377, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel with its end-effector making contact with the surface, indicating the execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel with its end-effector making contact with the surface, indicating the execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 472 mm; move left 51 mm; move upward 112 mm; roll upward 25 degrees; pitch upward 1 degrees; yaw clockwise 41 degrees; open gripper;\nSubtask Movement: move forward 20 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015714285895228386, + 0.0, + 0.0, + 0.0, + -0.0028571428265422583, + -0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + -0.47178569436073303, + 0.05071428418159485, + 0.11214285343885422, + 0.4399999976158142, + 0.018571428954601288, + -0.7214285731315613, + 1.0 + ], + "delta_full_state_norm": [ + 0.9450637041003047, + 0.4590866471784816, + -0.5642702894939644, + 0.3024910257681088, + 0.9436813209740413, + -0.08196731565954118, + 0.9999996666667221 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 472 mm; move left 51 mm; move upward 112 mm; roll upward 25 degrees; pitch upward 1 degrees; yaw clockwise 41 degrees; open gripper;", + "subtask_movement_text": "move forward 20 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 183, + "segment_id": 20377, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel with its end-effector making contact with the surface, indicating the execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel with its end-effector making contact with the surface, indicating the execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 488 mm; move left 51 mm; move upward 112 mm; roll upward 25 degrees; pitch upward 1 degrees; yaw clockwise 40 degrees; open gripper;\nSubtask Movement: move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + 0.0, + 0.0, + -0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + -0.48750001192092896, + 0.05071428418159485, + 0.11214285343885422, + 0.4399999976158142, + 0.02142857015132904, + -0.7014285922050476, + 1.0 + ], + "delta_full_state_norm": [ + 0.8022301231685924, + 0.4590866471784816, + -0.5642702894939644, + 0.3024910257681088, + 0.9991675129191495, + -0.0491804523970516, + 0.9999996666667221 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 488 mm; move left 51 mm; move upward 112 mm; roll upward 25 degrees; pitch upward 1 degrees; yaw clockwise 40 degrees; open gripper;", + "subtask_movement_text": "move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 184, + "segment_id": 20377, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel with its end-effector making contact with the surface, indicating the execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel with its end-effector making contact with the surface, indicating the execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 499 mm; move left 51 mm; move upward 112 mm; roll upward 25 degrees; pitch upward 1 degrees; yaw clockwise 39 degrees; open gripper;\nSubtask Movement: move backward 7 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + -0.49857139587402344, + 0.05071428418159485, + 0.11214285343885422, + 0.4399999976158142, + 0.02142857015132904, + -0.6828571557998657, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + 0.4590866471784816, + -0.5642702894939644, + 0.3024910257681088, + 0.9991675129191495, + -0.11475422167125993, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 499 mm; move left 51 mm; move upward 112 mm; roll upward 25 degrees; pitch upward 1 degrees; yaw clockwise 39 degrees; open gripper;", + "subtask_movement_text": "move backward 7 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 185, + "segment_id": 20377, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel with its end-effector making contact with the surface, indicating the execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel with its end-effector making contact with the surface, indicating the execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 499 mm; move left 51 mm; move upward 112 mm; roll upward 25 degrees; pitch upward 1 degrees; yaw clockwise 38 degrees; open gripper;\nSubtask Movement: move backward 7 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006785714533179998, + 0.0, + 0.0, + 0.0, + 0.0, + -0.034285712987184525, + 1.0 + ], + "delta_next_20": [ + -0.49857139587402344, + 0.05071428418159485, + 0.11214285343885422, + 0.4399999976158142, + 0.02142857015132904, + -0.6614286303520203, + 1.0 + ], + "delta_full_state_norm": [ + 0.25287019761013596, + 0.4590866471784816, + -0.5642702894939644, + 0.3024910257681088, + 0.9991675129191495, + -0.4098361192813539, + 0.9999996666667221 + ], + "movement_text": "move backward 7 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 499 mm; move left 51 mm; move upward 112 mm; roll upward 25 degrees; pitch upward 1 degrees; yaw clockwise 38 degrees; open gripper;", + "subtask_movement_text": "move backward 7 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 186, + "segment_id": 20377, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel with its end-effector making contact with the surface, indicating the execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel with its end-effector making contact with the surface, indicating the execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 24 mm; move right 0 mm; move upward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 492 mm; move left 51 mm; move upward 112 mm; roll upward 25 degrees; pitch upward 1 degrees; yaw clockwise 36 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.023928571492433548, + 0.0, + 0.0003571428533177823, + 0.0028571428265422583, + 0.0, + -0.03999999910593033, + 1.0 + ], + "delta_next_20": [ + -0.4917857348918915, + 0.05071428418159485, + 0.11214285343885422, + 0.4399999976158142, + 0.02142857015132904, + -0.6271428465843201, + 1.0 + ], + "delta_full_state_norm": [ + -0.274515315454252, + 0.4590866471784816, + -0.5386391311582162, + 0.3372102314337082, + 0.9991675129191495, + -0.5409836578297706, + 0.9999996666667221 + ], + "movement_text": "move backward 24 mm; move right 0 mm; move upward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 492 mm; move left 51 mm; move upward 112 mm; roll upward 25 degrees; pitch upward 1 degrees; yaw clockwise 36 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 187, + "segment_id": 20387, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned at the bottom of the frame and has retracted slightly compared to the previous interaction phase, indicating a withdrawal motion from the appliance.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned at the bottom of the frame and has retracted slightly compared to the previous interaction phase, indicating a withdrawal motion from the appliance.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 31 mm; move right 0 mm; move upward 5 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 468 mm; move left 51 mm; move upward 112 mm; roll upward 25 degrees; pitch upward 1 degrees; yaw clockwise 34 degrees; open gripper;\nSubtask Movement: move backward 421 mm; move left 43 mm; move upward 99 mm; roll upward 21 degrees; pitch upward 1 degrees; yaw clockwise 31 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03142857179045677, + 0.0, + 0.004642857238650322, + 0.0014285714132711291, + 0.0, + -0.041428569704294205, + 1.0 + ], + "delta_next_20": [ + -0.46785712242126465, + 0.05071428418159485, + 0.11178572475910187, + 0.43714287877082825, + 0.02142857015132904, + -0.587142825126648, + 1.0 + ], + "delta_full_state_norm": [ + -0.5052464890595336, + 0.4590866471784816, + -0.23106522068572866, + 0.3198506286009086, + 0.9991675129191495, + -0.5737705210922602, + 0.9999996666667221 + ], + "movement_text": "move backward 31 mm; move right 0 mm; move upward 5 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 468 mm; move left 51 mm; move upward 112 mm; roll upward 25 degrees; pitch upward 1 degrees; yaw clockwise 34 degrees; open gripper;", + "subtask_movement_text": "move backward 421 mm; move left 43 mm; move upward 99 mm; roll upward 21 degrees; pitch upward 1 degrees; yaw clockwise 31 degrees; open gripper;" + }, + { + "frame_index": 188, + "segment_id": 20387, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned at the bottom of the frame and has retracted slightly compared to the previous interaction phase, indicating a withdrawal motion from the appliance.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned at the bottom of the frame and has retracted slightly compared to the previous interaction phase, indicating a withdrawal motion from the appliance.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 35 mm; move right 0 mm; move upward 6 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 436 mm; move left 51 mm; move upward 107 mm; roll upward 25 degrees; pitch upward 1 degrees; yaw clockwise 31 degrees; open gripper;\nSubtask Movement: move backward 389 mm; move left 43 mm; move upward 95 mm; roll upward 21 degrees; pitch upward 1 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03500000014901161, + 0.0, + 0.0057142856530845165, + 0.0057142856530845165, + 0.0, + -0.04714285582304001, + 1.0 + ], + "delta_next_20": [ + -0.4364285469055176, + 0.05071428418159485, + 0.1071428582072258, + 0.4357142746448517, + 0.02142857015132904, + -0.5457143187522888, + 1.0 + ], + "delta_full_state_norm": [ + -0.6151184655758191, + 0.4590866471784816, + -0.15417175612199252, + 0.3719294370993076, + 0.9991675129191495, + -0.704918059640677, + 0.9999996666667221 + ], + "movement_text": "move backward 35 mm; move right 0 mm; move upward 6 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 436 mm; move left 51 mm; move upward 107 mm; roll upward 25 degrees; pitch upward 1 degrees; yaw clockwise 31 degrees; open gripper;", + "subtask_movement_text": "move backward 389 mm; move left 43 mm; move upward 95 mm; roll upward 21 degrees; pitch upward 1 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 189, + "segment_id": 20387, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned at the bottom of the frame and has retracted slightly compared to the previous interaction phase, indicating a withdrawal motion from the appliance.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned at the bottom of the frame and has retracted slightly compared to the previous interaction phase, indicating a withdrawal motion from the appliance.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 38 mm; move right 0 mm; move upward 6 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 401 mm; move left 51 mm; move upward 101 mm; roll upward 25 degrees; pitch upward 1 degrees; yaw clockwise 29 degrees; open gripper;\nSubtask Movement: move backward 354 mm; move left 43 mm; move upward 89 mm; roll upward 20 degrees; pitch upward 1 degrees; yaw clockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03821428865194321, + 0.0, + 0.006428571883589029, + 0.015714285895228386, + 0.0, + -0.05285714194178581, + 1.0 + ], + "delta_next_20": [ + -0.40142855048179626, + 0.05071428418159485, + 0.10142858326435089, + 0.4300000071525574, + 0.02142857015132904, + -0.4985714554786682, + 1.0 + ], + "delta_full_state_norm": [ + -0.7140033361248035, + 0.4590866471784816, + -0.10290940185386532, + 0.4934466611728452, + 0.9991675129191495, + -0.8360655981890937, + 0.9999996666667221 + ], + "movement_text": "move backward 38 mm; move right 0 mm; move upward 6 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 401 mm; move left 51 mm; move upward 101 mm; roll upward 25 degrees; pitch upward 1 degrees; yaw clockwise 29 degrees; open gripper;", + "subtask_movement_text": "move backward 354 mm; move left 43 mm; move upward 89 mm; roll upward 20 degrees; pitch upward 1 degrees; yaw clockwise 26 degrees; open gripper;" + }, + { + "frame_index": 190, + "segment_id": 20387, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned at the bottom of the frame and has retracted slightly compared to the previous interaction phase, indicating a withdrawal motion from the appliance.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned at the bottom of the frame and has retracted slightly compared to the previous interaction phase, indicating a withdrawal motion from the appliance.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 40 mm; move left 2 mm; move upward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 363 mm; move left 51 mm; move upward 95 mm; roll upward 24 degrees; pitch upward 1 degrees; yaw clockwise 26 degrees; open gripper;\nSubtask Movement: move backward 316 mm; move left 43 mm; move upward 83 mm; roll upward 19 degrees; pitch upward 1 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.04035714268684387, + 0.0017857144121080637, + 0.007857142947614193, + 0.022857142612338066, + 0.0, + -0.058571428060531616, + 1.0 + ], + "delta_next_20": [ + -0.36321428418159485, + 0.05071428418159485, + 0.0949999988079071, + 0.41428571939468384, + 0.02142857015132904, + -0.4457142949104309, + 1.0 + ], + "delta_full_state_norm": [ + -0.7799264303502476, + 0.5941122580637315, + -0.00038479357529275227, + 0.5802446710929037, + 0.9991675129191495, + -0.9672131367375104, + 0.9999996666667221 + ], + "movement_text": "move backward 40 mm; move left 2 mm; move upward 8 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 363 mm; move left 51 mm; move upward 95 mm; roll upward 24 degrees; pitch upward 1 degrees; yaw clockwise 26 degrees; open gripper;", + "subtask_movement_text": "move backward 316 mm; move left 43 mm; move upward 83 mm; roll upward 19 degrees; pitch upward 1 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 191, + "segment_id": 20387, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned at the bottom of the frame and has retracted slightly compared to the previous interaction phase, indicating a withdrawal motion from the appliance.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned at the bottom of the frame and has retracted slightly compared to the previous interaction phase, indicating a withdrawal motion from the appliance.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 42 mm; move left 5 mm; move upward 9 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 323 mm; move left 49 mm; move upward 87 mm; roll upward 22 degrees; pitch upward 1 degrees; yaw clockwise 22 degrees; open gripper;\nSubtask Movement: move backward 276 mm; move left 41 mm; move upward 75 mm; roll upward 18 degrees; pitch upward 1 degrees; yaw clockwise 19 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.04214285686612129, + 0.004642857238650322, + 0.009285714477300644, + 0.02857142873108387, + 0.0, + -0.05999999865889549, + 1.0 + ], + "delta_next_20": [ + -0.3228571116924286, + 0.04892857372760773, + 0.08714286237955093, + 0.3914285898208618, + 0.02142857015132904, + -0.3871428966522217, + 1.0 + ], + "delta_full_state_norm": [ + -0.8348624186083904, + 0.8101532178747965, + 0.1021398481225071, + 0.6496830880826889, + 0.9991675129191495, + -1.0, + 0.9999996666667221 + ], + "movement_text": "move backward 42 mm; move left 5 mm; move upward 9 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 323 mm; move left 49 mm; move upward 87 mm; roll upward 22 degrees; pitch upward 1 degrees; yaw clockwise 22 degrees; open gripper;", + "subtask_movement_text": "move backward 276 mm; move left 41 mm; move upward 75 mm; roll upward 18 degrees; pitch upward 1 degrees; yaw clockwise 19 degrees; open gripper;" + }, + { + "frame_index": 192, + "segment_id": 20387, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned at the bottom of the frame and has retracted slightly compared to the previous interaction phase, indicating a withdrawal motion from the appliance.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned at the bottom of the frame and has retracted slightly compared to the previous interaction phase, indicating a withdrawal motion from the appliance.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 45 mm; move left 8 mm; move upward 11 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 281 mm; move left 44 mm; move upward 78 mm; roll upward 21 degrees; pitch upward 1 degrees; yaw clockwise 19 degrees; open gripper;\nSubtask Movement: move backward 234 mm; move left 36 mm; move upward 65 mm; roll upward 16 degrees; pitch upward 1 degrees; yaw clockwise 16 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0446428582072258, + 0.007500000298023224, + 0.011428571306169033, + 0.03999999910593033, + 0.0, + -0.06285714358091354, + 1.0 + ], + "delta_next_20": [ + -0.2807142734527588, + 0.044285714626312256, + 0.07785714417695999, + 0.3628571629524231, + 0.02142857015132904, + -0.3271428346633911, + 1.0 + ], + "delta_full_state_norm": [ + -0.9117728480119539, + 1.0, + 0.2559267772499796, + 0.7885598994279133, + 0.9991675129191495, + -1.0, + 0.9999996666667221 + ], + "movement_text": "move backward 45 mm; move left 8 mm; move upward 11 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 281 mm; move left 44 mm; move upward 78 mm; roll upward 21 degrees; pitch upward 1 degrees; yaw clockwise 19 degrees; open gripper;", + "subtask_movement_text": "move backward 234 mm; move left 36 mm; move upward 65 mm; roll upward 16 degrees; pitch upward 1 degrees; yaw clockwise 16 degrees; open gripper;" + }, + { + "frame_index": 193, + "segment_id": 20387, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned at the bottom of the frame and has retracted slightly compared to the previous interaction phase, indicating a withdrawal motion from the appliance.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned at the bottom of the frame and has retracted slightly compared to the previous interaction phase, indicating a withdrawal motion from the appliance.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 46 mm; move left 8 mm; move upward 13 mm; roll upward 3 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 236 mm; move left 37 mm; move upward 66 mm; roll upward 18 degrees; pitch upward 1 degrees; yaw clockwise 15 degrees; open gripper;\nSubtask Movement: move backward 189 mm; move left 29 mm; move upward 54 mm; roll upward 14 degrees; pitch upward 1 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.04571428522467613, + 0.007500000298023224, + 0.012500000186264515, + 0.05000000074505806, + 0.0, + -0.05999999865889549, + 1.0 + ], + "delta_next_20": [ + -0.2360714226961136, + 0.03678571805357933, + 0.06642857193946838, + 0.322857141494751, + 0.02142857015132904, + -0.26428571343421936, + 1.0 + ], + "delta_full_state_norm": [ + -0.9447343951246759, + 1.0, + 0.332820275232943, + 0.9100771404772106, + 0.9991675129191495, + -1.0, + 0.9999996666667221 + ], + "movement_text": "move backward 46 mm; move left 8 mm; move upward 13 mm; roll upward 3 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 236 mm; move left 37 mm; move upward 66 mm; roll upward 18 degrees; pitch upward 1 degrees; yaw clockwise 15 degrees; open gripper;", + "subtask_movement_text": "move backward 189 mm; move left 29 mm; move upward 54 mm; roll upward 14 degrees; pitch upward 1 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 194, + "segment_id": 20387, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned at the bottom of the frame and has retracted slightly compared to the previous interaction phase, indicating a withdrawal motion from the appliance.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned at the bottom of the frame and has retracted slightly compared to the previous interaction phase, indicating a withdrawal motion from the appliance.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 48 mm; move left 7 mm; move upward 14 mm; roll upward 3 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 190 mm; move left 29 mm; move upward 54 mm; roll upward 16 degrees; pitch upward 1 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move backward 143 mm; move left 21 mm; move upward 41 mm; roll upward 11 degrees; pitch upward 1 degrees; yaw clockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.047857142984867096, + 0.007142857648432255, + 0.013571429066359997, + 0.05714285746216774, + 0.0, + -0.05285714194178581, + 1.0 + ], + "delta_next_20": [ + -0.19035713374614716, + 0.029285717755556107, + 0.053928572684526443, + 0.272857129573822, + 0.02142857015132904, + -0.20428571105003357, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.9991890907194809, + 0.4097137732159064, + 0.996875150397269, + 0.9991675129191495, + -0.8360655981890937, + 0.9999996666667221 + ], + "movement_text": "move backward 48 mm; move left 7 mm; move upward 14 mm; roll upward 3 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 190 mm; move left 29 mm; move upward 54 mm; roll upward 16 degrees; pitch upward 1 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move backward 143 mm; move left 21 mm; move upward 41 mm; roll upward 11 degrees; pitch upward 1 degrees; yaw clockwise 9 degrees; open gripper;" + }, + { + "frame_index": 195, + "segment_id": 20387, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned at the bottom of the frame and has retracted slightly compared to the previous interaction phase, indicating a withdrawal motion from the appliance.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned at the bottom of the frame and has retracted slightly compared to the previous interaction phase, indicating a withdrawal motion from the appliance.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 48 mm; move left 7 mm; move upward 14 mm; roll upward 4 degrees; pitch upward 0 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 142 mm; move left 22 mm; move upward 40 mm; roll upward 12 degrees; pitch upward 1 degrees; yaw clockwise 9 degrees; open gripper;\nSubtask Movement: move backward 95 mm; move left 14 mm; move upward 28 mm; roll upward 8 degrees; pitch upward 1 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.047857142984867096, + 0.007142857648432255, + 0.01428571529686451, + 0.0657142847776413, + 0.0014285714132711291, + -0.05000000074505806, + 1.0 + ], + "delta_next_20": [ + -0.14249999821186066, + 0.022142857313156128, + 0.04035714268684387, + 0.21571427583694458, + 0.02142857015132904, + -0.15142858028411865, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.9991890907194809, + 0.4609761274840336, + 1.0, + 1.0, + -0.7704918716641145, + 0.9999996666667221 + ], + "movement_text": "move backward 48 mm; move left 7 mm; move upward 14 mm; roll upward 4 degrees; pitch upward 0 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 142 mm; move left 22 mm; move upward 40 mm; roll upward 12 degrees; pitch upward 1 degrees; yaw clockwise 9 degrees; open gripper;", + "subtask_movement_text": "move backward 95 mm; move left 14 mm; move upward 28 mm; roll upward 8 degrees; pitch upward 1 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 196, + "segment_id": 20387, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned at the bottom of the frame and has retracted slightly compared to the previous interaction phase, indicating a withdrawal motion from the appliance.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned at the bottom of the frame and has retracted slightly compared to the previous interaction phase, indicating a withdrawal motion from the appliance.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 47 mm; move left 7 mm; move upward 14 mm; roll upward 4 degrees; pitch upward 0 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 95 mm; move left 15 mm; move upward 26 mm; roll upward 9 degrees; pitch upward 1 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move backward 47 mm; move left 7 mm; move upward 14 mm; roll upward 4 degrees; pitch upward 0 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.04749999940395355, + 0.007142857648432255, + 0.013571429066359997, + 0.07428571581840515, + 0.008571428246796131, + -0.05000000074505806, + 1.0 + ], + "delta_next_20": [ + -0.09464285522699356, + 0.015000000596046448, + 0.02607142925262451, + 0.15000000596046448, + 0.019999999552965164, + -0.1014285683631897, + 1.0 + ], + "delta_full_state_norm": [ + -0.9996703833828188, + 0.9991890907194809, + 0.4097137732159064, + 1.0, + 1.0, + -0.7704918716641145, + 0.9999996666667221 + ], + "movement_text": "move backward 47 mm; move left 7 mm; move upward 14 mm; roll upward 4 degrees; pitch upward 0 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 95 mm; move left 15 mm; move upward 26 mm; roll upward 9 degrees; pitch upward 1 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move backward 47 mm; move left 7 mm; move upward 14 mm; roll upward 4 degrees; pitch upward 0 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 197, + "segment_id": 20387, + "subtask": "move away from the microwave", + "reason": "The robot's arm is positioned at the bottom of the frame and has retracted slightly compared to the previous interaction phase, indicating a withdrawal motion from the appliance.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is positioned at the bottom of the frame and has retracted slightly compared to the previous interaction phase, indicating a withdrawal motion from the appliance.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 47 mm; move left 8 mm; move upward 13 mm; roll upward 4 degrees; pitch upward 1 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.04714285954833031, + 0.007857142947614193, + 0.012500000186264515, + 0.07571428269147873, + 0.011428571306169033, + -0.051428571343421936, + 1.0 + ], + "delta_full_state_norm": [ + 0.46162697304702527, + 0.4590866471784816, + -0.5642702894939644, + 0.3024910257681088, + 0.9991675129191495, + 0.3770490265106883, + 0.9999996666667221 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 47 mm; move left 8 mm; move upward 13 mm; roll upward 4 degrees; pitch upward 1 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + } + ], + "all_object_names": [ + "obj" + ], + "obj_cat": "obj", + "distr_cats": [], + "grounding_camera": "robot0_agentview_left", + "grounding_method": "self_render_selfconsistent" +} \ No newline at end of file diff --git a/grounding_cot/TurnOffMicrowave/extras/episode_000024/cot_annotations.json b/grounding_cot/TurnOffMicrowave/extras/episode_000024/cot_annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..ac50791f30ea7fb61da09b4fe02d9257e2de822b --- /dev/null +++ b/grounding_cot/TurnOffMicrowave/extras/episode_000024/cot_annotations.json @@ -0,0 +1,9406 @@ +{ + "sample_key": "TurnOffMicrowave|24", + "subtask_list": [ + "approach the microwave", + "reach for the stop button", + "press the stop button", + "move away from the microwave" + ], + "segment_labels_raw": { + "1": [ + "reach for the stop button", + "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located." + ], + "2": [ + "press the stop button", + "The robot's end-effector is in direct contact with the microwave's control panel, specifically positioned over the stop button area, indicating the execution of a pressing action." + ], + "3": [ + "press the stop button", + "The robot's end-effector is in direct contact with the microwave control panel, positioned over the buttons. The arm appears to be exerting force consistent with a pressing action rather than just hovering or moving away." + ], + "4": [ + "press the stop button", + "The robot's end-effector is positioned directly over the control panel and exhibits slight positional adjustments, indicating an attempt to interact with or press a button on the interface." + ], + "5": [ + "move away from the microwave", + "The robot's arm is retracted and moving upwards, increasing the distance between the end-effector and the microwave controls after the interaction has concluded." + ], + "6": [ + "press the stop button", + "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button." + ], + "7": [ + "press the stop button", + "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action." + ], + "8": [ + "move away from the microwave", + "The robot arm is positioned at the bottom of the unit and appears to be retracting or moving away from the appliance, indicating the completion of the previous interaction." + ] + }, + "instruction": "press the stop button on the microwave", + "suite": "TurnOffMicrowave", + "num_frames": 194, + "segment_count": 8, + "movement_statistics": { + "mean": [ + -0.0006130338291224745, + -0.00544366735011488, + 0.004101620158198597, + -0.0356185567654074, + -0.03798969072282564, + 0.0054418261765415985, + 0.9896907216494846 + ], + "std": [ + 0.013850215474984981, + 0.006713123184372539, + 0.00677244931165417, + 0.02420243215285069, + 0.033134964024334065, + 0.016308855922602297, + 0.143221072056183 + ], + "Q1": [ + -0.04392857477068901, + -0.01785714365541935, + -2.4999999732244782e-05, + -0.07295714169740677, + -0.11142857372760773, + -0.015714285895228386, + 1.0 + ], + "Q99": [ + 0.01823928542435169, + 0.005814285692758848, + 0.02359642969444394, + 0.00019999999785793858, + 0.002028571398695872, + 0.055814286805689325, + 1.0 + ] + }, + "frames": [ + { + "frame_index": 0, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 50 mm; move left 6 mm; move upward 69 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 217 mm; move left 5 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.050357140600681305, + 0.00607142923399806, + 0.06892856955528259, + 0.0, + -0.082857146859169, + 0.03428571671247482, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + 0.5389251359688814, + -0.9978832789147557, + 0.994532045241699, + 0.9642405735197996, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 50 mm; move left 6 mm; move upward 69 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 217 mm; move left 5 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;" + }, + { + "frame_index": 1, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 62 mm; move left 6 mm; move upward 86 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move backward 217 mm; move left 4 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.062142856419086456, + 0.0057142856530845165, + 0.08642857521772385, + 0.0, + -0.11428572237491608, + 0.05000000447034836, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + 0.5087501349421466, + -0.9978832789147557, + 0.994532045241699, + 0.9642405735197996, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 62 mm; move left 6 mm; move upward 86 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move backward 217 mm; move left 4 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;" + }, + { + "frame_index": 2, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 74 mm; move left 6 mm; move upward 105 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move backward 217 mm; move left 4 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0007142857066355646, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.07357142865657806, + 0.0057142856530845165, + 0.10499999672174454, + 0.0, + -0.1485714316368103, + 0.06428571790456772, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + 0.5691001369956159, + -0.9978832789147557, + 0.994532045241699, + 0.9642405735197996, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 74 mm; move left 6 mm; move upward 105 mm; roll downward 0 degrees; pitch downward 9 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 217 mm; move left 4 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;" + }, + { + "frame_index": 3, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 84 mm; move left 5 mm; move upward 125 mm; roll downward 0 degrees; pitch downward 10 degrees; yaw counterclockwise 5 degrees; open gripper;\nSubtask Movement: move backward 217 mm; move left 4 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0021428572945296764, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.08428571373224258, + 0.005000000353902578, + 0.125, + 0.0, + -0.18142858147621155, + 0.08142857253551483, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + 0.689800155856451, + -0.9978832789147557, + 0.994532045241699, + 0.9642405735197996, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 84 mm; move left 5 mm; move upward 125 mm; roll downward 0 degrees; pitch downward 10 degrees; yaw counterclockwise 5 degrees; open gripper;", + "subtask_movement_text": "move backward 217 mm; move left 4 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;" + }, + { + "frame_index": 4, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 96 mm; move left 3 mm; move upward 144 mm; roll downward 0 degrees; pitch downward 12 degrees; yaw counterclockwise 6 degrees; open gripper;\nSubtask Movement: move backward 217 mm; move left 1 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0021428572945296764, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.09571428596973419, + 0.0028571428265422583, + 0.14392857253551483, + 0.0, + -0.21571429073810577, + 0.09857142716646194, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + 0.689800155856451, + -0.9978832789147557, + 0.994532045241699, + 0.9642405735197996, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 96 mm; move left 3 mm; move upward 144 mm; roll downward 0 degrees; pitch downward 12 degrees; yaw counterclockwise 6 degrees; open gripper;", + "subtask_movement_text": "move backward 217 mm; move left 1 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;" + }, + { + "frame_index": 5, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 106 mm; move left 1 mm; move upward 163 mm; roll downward 0 degrees; pitch downward 14 degrees; yaw counterclockwise 7 degrees; open gripper;\nSubtask Movement: move backward 217 mm; move right 1 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0007142857066355646, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.10642856359481812, + 0.0007142857066355646, + 0.1632142961025238, + 0.0, + -0.2514285743236542, + 0.11714285612106323, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + 0.5691001369956159, + -0.9978832789147557, + 0.994532045241699, + 0.9642405735197996, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 106 mm; move left 1 mm; move upward 163 mm; roll downward 0 degrees; pitch downward 14 degrees; yaw counterclockwise 7 degrees; open gripper;", + "subtask_movement_text": "move backward 217 mm; move right 1 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;" + }, + { + "frame_index": 6, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 118 mm; move right 0 mm; move upward 184 mm; roll downward 0 degrees; pitch downward 17 degrees; yaw counterclockwise 8 degrees; open gripper;\nSubtask Movement: move backward 217 mm; move right 1 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.11821427196264267, + 0.0, + 0.1842857152223587, + 0.0, + -0.2928571403026581, + 0.14000000059604645, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + 0.5087501349421466, + -0.9978832789147557, + 0.994532045241699, + 0.9642405735197996, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 118 mm; move right 0 mm; move upward 184 mm; roll downward 0 degrees; pitch downward 17 degrees; yaw counterclockwise 8 degrees; open gripper;", + "subtask_movement_text": "move backward 217 mm; move right 1 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;" + }, + { + "frame_index": 7, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 130 mm; move right 0 mm; move upward 205 mm; roll downward 0 degrees; pitch downward 19 degrees; yaw counterclockwise 10 degrees; open gripper;\nSubtask Movement: move backward 217 mm; move right 1 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.13035713136196136, + 0.0, + 0.20464284718036652, + 0.0, + -0.334285706281662, + 0.167142853140831, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + 0.5087501349421466, + -0.9978832789147557, + 0.994532045241699, + 0.9642405735197996, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 130 mm; move right 0 mm; move upward 205 mm; roll downward 0 degrees; pitch downward 19 degrees; yaw counterclockwise 10 degrees; open gripper;", + "subtask_movement_text": "move backward 217 mm; move right 1 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;" + }, + { + "frame_index": 8, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 142 mm; move right 0 mm; move upward 225 mm; roll downward 0 degrees; pitch downward 22 degrees; yaw counterclockwise 11 degrees; open gripper;\nSubtask Movement: move backward 217 mm; move right 1 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.14214284718036652, + 0.0, + 0.22464285790920258, + 0.0, + -0.37714284658432007, + 0.19571428000926971, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + 0.5087501349421466, + -0.9978832789147557, + 0.994532045241699, + 0.9642405735197996, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 142 mm; move right 0 mm; move upward 225 mm; roll downward 0 degrees; pitch downward 22 degrees; yaw counterclockwise 11 degrees; open gripper;", + "subtask_movement_text": "move backward 217 mm; move right 1 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;" + }, + { + "frame_index": 9, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 155 mm; move right 0 mm; move upward 248 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw counterclockwise 13 degrees; open gripper;\nSubtask Movement: move backward 217 mm; move right 1 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.15535713732242584, + 0.0, + 0.24785713851451874, + 0.0, + -0.4357142746448517, + 0.23142856359481812, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + 0.5087501349421466, + -0.9978832789147557, + 0.994532045241699, + 0.9642405735197996, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 155 mm; move right 0 mm; move upward 248 mm; roll downward 0 degrees; pitch downward 25 degrees; yaw counterclockwise 13 degrees; open gripper;", + "subtask_movement_text": "move backward 217 mm; move right 1 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;" + }, + { + "frame_index": 10, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 169 mm; move right 0 mm; move upward 272 mm; roll downward 0 degrees; pitch downward 29 degrees; yaw counterclockwise 16 degrees; open gripper;\nSubtask Movement: move backward 217 mm; move right 1 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0007142857066355646, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.16928569972515106, + 0.0, + 0.27214285731315613, + 0.0, + -0.5071428418159485, + 0.28142857551574707, + 1.0 + ], + "delta_full_state_norm": [ + 0.3902451194958507, + 0.5087501349421466, + -0.9978832789147557, + 0.994532045241699, + 0.9642405735197996, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 1 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 169 mm; move right 0 mm; move upward 272 mm; roll downward 0 degrees; pitch downward 29 degrees; yaw counterclockwise 16 degrees; open gripper;", + "subtask_movement_text": "move backward 217 mm; move right 1 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;" + }, + { + "frame_index": 11, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 2 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 184 mm; move right 1 mm; move upward 296 mm; roll downward 0 degrees; pitch downward 33 degrees; yaw counterclockwise 19 degrees; open gripper;\nSubtask Movement: move backward 216 mm; move right 1 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0021428572945296764, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.1842857152223587, + -0.0007142857066355646, + 0.29607143998146057, + 0.0, + -0.5814285278320312, + 0.33571428060531616, + 1.0 + ], + "delta_full_state_norm": [ + 0.34428660158580415, + 0.5087501349421466, + -0.9978832789147557, + 0.994532045241699, + 0.9642405735197996, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 2 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 184 mm; move right 1 mm; move upward 296 mm; roll downward 0 degrees; pitch downward 33 degrees; yaw counterclockwise 19 degrees; open gripper;", + "subtask_movement_text": "move backward 216 mm; move right 1 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;" + }, + { + "frame_index": 12, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 0 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 198 mm; move right 1 mm; move upward 320 mm; roll downward 0 degrees; pitch downward 37 degrees; yaw counterclockwise 23 degrees; open gripper;\nSubtask Movement: move backward 214 mm; move right 1 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0035714288242161274, + 0.0, + 0.0017857144121080637, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.19821427762508392, + -0.0010714286472648382, + 0.3196428716182709, + 0.0, + -0.6499999761581421, + 0.3928571343421936, + 1.0 + ], + "delta_full_state_norm": [ + 0.2983280855483539, + 0.5087501349421466, + -0.8466889033620811, + 0.994532045241699, + 0.9642405735197996, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 4 mm; move right 0 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 198 mm; move right 1 mm; move upward 320 mm; roll downward 0 degrees; pitch downward 37 degrees; yaw counterclockwise 23 degrees; open gripper;", + "subtask_movement_text": "move backward 214 mm; move right 1 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;" + }, + { + "frame_index": 13, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 210 mm; move right 1 mm; move upward 341 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;\nSubtask Movement: move backward 210 mm; move right 1 mm; move upward 341 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0039285714738070965, + 0.0, + 0.0032142859417945147, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.21035714447498322, + -0.0014285714132711291, + 0.34142857789993286, + -0.004285714123398066, + -0.7157142758369446, + 0.44857141375541687, + 1.0 + ], + "delta_full_state_norm": [ + 0.2868384640293764, + 0.5087501349421466, + -0.7257334029199416, + 0.994532045241699, + 0.9642405735197996, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 4 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 210 mm; move right 1 mm; move upward 341 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;", + "subtask_movement_text": "move backward 210 mm; move right 1 mm; move upward 341 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;" + }, + { + "frame_index": 14, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 0 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 222 mm; move right 3 mm; move upward 360 mm; roll downward 1 degrees; pitch downward 45 degrees; yaw counterclockwise 29 degrees; open gripper;\nSubtask Movement: move backward 206 mm; move right 1 mm; move upward 338 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0028571428265422583, + 0.0, + 0.004642857238650322, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.22214286029338837, + -0.0028571428265422583, + 0.35999998450279236, + -0.017142856493592262, + -0.7771428227424622, + 0.5014285445213318, + 1.0 + ], + "delta_full_state_norm": [ + 0.3213073510574642, + 0.5087501349421466, + -0.6047779221913034, + 0.994532045241699, + 0.9642405735197996, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 3 mm; move right 0 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 222 mm; move right 3 mm; move upward 360 mm; roll downward 1 degrees; pitch downward 45 degrees; yaw counterclockwise 29 degrees; open gripper;", + "subtask_movement_text": "move backward 206 mm; move right 1 mm; move upward 338 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;" + }, + { + "frame_index": 15, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 0 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 235 mm; move right 4 mm; move upward 377 mm; roll downward 2 degrees; pitch downward 48 degrees; yaw counterclockwise 32 degrees; open gripper;\nSubtask Movement: move backward 204 mm; move right 1 mm; move upward 334 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0035714288242161274, + 0.0, + 0.007142857648432255, + 0.0, + -0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2353571504354477, + -0.0039285714738070965, + 0.37714287638664246, + -0.03142857179045677, + -0.8399999737739563, + 0.5542857050895691, + 1.0 + ], + "delta_full_state_norm": [ + 0.2983280855483539, + 0.5087501349421466, + -0.39310577670405766, + 0.994532045241699, + 0.8886928635736602, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 4 mm; move right 0 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 235 mm; move right 4 mm; move upward 377 mm; roll downward 2 degrees; pitch downward 48 degrees; yaw counterclockwise 32 degrees; open gripper;", + "subtask_movement_text": "move backward 204 mm; move right 1 mm; move upward 334 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;" + }, + { + "frame_index": 16, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 0 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 248 mm; move right 5 mm; move upward 392 mm; roll downward 3 degrees; pitch downward 52 degrees; yaw counterclockwise 35 degrees; open gripper;\nSubtask Movement: move backward 200 mm; move right 1 mm; move upward 326 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.004642857238650322, + 0.0, + 0.008214286528527737, + 0.0, + -0.004285714123398066, + 0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + -0.24821428954601288, + -0.0053571430034935474, + 0.3921428620815277, + -0.04714285582304001, + -0.904285728931427, + 0.6071428656578064, + 1.0 + ], + "delta_full_state_norm": [ + 0.2638592060106515, + 0.5087501349421466, + -0.3023891316589514, + 0.994532045241699, + 0.8886928635736602, + -0.44078299154192935, + -1.0 + ], + "movement_text": "move backward 5 mm; move right 0 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 248 mm; move right 5 mm; move upward 392 mm; roll downward 3 degrees; pitch downward 52 degrees; yaw counterclockwise 35 degrees; open gripper;", + "subtask_movement_text": "move backward 200 mm; move right 1 mm; move upward 326 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 26 degrees; open gripper;" + }, + { + "frame_index": 17, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 0 mm; move upward 12 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 260 mm; move right 8 mm; move upward 404 mm; roll downward 3 degrees; pitch downward 55 degrees; yaw counterclockwise 38 degrees; open gripper;\nSubtask Movement: move backward 195 mm; move right 1 mm; move upward 318 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 25 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 150, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007857142947614193, + 0.0, + 0.012142857536673546, + 0.0, + -0.018571428954601288, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + -0.260357141494751, + -0.007500000298023224, + 0.40392857789993286, + -0.05714285373687744, + -0.9685714840888977, + 0.6571428179740906, + 1.0 + ], + "delta_full_state_norm": [ + 0.16045255241677348, + 0.5087501349421466, + 0.03023843541642801, + 0.994532045241699, + 0.6368671445998331, + -0.40083891671914884, + -1.0 + ], + "movement_text": "move backward 8 mm; move right 0 mm; move upward 12 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 260 mm; move right 8 mm; move upward 404 mm; roll downward 3 degrees; pitch downward 55 degrees; yaw counterclockwise 38 degrees; open gripper;", + "subtask_movement_text": "move backward 195 mm; move right 1 mm; move upward 318 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw counterclockwise 25 degrees; open gripper;" + }, + { + "frame_index": 18, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 270 mm; move right 12 mm; move upward 410 mm; roll downward 5 degrees; pitch downward 58 degrees; yaw counterclockwise 41 degrees; open gripper;\nSubtask Movement: move backward 188 mm; move right 1 mm; move upward 306 mm; roll downward 0 degrees; pitch downward 39 degrees; yaw counterclockwise 25 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 150, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008928571827709675, + 0.0, + 0.015357143245637417, + 0.0, + -0.02428571507334709, + 0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + -0.2696428894996643, + -0.011785714887082577, + 0.41035714745521545, + -0.08428570628166199, + -1.018571376800537, + 0.7085713744163513, + 1.0 + ], + "delta_full_state_norm": [ + 0.12598365789830068, + 0.5087501349421466, + 0.3023882916977405, + 0.994532045241699, + 0.5361368537268687, + -0.32095078009387334, + -1.0 + ], + "movement_text": "move backward 9 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 270 mm; move right 12 mm; move upward 410 mm; roll downward 5 degrees; pitch downward 58 degrees; yaw counterclockwise 41 degrees; open gripper;", + "subtask_movement_text": "move backward 188 mm; move right 1 mm; move upward 306 mm; roll downward 0 degrees; pitch downward 39 degrees; yaw counterclockwise 25 degrees; open gripper;" + }, + { + "frame_index": 19, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 278 mm; move right 17 mm; move upward 413 mm; roll downward 7 degrees; pitch downward 61 degrees; yaw counterclockwise 43 degrees; open gripper;\nSubtask Movement: move backward 179 mm; move right 1 mm; move upward 291 mm; roll downward 0 degrees; pitch downward 38 degrees; yaw counterclockwise 25 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 151, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012142857536673546, + 0.0, + 0.016428573057055473, + 0.0, + -0.03142857179045677, + 0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + -0.27821430563926697, + -0.01714285835623741, + 0.41285714507102966, + -0.11857141554355621, + -1.0628571510314941, + 0.7557142972946167, + 1.0 + ], + "delta_full_state_norm": [ + 0.022577004304422887, + 0.5087501349421466, + 0.39310501559685296, + 0.994532045241699, + 0.41022400655283087, + -0.1212304059799707, + -1.0 + ], + "movement_text": "move backward 12 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 278 mm; move right 17 mm; move upward 413 mm; roll downward 7 degrees; pitch downward 61 degrees; yaw counterclockwise 43 degrees; open gripper;", + "subtask_movement_text": "move backward 179 mm; move right 1 mm; move upward 291 mm; roll downward 0 degrees; pitch downward 38 degrees; yaw counterclockwise 25 degrees; open gripper;" + }, + { + "frame_index": 20, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 284 mm; move right 23 mm; move upward 412 mm; roll downward 9 degrees; pitch downward 63 degrees; yaw counterclockwise 46 degrees; open gripper;\nSubtask Movement: move backward 166 mm; move right 1 mm; move upward 274 mm; roll downward 0 degrees; pitch downward 36 degrees; yaw counterclockwise 24 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 151, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011785714887082577, + 0.0, + 0.017500000074505806, + 0.0, + -0.03142857179045677, + 0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + -0.2835714519023895, + -0.02250000089406967, + 0.4121428430080414, + -0.14999999105930328, + -1.100000023841858, + 0.7942857146263123, + 1.0 + ], + "delta_full_state_norm": [ + 0.034066625823400365, + 0.5087501349421466, + 0.483821502933947, + 0.994532045241699, + 0.41022400655283087, + -0.1212304059799707, + -1.0 + ], + "movement_text": "move backward 12 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 284 mm; move right 23 mm; move upward 412 mm; roll downward 9 degrees; pitch downward 63 degrees; yaw counterclockwise 46 degrees; open gripper;", + "subtask_movement_text": "move backward 166 mm; move right 1 mm; move upward 274 mm; roll downward 0 degrees; pitch downward 36 degrees; yaw counterclockwise 24 degrees; open gripper;" + }, + { + "frame_index": 21, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 290 mm; move right 27 mm; move upward 411 mm; roll downward 10 degrees; pitch downward 65 degrees; yaw counterclockwise 48 degrees; open gripper;\nSubtask Movement: move backward 155 mm; move right 1 mm; move upward 257 mm; roll downward 0 degrees; pitch downward 34 degrees; yaw counterclockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 151, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011428571306169033, + 0.0, + 0.018571428954601288, + 0.0, + -0.034285712987184525, + 0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + -0.2900000214576721, + -0.027142858132719994, + 0.41107138991355896, + -0.17428570985794067, + -1.1414285898208618, + 0.8299999833106995, + 1.0 + ], + "delta_full_state_norm": [ + 0.04555627730391798, + 0.5087501349421466, + 0.5745381479790532, + 0.994532045241699, + 0.35985889395068416, + -0.1611744808027512, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 290 mm; move right 27 mm; move upward 411 mm; roll downward 10 degrees; pitch downward 65 degrees; yaw counterclockwise 48 degrees; open gripper;", + "subtask_movement_text": "move backward 155 mm; move right 1 mm; move upward 257 mm; roll downward 0 degrees; pitch downward 34 degrees; yaw counterclockwise 23 degrees; open gripper;" + }, + { + "frame_index": 22, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 297 mm; move right 34 mm; move upward 407 mm; roll downward 11 degrees; pitch downward 68 degrees; yaw counterclockwise 49 degrees; open gripper;\nSubtask Movement: move backward 143 mm; move right 1 mm; move upward 238 mm; roll downward 0 degrees; pitch downward 32 degrees; yaw counterclockwise 22 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 98 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.010714286006987095, + 0.0, + 0.020000001415610313, + 0.0, + -0.03285714238882065, + 0.017142856493592262, + 1.0 + ], + "delta_next_20": [ + -0.2967856824398041, + -0.03392857313156128, + 0.4067856967449188, + -0.18857142329216003, + -1.1828571557998657, + 0.8614284992218018, + 1.0 + ], + "delta_full_state_norm": [ + 0.06853552034187294, + 0.5087501349421466, + 0.6954937272751991, + 0.994532045241699, + 0.3850414502517576, + -0.08128635719776134, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 297 mm; move right 34 mm; move upward 407 mm; roll downward 11 degrees; pitch downward 68 degrees; yaw counterclockwise 49 degrees; open gripper;", + "subtask_movement_text": "move backward 143 mm; move right 1 mm; move upward 238 mm; roll downward 0 degrees; pitch downward 32 degrees; yaw counterclockwise 22 degrees; open gripper;" + }, + { + "frame_index": 23, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 305 mm; move right 41 mm; move upward 399 mm; roll downward 12 degrees; pitch downward 70 degrees; yaw counterclockwise 51 degrees; open gripper;\nSubtask Movement: move backward 133 mm; move right 1 mm; move upward 218 mm; roll downward 0 degrees; pitch downward 31 degrees; yaw counterclockwise 21 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 98 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011428571306169033, + 0.0, + 0.018928570672869682, + 0.0, + -0.034285712987184525, + 0.017142856493592262, + 1.0 + ], + "delta_next_20": [ + -0.3046428859233856, + -0.040714289993047714, + 0.3992857038974762, + -0.21285714209079742, + -1.2257142066955566, + 0.8828570246696472, + 1.0 + ], + "delta_full_state_norm": [ + 0.04555627730391798, + 0.5087501349421466, + 0.6047769245220806, + 0.994532045241699, + 0.35985889395068416, + -0.08128635719776134, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 305 mm; move right 41 mm; move upward 399 mm; roll downward 12 degrees; pitch downward 70 degrees; yaw counterclockwise 51 degrees; open gripper;", + "subtask_movement_text": "move backward 133 mm; move right 1 mm; move upward 218 mm; roll downward 0 degrees; pitch downward 31 degrees; yaw counterclockwise 21 degrees; open gripper;" + }, + { + "frame_index": 24, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 311 mm; move right 48 mm; move upward 393 mm; roll downward 14 degrees; pitch downward 73 degrees; yaw counterclockwise 52 degrees; open gripper;\nSubtask Movement: move backward 121 mm; move right 1 mm; move upward 199 mm; roll downward 0 degrees; pitch downward 29 degrees; yaw counterclockwise 20 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 97 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.010714286006987095, + 0.0, + 0.019285714253783226, + 0.0, + -0.0357142873108387, + 0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + -0.3114285469055176, + -0.047857146710157394, + 0.392857164144516, + -0.24285714328289032, + -1.268571376800537, + 0.8999999165534973, + 1.0 + ], + "delta_full_state_norm": [ + 0.06853552034187294, + 0.5087501349421466, + 0.6350158587731201, + 0.994532045241699, + 0.33467627198093974, + -0.04134225633440969, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 311 mm; move right 48 mm; move upward 393 mm; roll downward 14 degrees; pitch downward 73 degrees; yaw counterclockwise 52 degrees; open gripper;", + "subtask_movement_text": "move backward 121 mm; move right 1 mm; move upward 199 mm; roll downward 0 degrees; pitch downward 29 degrees; yaw counterclockwise 20 degrees; open gripper;" + }, + { + "frame_index": 25, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 0 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 318 mm; move right 56 mm; move upward 385 mm; roll downward 16 degrees; pitch downward 75 degrees; yaw counterclockwise 52 degrees; open gripper;\nSubtask Movement: move backward 110 mm; move right 1 mm; move upward 180 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw counterclockwise 19 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 96 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011785714887082577, + 0.0, + 0.021071428433060646, + 0.0, + -0.041428569704294205, + 0.022857142612338066, + 1.0 + ], + "delta_next_20": [ + -0.3182142674922943, + -0.055714286863803864, + 0.38535717129707336, + -0.2800000011920929, + -1.3114285469055176, + 0.9142856001853943, + 1.0 + ], + "delta_full_state_norm": [ + 0.034066625823400365, + 0.5087501349421466, + 0.7862102146122931, + 0.994532045241699, + 0.23394604677664632, + 0.07848994209336069, + -1.0 + ], + "movement_text": "move backward 12 mm; move right 0 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 318 mm; move right 56 mm; move upward 385 mm; roll downward 16 degrees; pitch downward 75 degrees; yaw counterclockwise 52 degrees; open gripper;", + "subtask_movement_text": "move backward 110 mm; move right 1 mm; move upward 180 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw counterclockwise 19 degrees; open gripper;" + }, + { + "frame_index": 26, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 324 mm; move right 63 mm; move upward 375 mm; roll downward 18 degrees; pitch downward 77 degrees; yaw counterclockwise 53 degrees; open gripper;\nSubtask Movement: move backward 99 mm; move right 1 mm; move upward 159 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw counterclockwise 18 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 96 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012142857536673546, + 0.0, + 0.020357143133878708, + 0.0, + -0.041428569704294205, + 0.027142856270074844, + 1.0 + ], + "delta_next_20": [ + -0.323928564786911, + -0.06321428716182709, + 0.37464287877082825, + -0.3214285671710968, + -1.3457142114639282, + 0.9242855906486511, + 1.0 + ], + "delta_full_state_norm": [ + 0.022577004304422887, + 0.5087501349421466, + 0.7257325038182263, + 0.994532045241699, + 0.23394604677664632, + 0.19832214052113128, + -1.0 + ], + "movement_text": "move backward 12 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 324 mm; move right 63 mm; move upward 375 mm; roll downward 18 degrees; pitch downward 77 degrees; yaw counterclockwise 53 degrees; open gripper;", + "subtask_movement_text": "move backward 99 mm; move right 1 mm; move upward 159 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw counterclockwise 18 degrees; open gripper;" + }, + { + "frame_index": 27, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 329 mm; move right 72 mm; move upward 364 mm; roll downward 21 degrees; pitch downward 79 degrees; yaw counterclockwise 53 degrees; open gripper;\nSubtask Movement: move backward 86 mm; move right 1 mm; move upward 139 mm; roll downward 0 degrees; pitch downward 22 degrees; yaw counterclockwise 16 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 95 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011785714887082577, + 0.0, + 0.020000001415610313, + 0.0, + -0.04285714402794838, + 0.02857142873108387, + 1.0 + ], + "delta_next_20": [ + -0.32892856001853943, + -0.07178571075201035, + 0.36392858624458313, + -0.3642857074737549, + -1.3785713911056519, + 0.9271427392959595, + 1.0 + ], + "delta_full_state_norm": [ + 0.034066625823400365, + 0.5087501349421466, + 0.6954937272751991, + 0.994532045241699, + 0.2087634248069019, + 0.23826624138448294, + -1.0 + ], + "movement_text": "move backward 12 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 329 mm; move right 72 mm; move upward 364 mm; roll downward 21 degrees; pitch downward 79 degrees; yaw counterclockwise 53 degrees; open gripper;", + "subtask_movement_text": "move backward 86 mm; move right 1 mm; move upward 139 mm; roll downward 0 degrees; pitch downward 22 degrees; yaw counterclockwise 16 degrees; open gripper;" + }, + { + "frame_index": 28, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 0 mm; move upward 23 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 334 mm; move right 81 mm; move upward 353 mm; roll downward 24 degrees; pitch downward 81 degrees; yaw counterclockwise 53 degrees; open gripper;\nSubtask Movement: move backward 75 mm; move right 1 mm; move upward 119 mm; roll downward 0 degrees; pitch downward 19 degrees; yaw counterclockwise 14 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 94 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013214285485446453, + 0.0, + 0.02321428619325161, + 0.0, + -0.058571428060531616, + 0.0357142873108387, + 1.0 + ], + "delta_next_20": [ + -0.33392855525016785, + -0.08107142895460129, + 0.353214293718338, + -0.41285714507102966, + -1.4142857789993286, + 0.9257141947746277, + 1.0 + ], + "delta_full_state_norm": [ + -0.011891860252509656, + 0.5087501349421466, + 0.9676435047025056, + 0.994532045241699, + -0.06824482584224689, + 0.43798664153895683, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 0 mm; move upward 23 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 334 mm; move right 81 mm; move upward 353 mm; roll downward 24 degrees; pitch downward 81 degrees; yaw counterclockwise 53 degrees; open gripper;", + "subtask_movement_text": "move backward 75 mm; move right 1 mm; move upward 119 mm; roll downward 0 degrees; pitch downward 19 degrees; yaw counterclockwise 14 degrees; open gripper;" + }, + { + "frame_index": 29, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 336 mm; move right 91 mm; move upward 339 mm; roll downward 26 degrees; pitch downward 82 degrees; yaw counterclockwise 52 degrees; open gripper;\nSubtask Movement: move backward 61 mm; move right 1 mm; move upward 95 mm; roll downward 0 degrees; pitch downward 16 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 93 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013928571715950966, + 0.0, + 0.02428571507334709, + 0.0, + -0.0714285746216774, + 0.05000000074505806, + 1.0 + ], + "delta_next_20": [ + -0.3360714316368103, + -0.09142857044935226, + 0.3385714292526245, + -0.46142858266830444, + -1.4357143640518188, + 0.9142856001853943, + 1.0 + ], + "delta_full_state_norm": [ + -0.03487113325200497, + 0.5087501349421466, + 1.0, + 0.994532045241699, + -0.29488802955792004, + 0.8374273376856196, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 336 mm; move right 91 mm; move upward 339 mm; roll downward 26 degrees; pitch downward 82 degrees; yaw counterclockwise 52 degrees; open gripper;", + "subtask_movement_text": "move backward 61 mm; move right 1 mm; move upward 95 mm; roll downward 0 degrees; pitch downward 16 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 30, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 1 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 336 mm; move right 103 mm; move upward 321 mm; roll downward 29 degrees; pitch downward 83 degrees; yaw counterclockwise 51 degrees; open gripper;\nSubtask Movement: move backward 48 mm; move right 1 mm; move upward 71 mm; roll downward 0 degrees; pitch downward 12 degrees; yaw counterclockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 155, + 92 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.015714285895228386, + -0.0007142857066355646, + 0.023928571492433548, + 0.0, + -0.07428571581840515, + 0.05428571254014969, + 1.0 + ], + "delta_next_20": [ + -0.33642852306365967, + -0.10321427881717682, + 0.3214285969734192, + -0.5057142972946167, + -1.4442857503890991, + 0.8871427774429321, + 1.0 + ], + "delta_full_state_norm": [ + -0.09231927080843261, + 0.4484001328886773, + 1.0, + 0.994532045241699, + -0.34525314216006675, + 0.9572594840322477, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 1 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 336 mm; move right 103 mm; move upward 321 mm; roll downward 29 degrees; pitch downward 83 degrees; yaw counterclockwise 51 degrees; open gripper;", + "subtask_movement_text": "move backward 48 mm; move right 1 mm; move upward 71 mm; roll downward 0 degrees; pitch downward 12 degrees; yaw counterclockwise 10 degrees; open gripper;" + }, + { + "frame_index": 31, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 333 mm; move right 116 mm; move upward 304 mm; roll downward 32 degrees; pitch downward 83 degrees; yaw counterclockwise 49 degrees; open gripper;\nSubtask Movement: move backward 32 mm; move right 1 mm; move upward 47 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw counterclockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 155, + 91 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01607142947614193, + -0.0003571428533177823, + 0.023571429774165154, + 0.0, + -0.06857142597436905, + 0.05714285746216774, + 1.0 + ], + "delta_next_20": [ + -0.33321425318717957, + -0.1160714253783226, + 0.3042857348918915, + -0.5514285564422607, + -1.452857255935669, + 0.8542856574058533, + 1.0 + ], + "delta_full_state_norm": [ + -0.10380892228895044, + 0.47857513391541207, + 0.997882438953545, + 0.994532045241699, + -0.24452278561843133, + 1.0, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 333 mm; move right 116 mm; move upward 304 mm; roll downward 32 degrees; pitch downward 83 degrees; yaw counterclockwise 49 degrees; open gripper;", + "subtask_movement_text": "move backward 32 mm; move right 1 mm; move upward 47 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw counterclockwise 6 degrees; open gripper;" + }, + { + "frame_index": 32, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 326 mm; move right 134 mm; move upward 289 mm; roll downward 35 degrees; pitch downward 85 degrees; yaw counterclockwise 46 degrees; open gripper;\nSubtask Movement: move backward 16 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 156, + 90 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.015714285895228386, + -0.0003571428533177823, + 0.023571429774165154, + -0.004285714123398066, + -0.0657142847776413, + 0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + -0.3257142901420593, + -0.1339285671710968, + 0.28857144713401794, + -0.604285717010498, + -1.4871429204940796, + 0.809999942779541, + 1.0 + ], + "delta_full_state_norm": [ + -0.09231927080843261, + 0.47857513391541207, + 0.997882438953545, + 0.8773674475479516, + -0.19415767301628462, + 0.9972036369767419, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 326 mm; move right 134 mm; move upward 289 mm; roll downward 35 degrees; pitch downward 85 degrees; yaw counterclockwise 46 degrees; open gripper;", + "subtask_movement_text": "move backward 16 mm; move right 0 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 33, + "segment_id": 300, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, moving its end-effector towards the interface where the stop button is located.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 1 mm; move upward 22 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 317 mm; move right 151 mm; move upward 272 mm; roll downward 38 degrees; pitch downward 88 degrees; yaw counterclockwise 44 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 156, + 90 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.015714285895228386, + -0.0014285714132711291, + 0.021785713732242584, + -0.012857142835855484, + -0.06142857298254967, + 0.05285714194178581, + 1.0 + ], + "delta_next_20": [ + -0.3167857229709625, + -0.15142856538295746, + 0.27214285731315613, + -0.6571428775787354, + -1.528571367263794, + 0.764285683631897, + 1.0 + ], + "delta_full_state_norm": [ + -0.09231927080843261, + 0.388050130835208, + 0.84668792540636, + 0.6430382394300194, + -0.11861000411306455, + 0.9173154352500383, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 1 mm; move upward 22 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 317 mm; move right 151 mm; move upward 272 mm; roll downward 38 degrees; pitch downward 88 degrees; yaw counterclockwise 44 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 34, + "segment_id": 10400, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave's control panel, specifically positioned over the stop button area, indicating the execution of a pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave's control panel, specifically positioned over the stop button area, indicating the execution of a pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 1 mm; move upward 22 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 308 mm; move right 167 mm; move upward 257 mm; roll downward 40 degrees; pitch downward 90 degrees; yaw counterclockwise 41 degrees; open gripper;\nSubtask Movement: move backward 32 mm; move right 3 mm; move upward 44 mm; roll downward 2 degrees; pitch downward 8 degrees; yaw counterclockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 89 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01607142947614193, + -0.0010714286472648382, + 0.021785713732242584, + -0.014285714365541935, + -0.06285714358091354, + 0.05285714194178581, + 1.0 + ], + "delta_next_20": [ + -0.30785712599754333, + -0.167142853140831, + 0.2574999928474426, + -0.6942857503890991, + -1.574285626411438, + 0.7185713648796082, + 1.0 + ], + "delta_full_state_norm": [ + -0.10380892228895044, + 0.4182251244849944, + 0.84668792540636, + 0.6039833692886243, + -0.1437925604141379, + 0.9173154352500383, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 1 mm; move upward 22 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 308 mm; move right 167 mm; move upward 257 mm; roll downward 40 degrees; pitch downward 90 degrees; yaw counterclockwise 41 degrees; open gripper;", + "subtask_movement_text": "move backward 32 mm; move right 3 mm; move upward 44 mm; roll downward 2 degrees; pitch downward 8 degrees; yaw counterclockwise 6 degrees; open gripper;" + }, + { + "frame_index": 35, + "segment_id": 10400, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave's control panel, specifically positioned over the stop button area, indicating the execution of a pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave's control panel, specifically positioned over the stop button area, indicating the execution of a pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 1 mm; move upward 22 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 298 mm; move right 183 mm; move upward 243 mm; roll downward 41 degrees; pitch downward 93 degrees; yaw counterclockwise 39 degrees; open gripper;\nSubtask Movement: move backward 16 mm; move right 1 mm; move upward 22 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 158, + 88 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.016428573057055473, + -0.0014285714132711291, + 0.022142857313156128, + -0.015714285895228386, + -0.06857142597436905, + 0.05285714194178581, + 1.0 + ], + "delta_next_20": [ + -0.29821428656578064, + -0.18321429193019867, + 0.24250002205371857, + -0.7242857813835144, + -1.6185712814331055, + 0.6728571057319641, + 1.0 + ], + "delta_full_state_norm": [ + -0.11529857376946817, + 0.388050130835208, + 0.8769268596573994, + 0.5649284991472292, + -0.24452278561843133, + 0.9173154352500383, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 1 mm; move upward 22 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 298 mm; move right 183 mm; move upward 243 mm; roll downward 41 degrees; pitch downward 93 degrees; yaw counterclockwise 39 degrees; open gripper;", + "subtask_movement_text": "move backward 16 mm; move right 1 mm; move upward 22 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 36, + "segment_id": 10400, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave's control panel, specifically positioned over the stop button area, indicating the execution of a pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave's control panel, specifically positioned over the stop button area, indicating the execution of a pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 2 mm; move upward 20 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 289 mm; move right 199 mm; move upward 227 mm; roll downward 43 degrees; pitch downward 95 degrees; yaw counterclockwise 36 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 158, + 87 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.016785714775323868, + -0.0021428572945296764, + 0.020000001415610313, + -0.009999999776482582, + -0.06857142597436905, + 0.05428571254014969, + 1.0 + ], + "delta_next_20": [ + -0.28857144713401794, + -0.19857142865657806, + 0.22749999165534973, + -0.7500000596046448, + -1.6585712432861328, + 0.6242856979370117, + 1.0 + ], + "delta_full_state_norm": [ + -0.1267881653269054, + 0.32770011402784216, + 0.6954937272751991, + 0.7211479797128093, + -0.24452278561843133, + 0.9572594840322477, + -1.0 + ], + "movement_text": "move backward 17 mm; move right 2 mm; move upward 20 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 289 mm; move right 199 mm; move upward 227 mm; roll downward 43 degrees; pitch downward 95 degrees; yaw counterclockwise 36 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 37, + "segment_id": 20400, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, positioned over the buttons. The arm appears to be exerting force consistent with a pressing action rather than just hovering or moving away.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, positioned over the buttons. The arm appears to be exerting force consistent with a pressing action rather than just hovering or moving away.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 4 mm; move upward 19 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 279 mm; move right 213 mm; move upward 217 mm; roll downward 44 degrees; pitch downward 97 degrees; yaw counterclockwise 33 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 159, + 86 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01714285835623741, + -0.004285714589059353, + 0.018571428954601288, + -0.027142856270074844, + -0.06857142597436905, + 0.05714285746216774, + 1.0 + ], + "delta_next_20": [ + -0.2785714566707611, + -0.21321427822113037, + 0.2167857140302658, + -0.7742857336997986, + -1.6999998092651367, + 0.574285626411438, + 1.0 + ], + "delta_full_state_norm": [ + -0.13827781680742313, + 0.14665009311353772, + 0.5745381479790532, + 0.25248958893782025, + -0.24452278561843133, + 1.0, + -1.0 + ], + "movement_text": "move backward 17 mm; move right 4 mm; move upward 19 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 279 mm; move right 213 mm; move upward 217 mm; roll downward 44 degrees; pitch downward 97 degrees; yaw counterclockwise 33 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 38, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the control panel and exhibits slight positional adjustments, indicating an attempt to interact with or press a button on the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the control panel and exhibits slight positional adjustments, indicating an attempt to interact with or press a button on the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 18 mm; move right 5 mm; move upward 18 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 269 mm; move right 225 mm; move upward 209 mm; roll downward 44 degrees; pitch downward 100 degrees; yaw counterclockwise 30 degrees; open gripper;\nSubtask Movement: move backward 160 mm; move right 60 mm; move upward 121 mm; roll downward 16 degrees; pitch downward 38 degrees; yaw counterclockwise 22 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 160, + 86 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.017500000074505806, + -0.0053571430034935474, + 0.01785714365541935, + -0.034285712987184525, + -0.06857142597436905, + 0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + -0.2685714662075043, + -0.22500000894069672, + 0.2085714340209961, + -0.7728571891784668, + -1.7428569793701172, + 0.5214284658432007, + 1.0 + ], + "delta_full_state_norm": [ + -0.14976740836486035, + 0.05612510232824741, + 0.5140604371849866, + 0.0572152636917207, + -0.24452278561843133, + 0.9972036369767419, + -1.0 + ], + "movement_text": "move backward 18 mm; move right 5 mm; move upward 18 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 269 mm; move right 225 mm; move upward 209 mm; roll downward 44 degrees; pitch downward 100 degrees; yaw counterclockwise 30 degrees; open gripper;", + "subtask_movement_text": "move backward 160 mm; move right 60 mm; move upward 121 mm; roll downward 16 degrees; pitch downward 38 degrees; yaw counterclockwise 22 degrees; open gripper;" + }, + { + "frame_index": 39, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the control panel and exhibits slight positional adjustments, indicating an attempt to interact with or press a button on the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the control panel and exhibits slight positional adjustments, indicating an attempt to interact with or press a button on the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 18 mm; move right 5 mm; move upward 16 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 258 mm; move right 235 mm; move upward 201 mm; roll downward 44 degrees; pitch downward 102 degrees; yaw counterclockwise 27 degrees; open gripper;\nSubtask Movement: move backward 143 mm; move right 55 mm; move upward 103 mm; roll downward 14 degrees; pitch downward 34 degrees; yaw counterclockwise 18 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 161, + 85 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.017500000074505806, + -0.0053571430034935474, + 0.015714285895228386, + -0.03142857179045677, + -0.06857142597436905, + 0.05428571254014969, + 1.0 + ], + "delta_next_20": [ + -0.2582143247127533, + -0.2353571653366089, + 0.20107142627239227, + -0.7600000500679016, + -1.7857141494750977, + 0.47142860293388367, + 1.0 + ], + "delta_full_state_norm": [ + -0.14976740836486035, + 0.05612510232824741, + 0.33262714709477414, + 0.13532495305275938, + -0.24452278561843133, + 0.9572594840322477, + -1.0 + ], + "movement_text": "move backward 18 mm; move right 5 mm; move upward 16 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 258 mm; move right 235 mm; move upward 201 mm; roll downward 44 degrees; pitch downward 102 degrees; yaw counterclockwise 27 degrees; open gripper;", + "subtask_movement_text": "move backward 143 mm; move right 55 mm; move upward 103 mm; roll downward 14 degrees; pitch downward 34 degrees; yaw counterclockwise 18 degrees; open gripper;" + }, + { + "frame_index": 40, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the control panel and exhibits slight positional adjustments, indicating an attempt to interact with or press a button on the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the control panel and exhibits slight positional adjustments, indicating an attempt to interact with or press a button on the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 18 mm; move right 5 mm; move upward 16 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 249 mm; move right 246 mm; move upward 196 mm; roll downward 43 degrees; pitch downward 105 degrees; yaw counterclockwise 24 degrees; open gripper;\nSubtask Movement: move backward 125 mm; move right 49 mm; move upward 87 mm; roll downward 12 degrees; pitch downward 30 degrees; yaw counterclockwise 15 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 162, + 84 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.018214285373687744, + -0.004642857238650322, + 0.016428573057055473, + -0.02428571507334709, + -0.07285714149475098, + 0.051428571343421936, + 1.0 + ], + "delta_next_20": [ + -0.24857144057750702, + -0.24571430683135986, + 0.19607141613960266, + -0.7500000596046448, + -1.8271428346633911, + 0.42428576946258545, + 1.0 + ], + "delta_full_state_norm": [ + -0.1727466514028153, + 0.1164751092996823, + 0.39310501559685296, + 0.33059927829885893, + -0.32007052019032245, + 0.877371386467829, + -1.0 + ], + "movement_text": "move backward 18 mm; move right 5 mm; move upward 16 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 249 mm; move right 246 mm; move upward 196 mm; roll downward 43 degrees; pitch downward 105 degrees; yaw counterclockwise 24 degrees; open gripper;", + "subtask_movement_text": "move backward 125 mm; move right 49 mm; move upward 87 mm; roll downward 12 degrees; pitch downward 30 degrees; yaw counterclockwise 15 degrees; open gripper;" + }, + { + "frame_index": 41, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the control panel and exhibits slight positional adjustments, indicating an attempt to interact with or press a button on the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the control panel and exhibits slight positional adjustments, indicating an attempt to interact with or press a button on the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 18 mm; move right 7 mm; move upward 14 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 239 mm; move right 257 mm; move upward 191 mm; roll downward 43 degrees; pitch downward 107 degrees; yaw counterclockwise 22 degrees; open gripper;\nSubtask Movement: move backward 107 mm; move right 45 mm; move upward 71 mm; roll downward 11 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 163, + 84 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.018214285373687744, + -0.006785714533179998, + 0.01428571529686451, + -0.014285714365541935, + -0.07571428269147873, + 0.04571428522467613, + 1.0 + ], + "delta_next_20": [ + -0.23857145011425018, + -0.25678572058677673, + 0.19107140600681305, + -0.7442857623100281, + -1.868571400642395, + 0.38142862915992737, + 1.0 + ], + "delta_full_state_norm": [ + -0.1727466514028153, + -0.06457491161462225, + 0.21167172550664048, + 0.6039833692886243, + -0.37043563279246905, + 0.717595087176707, + -1.0 + ], + "movement_text": "move backward 18 mm; move right 7 mm; move upward 14 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 239 mm; move right 257 mm; move upward 191 mm; roll downward 43 degrees; pitch downward 107 degrees; yaw counterclockwise 22 degrees; open gripper;", + "subtask_movement_text": "move backward 107 mm; move right 45 mm; move upward 71 mm; roll downward 11 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 42, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the control panel and exhibits slight positional adjustments, indicating an attempt to interact with or press a button on the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the control panel and exhibits slight positional adjustments, indicating an attempt to interact with or press a button on the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 19 mm; move right 7 mm; move upward 13 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 228 mm; move right 265 mm; move upward 187 mm; roll downward 42 degrees; pitch downward 109 degrees; yaw counterclockwise 20 degrees; open gripper;\nSubtask Movement: move backward 89 mm; move right 38 mm; move upward 57 mm; roll downward 10 degrees; pitch downward 22 degrees; yaw counterclockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 164, + 83 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.018571428954601288, + -0.006785714533179998, + 0.012500000186264515, + -0.02428571507334709, + -0.07571428269147873, + 0.03857142850756645, + 1.0 + ], + "delta_next_20": [ + -0.22785715758800507, + -0.26500004529953003, + 0.18714283406734467, + -0.7371428608894348, + -1.899999976158142, + 0.34714290499687195, + 1.0 + ], + "delta_full_state_norm": [ + -0.18423630288333304, + -0.06457491161462225, + 0.060477290813461426, + 0.33059927829885893, + -0.37043563279246905, + 0.5178747391033753, + -1.0 + ], + "movement_text": "move backward 19 mm; move right 7 mm; move upward 13 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 228 mm; move right 265 mm; move upward 187 mm; roll downward 42 degrees; pitch downward 109 degrees; yaw counterclockwise 20 degrees; open gripper;", + "subtask_movement_text": "move backward 89 mm; move right 38 mm; move upward 57 mm; roll downward 10 degrees; pitch downward 22 degrees; yaw counterclockwise 10 degrees; open gripper;" + }, + { + "frame_index": 43, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the control panel and exhibits slight positional adjustments, indicating an attempt to interact with or press a button on the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the control panel and exhibits slight positional adjustments, indicating an attempt to interact with or press a button on the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 18 mm; move right 7 mm; move upward 13 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 216 mm; move right 274 mm; move upward 183 mm; roll downward 41 degrees; pitch downward 110 degrees; yaw counterclockwise 18 degrees; open gripper;\nSubtask Movement: move backward 70 mm; move right 31 mm; move upward 44 mm; roll downward 9 degrees; pitch downward 18 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 165, + 83 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.018214285373687744, + -0.007142857648432255, + 0.012500000186264515, + -0.029999999329447746, + -0.0771428570151329, + 0.034285712987184525, + 1.0 + ], + "delta_next_20": [ + -0.21571432054042816, + -0.27392861247062683, + 0.18321429193019867, + -0.7200000286102295, + -1.927142858505249, + 0.3200000524520874, + 1.0 + ], + "delta_full_state_norm": [ + -0.1727466514028153, + -0.09474993477220162, + 0.060477290813461426, + 0.1743798486550301, + -0.39561825476221346, + 0.3980424885944627, + -1.0 + ], + "movement_text": "move backward 18 mm; move right 7 mm; move upward 13 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 216 mm; move right 274 mm; move upward 183 mm; roll downward 41 degrees; pitch downward 110 degrees; yaw counterclockwise 18 degrees; open gripper;", + "subtask_movement_text": "move backward 70 mm; move right 31 mm; move upward 44 mm; roll downward 9 degrees; pitch downward 18 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 44, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the control panel and exhibits slight positional adjustments, indicating an attempt to interact with or press a button on the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the control panel and exhibits slight positional adjustments, indicating an attempt to interact with or press a button on the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 18 mm; move right 8 mm; move upward 12 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 203 mm; move right 282 mm; move upward 179 mm; roll downward 40 degrees; pitch downward 112 degrees; yaw counterclockwise 17 degrees; open gripper;\nSubtask Movement: move backward 52 mm; move right 24 mm; move upward 32 mm; roll downward 7 degrees; pitch downward 13 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 166, + 82 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.017500000074505806, + -0.007857142947614193, + 0.011785714887082577, + -0.037142857909202576, + -0.07857143133878708, + 0.03285714238882065, + 1.0 + ], + "delta_next_20": [ + -0.20250001549720764, + -0.28214287757873535, + 0.1785714477300644, + -0.7014285922050476, + -1.9500000476837158, + 0.29714280366897583, + 1.0 + ], + "delta_full_state_norm": [ + -0.14976740836486035, + -0.15509990239991245, + -4.1998060540393567e-07, + -0.020894527512820837, + -0.4208008767319579, + 0.3580984398122533, + -1.0 + ], + "movement_text": "move backward 18 mm; move right 8 mm; move upward 12 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 203 mm; move right 282 mm; move upward 179 mm; roll downward 40 degrees; pitch downward 112 degrees; yaw counterclockwise 17 degrees; open gripper;", + "subtask_movement_text": "move backward 52 mm; move right 24 mm; move upward 32 mm; roll downward 7 degrees; pitch downward 13 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 45, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the control panel and exhibits slight positional adjustments, indicating an attempt to interact with or press a button on the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the control panel and exhibits slight positional adjustments, indicating an attempt to interact with or press a button on the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 18 mm; move right 8 mm; move upward 10 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 190 mm; move right 289 mm; move upward 174 mm; roll downward 39 degrees; pitch downward 113 degrees; yaw counterclockwise 16 degrees; open gripper;\nSubtask Movement: move backward 35 mm; move right 16 mm; move upward 20 mm; roll downward 5 degrees; pitch downward 9 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 167, + 82 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.017500000074505806, + -0.007500000298023224, + 0.010357143357396126, + -0.041428569704294205, + -0.07571428269147873, + 0.03285714238882065, + 1.0 + ], + "delta_next_20": [ + -0.1899999976158142, + -0.2892857491970062, + 0.17357143759727478, + -0.6771429181098938, + -1.9714287519454956, + 0.27714282274246216, + 1.0 + ], + "delta_full_state_norm": [ + -0.14976740836486035, + -0.12492491858605703, + -0.12095592042274506, + -0.13805906155437875, + -0.37043563279246905, + 0.3580984398122533, + -1.0 + ], + "movement_text": "move backward 18 mm; move right 8 mm; move upward 10 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 190 mm; move right 289 mm; move upward 174 mm; roll downward 39 degrees; pitch downward 113 degrees; yaw counterclockwise 16 degrees; open gripper;", + "subtask_movement_text": "move backward 35 mm; move right 16 mm; move upward 20 mm; roll downward 5 degrees; pitch downward 9 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 46, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the control panel and exhibits slight positional adjustments, indicating an attempt to interact with or press a button on the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the control panel and exhibits slight positional adjustments, indicating an attempt to interact with or press a button on the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 9 mm; move upward 10 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 177 mm; move right 296 mm; move upward 168 mm; roll downward 37 degrees; pitch downward 114 degrees; yaw counterclockwise 15 degrees; open gripper;\nSubtask Movement: move backward 17 mm; move right 9 mm; move upward 10 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 168, + 82 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01714285835623741, + -0.008571429178118706, + 0.009642857126891613, + -0.04285714402794838, + -0.07428571581840515, + 0.029999999329447746, + 1.0 + ], + "delta_next_20": [ + -0.17678570747375488, + -0.2964285910129547, + 0.16785715520381927, + -0.6500000357627869, + -1.9885714054107666, + 0.2571428120136261, + 1.0 + ], + "delta_full_state_norm": [ + -0.13827781680742313, + -0.21544994871507128, + -0.18143371007081788, + -0.17711400807840094, + -0.34525314216006675, + 0.2782102901666923, + -1.0 + ], + "movement_text": "move backward 17 mm; move right 9 mm; move upward 10 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 177 mm; move right 296 mm; move upward 168 mm; roll downward 37 degrees; pitch downward 114 degrees; yaw counterclockwise 15 degrees; open gripper;", + "subtask_movement_text": "move backward 17 mm; move right 9 mm; move upward 10 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 47, + "segment_id": 20200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the control panel and exhibits slight positional adjustments, indicating an attempt to interact with or press a button on the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the control panel and exhibits slight positional adjustments, indicating an attempt to interact with or press a button on the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 9 mm; move upward 9 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 164 mm; move right 303 mm; move upward 163 mm; roll downward 36 degrees; pitch downward 115 degrees; yaw counterclockwise 14 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 169, + 81 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.016785714775323868, + -0.009285714477300644, + 0.009285714477300644, + -0.04857143014669418, + -0.07857143133878708, + 0.027142856270074844, + 1.0 + ], + "delta_next_20": [ + -0.1639285683631897, + -0.30250000953674316, + 0.16250000894069672, + -0.6214286684989929, + -2.007143020629883, + 0.2399999499320984, + 1.0 + ], + "delta_full_state_norm": [ + -0.1267881653269054, + -0.2757999163427821, + -0.2116725654678513, + -0.33333348864398116, + -0.4208008767319579, + 0.19832214052113128, + -1.0 + ], + "movement_text": "move backward 17 mm; move right 9 mm; move upward 9 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 164 mm; move right 303 mm; move upward 163 mm; roll downward 36 degrees; pitch downward 115 degrees; yaw counterclockwise 14 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 48, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is retracted and moving upwards, increasing the distance between the end-effector and the microwave controls after the interaction has concluded.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is retracted and moving upwards, increasing the distance between the end-effector and the microwave controls after the interaction has concluded.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 10 mm; move upward 9 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 151 mm; move right 308 mm; move upward 158 mm; roll downward 33 degrees; pitch downward 116 degrees; yaw counterclockwise 13 degrees; open gripper;\nSubtask Movement: move backward 99 mm; move right 171 mm; move upward 89 mm; roll downward 27 degrees; pitch downward 64 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 171, + 81 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.015357143245637417, + -0.010357143357396126, + 0.008571429178118706, + -0.04857143014669418, + -0.07999999821186066, + 0.02428571507334709, + 1.0 + ], + "delta_next_20": [ + -0.15142858028411865, + -0.3078571557998657, + 0.15785714983940125, + -0.5842857956886292, + -2.0199999809265137, + 0.22571425139904022, + 1.0 + ], + "delta_full_state_norm": [ + -0.08082964928945513, + -0.36632494647179636, + -0.272150276261918, + -0.33333348864398116, + -0.4459833673643602, + 0.11843404295671256, + -1.0 + ], + "movement_text": "move backward 15 mm; move right 10 mm; move upward 9 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 151 mm; move right 308 mm; move upward 158 mm; roll downward 33 degrees; pitch downward 116 degrees; yaw counterclockwise 13 degrees; open gripper;", + "subtask_movement_text": "move backward 99 mm; move right 171 mm; move upward 89 mm; roll downward 27 degrees; pitch downward 64 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 49, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is retracted and moving upwards, increasing the distance between the end-effector and the microwave controls after the interaction has concluded.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is retracted and moving upwards, increasing the distance between the end-effector and the microwave controls after the interaction has concluded.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 12 mm; move upward 7 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 140 mm; move right 313 mm; move upward 154 mm; roll downward 31 degrees; pitch downward 116 degrees; yaw counterclockwise 12 degrees; open gripper;\nSubtask Movement: move backward 83 mm; move right 161 mm; move upward 80 mm; roll downward 24 degrees; pitch downward 59 degrees; yaw counterclockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 172, + 81 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01428571529686451, + -0.011785714887082577, + 0.007142857648432255, + -0.044285714626312256, + -0.07999999821186066, + 0.022857142612338066, + 1.0 + ], + "delta_next_20": [ + -0.14035716652870178, + -0.31285715103149414, + 0.15392857789993286, + -0.5485715270042419, + -2.031428575515747, + 0.2142856866121292, + 1.0 + ], + "delta_full_state_norm": [ + -0.0463607847325227, + -0.48702496041466603, + -0.39310577670405766, + -0.21616885275892028, + -0.4459833673643602, + 0.07848994209336069, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 12 mm; move upward 7 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 140 mm; move right 313 mm; move upward 154 mm; roll downward 31 degrees; pitch downward 116 degrees; yaw counterclockwise 12 degrees; open gripper;", + "subtask_movement_text": "move backward 83 mm; move right 161 mm; move upward 80 mm; roll downward 24 degrees; pitch downward 59 degrees; yaw counterclockwise 6 degrees; open gripper;" + }, + { + "frame_index": 50, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is retracted and moving upwards, increasing the distance between the end-effector and the microwave controls after the interaction has concluded.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is retracted and moving upwards, increasing the distance between the end-effector and the microwave controls after the interaction has concluded.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 14 mm; move upward 7 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 130 mm; move right 317 mm; move upward 152 mm; roll downward 30 degrees; pitch downward 117 degrees; yaw counterclockwise 12 degrees; open gripper;\nSubtask Movement: move backward 69 mm; move right 149 mm; move upward 73 mm; roll downward 21 degrees; pitch downward 54 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 173, + 80 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012500000186264515, + -0.013571429066359997, + 0.006785714533179998, + -0.04571428522467613, + -0.08285713940858841, + 0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + -0.12964285910129547, + -0.3174999952316284, + 0.1517857164144516, + -0.5228571891784668, + -2.0428569316864014, + 0.20428569614887238, + 1.0 + ], + "delta_full_state_norm": [ + 0.01108738278544541, + -0.6378999581713911, + -0.4233446715280941, + -0.2552236974394396, + -0.4963484799665069, + 0.038545893311151325, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 14 mm; move upward 7 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 130 mm; move right 317 mm; move upward 152 mm; roll downward 30 degrees; pitch downward 117 degrees; yaw counterclockwise 12 degrees; open gripper;", + "subtask_movement_text": "move backward 69 mm; move right 149 mm; move upward 73 mm; roll downward 21 degrees; pitch downward 54 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 51, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is retracted and moving upwards, increasing the distance between the end-effector and the microwave controls after the interaction has concluded.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is retracted and moving upwards, increasing the distance between the end-effector and the microwave controls after the interaction has concluded.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 18 mm; move upward 8 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 120 mm; move right 320 mm; move upward 151 mm; roll downward 29 degrees; pitch downward 117 degrees; yaw counterclockwise 11 degrees; open gripper;\nSubtask Movement: move backward 56 mm; move right 136 mm; move upward 66 mm; roll downward 19 degrees; pitch downward 50 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 175, + 80 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008571429178118706, + -0.018214285373687744, + 0.007857142947614193, + -0.05285714194178581, + -0.10285714268684387, + 0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + -0.11964286863803864, + -0.3196428716182709, + 0.15071427822113037, + -0.5000000596046448, + -2.049999713897705, + 0.19571428000926971, + 1.0 + ], + "delta_full_state_norm": [ + 0.13747327941727816, + -1.0, + -0.33262806590999094, + -0.45049802268553907, + -0.8489045308562179, + -0.20111855562553171, + -1.0 + ], + "movement_text": "move backward 9 mm; move right 18 mm; move upward 8 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 120 mm; move right 320 mm; move upward 151 mm; roll downward 29 degrees; pitch downward 117 degrees; yaw counterclockwise 11 degrees; open gripper;", + "subtask_movement_text": "move backward 56 mm; move right 136 mm; move upward 66 mm; roll downward 19 degrees; pitch downward 50 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 52, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is retracted and moving upwards, increasing the distance between the end-effector and the microwave controls after the interaction has concluded.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is retracted and moving upwards, increasing the distance between the end-effector and the microwave controls after the interaction has concluded.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 18 mm; move upward 7 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 113 mm; move right 317 mm; move upward 149 mm; roll downward 27 degrees; pitch downward 117 degrees; yaw counterclockwise 11 degrees; open gripper;\nSubtask Movement: move backward 48 mm; move right 118 mm; move upward 58 mm; roll downward 16 degrees; pitch downward 44 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 176, + 80 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006785714533179998, + -0.01785714365541935, + 0.007142857648432255, + -0.05714285746216774, + -0.1071428582072258, + 0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + -0.11321429163217545, + -0.3167857229709625, + 0.1485714167356491, + -0.47285717725753784, + -2.037142753601074, + 0.19571426510810852, + 1.0 + ], + "delta_full_state_norm": [ + 0.1949214319544761, + -1.0, + -0.39310577670405766, + -0.5676626585705999, + -0.9244522654281089, + -0.28100670527109284, + -1.0 + ], + "movement_text": "move backward 7 mm; move right 18 mm; move upward 7 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 113 mm; move right 317 mm; move upward 149 mm; roll downward 27 degrees; pitch downward 117 degrees; yaw counterclockwise 11 degrees; open gripper;", + "subtask_movement_text": "move backward 48 mm; move right 118 mm; move upward 58 mm; roll downward 16 degrees; pitch downward 44 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 53, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is retracted and moving upwards, increasing the distance between the end-effector and the microwave controls after the interaction has concluded.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is retracted and moving upwards, increasing the distance between the end-effector and the microwave controls after the interaction has concluded.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 17 mm; move upward 7 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 108 mm; move right 314 mm; move upward 146 mm; roll downward 26 degrees; pitch downward 116 degrees; yaw counterclockwise 11 degrees; open gripper;\nSubtask Movement: move backward 41 mm; move right 100 mm; move upward 51 mm; roll downward 12 degrees; pitch downward 38 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 178, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006785714533179998, + -0.01714285835623741, + 0.007142857648432255, + -0.05000000074505806, + -0.1071428582072258, + 0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + -0.10750001668930054, + -0.3142856955528259, + 0.1460714191198349, + -0.4457142651081085, + -2.0199999809265137, + 0.19428569078445435, + 1.0 + ], + "delta_full_state_norm": [ + 0.1949214319544761, + -0.9396500323722891, + -0.39310577670405766, + -0.3723883333245005, + -0.9244522654281089, + -0.36089484189636833, + -1.0 + ], + "movement_text": "move backward 7 mm; move right 17 mm; move upward 7 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 108 mm; move right 314 mm; move upward 146 mm; roll downward 26 degrees; pitch downward 116 degrees; yaw counterclockwise 11 degrees; open gripper;", + "subtask_movement_text": "move backward 41 mm; move right 100 mm; move upward 51 mm; roll downward 12 degrees; pitch downward 38 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 54, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is retracted and moving upwards, increasing the distance between the end-effector and the microwave controls after the interaction has concluded.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is retracted and moving upwards, increasing the distance between the end-effector and the microwave controls after the interaction has concluded.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 17 mm; move upward 7 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 101 mm; move right 313 mm; move upward 141 mm; roll downward 25 degrees; pitch downward 115 degrees; yaw counterclockwise 11 degrees; open gripper;\nSubtask Movement: move backward 34 mm; move right 83 mm; move upward 44 mm; roll downward 10 degrees; pitch downward 31 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 179, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006428571883589029, + -0.01714285835623741, + 0.006785714533179998, + -0.044285714626312256, + -0.1071428582072258, + 0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + -0.1007142886519432, + -0.31285712122917175, + 0.14142857491970062, + -0.4285714030265808, + -1.9999998807907104, + 0.191428542137146, + 1.0 + ], + "delta_full_state_norm": [ + 0.20641105347345357, + -0.9396500323722891, + -0.4233446715280941, + -0.21616885275892028, + -0.9244522654281089, + -0.36089484189636833, + -1.0 + ], + "movement_text": "move backward 6 mm; move right 17 mm; move upward 7 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 101 mm; move right 313 mm; move upward 141 mm; roll downward 25 degrees; pitch downward 115 degrees; yaw counterclockwise 11 degrees; open gripper;", + "subtask_movement_text": "move backward 34 mm; move right 83 mm; move upward 44 mm; roll downward 10 degrees; pitch downward 31 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 55, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is retracted and moving upwards, increasing the distance between the end-effector and the microwave controls after the interaction has concluded.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is retracted and moving upwards, increasing the distance between the end-effector and the microwave controls after the interaction has concluded.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 17 mm; move upward 7 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 94 mm; move right 309 mm; move upward 135 mm; roll downward 25 degrees; pitch downward 113 degrees; yaw counterclockwise 11 degrees; open gripper;\nSubtask Movement: move backward 28 mm; move right 65 mm; move upward 37 mm; roll downward 7 degrees; pitch downward 25 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 181, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006785714533179998, + -0.016785714775323868, + 0.007142857648432255, + -0.041428569704294205, + -0.10857142508029938, + 0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + -0.09428572654724121, + -0.3085714280605316, + 0.1346428394317627, + -0.43285712599754333, + -1.9685713052749634, + 0.18857139348983765, + 1.0 + ], + "delta_full_state_norm": [ + 0.1949214319544761, + -0.9094749698709859, + -0.39310577670405766, + -0.13805906155437875, + -0.9496347560605112, + -0.44078299154192935, + -1.0 + ], + "movement_text": "move backward 7 mm; move right 17 mm; move upward 7 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 94 mm; move right 309 mm; move upward 135 mm; roll downward 25 degrees; pitch downward 113 degrees; yaw counterclockwise 11 degrees; open gripper;", + "subtask_movement_text": "move backward 28 mm; move right 65 mm; move upward 37 mm; roll downward 7 degrees; pitch downward 25 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 56, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is retracted and moving upwards, increasing the distance between the end-effector and the microwave controls after the interaction has concluded.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is retracted and moving upwards, increasing the distance between the end-effector and the microwave controls after the interaction has concluded.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 17 mm; move upward 9 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 88 mm; move right 304 mm; move upward 127 mm; roll downward 25 degrees; pitch downward 110 degrees; yaw counterclockwise 11 degrees; open gripper;\nSubtask Movement: move backward 21 mm; move right 49 mm; move upward 30 mm; roll downward 5 degrees; pitch downward 19 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 182, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006785714533179998, + -0.016785714775323868, + 0.009285714477300644, + -0.034285712987184525, + -0.10999999940395355, + 0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + -0.08750001341104507, + -0.3042857348918915, + 0.1274999976158142, + -0.4342857003211975, + -1.9271427392959595, + 0.18999995291233063, + 1.0 + ], + "delta_full_state_norm": [ + 0.1949214319544761, + -0.9094749698709859, + -0.2116725654678513, + 0.0572152636917207, + -0.9748173780302556, + -0.44078299154192935, + -1.0 + ], + "movement_text": "move backward 7 mm; move right 17 mm; move upward 9 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 88 mm; move right 304 mm; move upward 127 mm; roll downward 25 degrees; pitch downward 110 degrees; yaw counterclockwise 11 degrees; open gripper;", + "subtask_movement_text": "move backward 21 mm; move right 49 mm; move upward 30 mm; roll downward 5 degrees; pitch downward 19 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 57, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is retracted and moving upwards, increasing the distance between the end-effector and the microwave controls after the interaction has concluded.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is retracted and moving upwards, increasing the distance between the end-effector and the microwave controls after the interaction has concluded.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 16 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 81 mm; move right 300 mm; move upward 118 mm; roll downward 25 degrees; pitch downward 108 degrees; yaw counterclockwise 11 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 32 mm; move upward 21 mm; roll downward 3 degrees; pitch downward 13 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 184, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007142857648432255, + -0.01607142947614193, + 0.010357143357396126, + -0.025714285671710968, + -0.11142857372760773, + 0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + -0.08071430027484894, + -0.30000001192092896, + 0.11821428686380386, + -0.43714284896850586, + -1.8828569650650024, + 0.1914285272359848, + 1.0 + ], + "delta_full_state_norm": [ + 0.18343179545472843, + -0.8491250022432749, + -0.12095592042274506, + 0.2915444336183395, + -1.0, + -0.44078299154192935, + -1.0 + ], + "movement_text": "move backward 7 mm; move right 16 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 81 mm; move right 300 mm; move upward 118 mm; roll downward 25 degrees; pitch downward 108 degrees; yaw counterclockwise 11 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 32 mm; move upward 21 mm; roll downward 3 degrees; pitch downward 13 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 58, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is retracted and moving upwards, increasing the distance between the end-effector and the microwave controls after the interaction has concluded.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is retracted and moving upwards, increasing the distance between the end-effector and the microwave controls after the interaction has concluded.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 16 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 74 mm; move right 296 mm; move upward 108 mm; roll downward 26 degrees; pitch downward 105 degrees; yaw counterclockwise 11 degrees; open gripper;\nSubtask Movement: move backward 7 mm; move right 16 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 185, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007142857648432255, + -0.015714285895228386, + 0.010357143357396126, + -0.02142857201397419, + -0.11142857372760773, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + -0.07357143610715866, + -0.2964285910129547, + 0.10785714536905289, + -0.4514285624027252, + -1.8371425867080688, + 0.1914285272359848, + 1.0 + ], + "delta_full_state_norm": [ + 0.18343179545472843, + -0.8189499397419716, + -0.12095592042274506, + 0.4087090185816491, + -1.0, + -0.40083891671914884, + -1.0 + ], + "movement_text": "move backward 7 mm; move right 16 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 74 mm; move right 296 mm; move upward 108 mm; roll downward 26 degrees; pitch downward 105 degrees; yaw counterclockwise 11 degrees; open gripper;", + "subtask_movement_text": "move backward 7 mm; move right 16 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 59, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is retracted and moving upwards, increasing the distance between the end-effector and the microwave controls after the interaction has concluded.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is retracted and moving upwards, increasing the distance between the end-effector and the microwave controls after the interaction has concluded.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 16 mm; move upward 11 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 66 mm; move right 295 mm; move upward 97 mm; roll downward 27 degrees; pitch downward 102 degrees; yaw counterclockwise 11 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 187, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007857142947614193, + -0.015714285895228386, + 0.010714286006987095, + -0.02142857201397419, + -0.10999999940395355, + 0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + -0.06642857939004898, + -0.2946428954601288, + 0.09749999642372131, + -0.4757143259048462, + -1.7885712385177612, + 0.1857142448425293, + 1.0 + ], + "delta_full_state_norm": [ + 0.16045255241677348, + -0.8189499397419716, + -0.09071706502571164, + 0.4087090185816491, + -0.9748173780302556, + -0.36089484189636833, + -1.0 + ], + "movement_text": "move backward 8 mm; move right 16 mm; move upward 11 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 66 mm; move right 295 mm; move upward 97 mm; roll downward 27 degrees; pitch downward 102 degrees; yaw counterclockwise 11 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 60, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 16 mm; move upward 11 mm; roll downward 1 degrees; pitch downward 7 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 59 mm; move right 294 mm; move upward 87 mm; roll downward 29 degrees; pitch downward 100 degrees; yaw counterclockwise 10 degrees; open gripper;\nSubtask Movement: move forward 738 mm; move right 826 mm; move upward 119 mm; roll downward 316 degrees; pitch downward 246 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 188, + 75 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008214286528527737, + -0.015714285895228386, + 0.011428571306169033, + -0.018571428954601288, + -0.11428571492433548, + 0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + -0.058571428060531616, + -0.2939285933971405, + 0.0867857113480568, + -0.5014286041259766, + -1.7428570985794067, + 0.17857138812541962, + 1.0 + ], + "delta_full_state_norm": [ + 0.14896290093625564, + -0.8189499397419716, + -0.03023935423164492, + 0.48681875886443904, + -1.0, + -0.32095078009387334, + -1.0 + ], + "movement_text": "move backward 8 mm; move right 16 mm; move upward 11 mm; roll downward 1 degrees; pitch downward 7 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 59 mm; move right 294 mm; move upward 87 mm; roll downward 29 degrees; pitch downward 100 degrees; yaw counterclockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 738 mm; move right 826 mm; move upward 119 mm; roll downward 316 degrees; pitch downward 246 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 61, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 15 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 50 mm; move right 295 mm; move upward 75 mm; roll downward 31 degrees; pitch downward 97 degrees; yaw counterclockwise 10 degrees; open gripper;\nSubtask Movement: move forward 746 mm; move right 810 mm; move upward 108 mm; roll downward 315 degrees; pitch downward 239 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 190, + 75 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007500000298023224, + -0.015000000596046448, + 0.010357143357396126, + -0.0071428571827709675, + -0.1071428582072258, + 0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + -0.0503571443259716, + -0.2946428954601288, + 0.07535713911056519, + -0.5342857241630554, + -1.6942856311798096, + 0.16999995708465576, + 1.0 + ], + "delta_full_state_norm": [ + 0.17194217393575095, + -0.7585999721142607, + -0.12095592042274506, + 0.7992577072651617, + -0.9244522654281089, + -0.24106263044831233, + -1.0 + ], + "movement_text": "move backward 8 mm; move right 15 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 50 mm; move right 295 mm; move upward 75 mm; roll downward 31 degrees; pitch downward 97 degrees; yaw counterclockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 746 mm; move right 810 mm; move upward 108 mm; roll downward 315 degrees; pitch downward 239 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 62, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 16 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 43 mm; move right 296 mm; move upward 65 mm; roll downward 33 degrees; pitch downward 95 degrees; yaw counterclockwise 9 degrees; open gripper;\nSubtask Movement: move forward 754 mm; move right 795 mm; move upward 98 mm; roll downward 314 degrees; pitch downward 233 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 191, + 74 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006428571883589029, + -0.015714285895228386, + 0.008571429178118706, + -0.0071428571827709675, + -0.10285714268684387, + 0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + -0.04285714775323868, + -0.2964285612106323, + 0.06499999761581421, + -0.5785713791847229, + -1.6542855501174927, + 0.15857139229774475, + 1.0 + ], + "delta_full_state_norm": [ + 0.20641105347345357, + -0.8189499397419716, + -0.272150276261918, + 0.7992577072651617, + -0.8489045308562179, + -0.24106263044831233, + -1.0 + ], + "movement_text": "move backward 6 mm; move right 16 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 43 mm; move right 296 mm; move upward 65 mm; roll downward 33 degrees; pitch downward 95 degrees; yaw counterclockwise 9 degrees; open gripper;", + "subtask_movement_text": "move forward 754 mm; move right 795 mm; move upward 98 mm; roll downward 314 degrees; pitch downward 233 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 63, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 15 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 36 mm; move right 298 mm; move upward 56 mm; roll downward 36 degrees; pitch downward 93 degrees; yaw counterclockwise 8 degrees; open gripper;\nSubtask Movement: move forward 760 mm; move right 779 mm; move upward 89 mm; roll downward 314 degrees; pitch downward 227 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 193, + 74 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.005000000353902578, + -0.015357143245637417, + 0.007857142947614193, + -0.011428571306169033, + -0.10000000149011612, + 0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + -0.036428578197956085, + -0.29750001430511475, + 0.05642857030034065, + -0.6199999451637268, + -1.6185712814331055, + 0.14714282751083374, + 1.0 + ], + "delta_full_state_norm": [ + 0.25236956951090384, + -0.7887749559281162, + -0.33262806590999094, + 0.6820931095714142, + -0.7985394182540712, + -0.24106263044831233, + -1.0 + ], + "movement_text": "move backward 5 mm; move right 15 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 36 mm; move right 298 mm; move upward 56 mm; roll downward 36 degrees; pitch downward 93 degrees; yaw counterclockwise 8 degrees; open gripper;", + "subtask_movement_text": "move forward 760 mm; move right 779 mm; move upward 89 mm; roll downward 314 degrees; pitch downward 227 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 64, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 15 mm; move upward 7 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 31 mm; move right 299 mm; move upward 49 mm; roll downward 38 degrees; pitch downward 91 degrees; yaw counterclockwise 8 degrees; open gripper;\nSubtask Movement: move forward 765 mm; move right 764 mm; move upward 81 mm; roll downward 313 degrees; pitch downward 222 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 194, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.005000000353902578, + -0.015000000596046448, + 0.006785714533179998, + -0.012857142835855484, + -0.10000000149011612, + 0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + -0.03142857551574707, + -0.29928573966026306, + 0.04892857000231743, + -0.6571428179740906, + -1.5885714292526245, + 0.13571426272392273, + 1.0 + ], + "delta_full_state_norm": [ + 0.25236956951090384, + -0.7585999721142607, + -0.4233446715280941, + 0.6430382394300194, + -0.7985394182540712, + -0.20111855562553171, + -1.0 + ], + "movement_text": "move backward 5 mm; move right 15 mm; move upward 7 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 31 mm; move right 299 mm; move upward 49 mm; roll downward 38 degrees; pitch downward 91 degrees; yaw counterclockwise 8 degrees; open gripper;", + "subtask_movement_text": "move forward 765 mm; move right 764 mm; move upward 81 mm; roll downward 313 degrees; pitch downward 222 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 65, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 15 mm; move upward 5 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 26 mm; move right 302 mm; move upward 44 mm; roll downward 40 degrees; pitch downward 89 degrees; yaw counterclockwise 7 degrees; open gripper;\nSubtask Movement: move forward 770 mm; move right 749 mm; move upward 74 mm; roll downward 312 degrees; pitch downward 216 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 196, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.004285714589059353, + -0.014642857015132904, + 0.004642857238650322, + -0.014285714365541935, + -0.09285714477300644, + 0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + -0.026428574696183205, + -0.3021428883075714, + 0.04357142746448517, + -0.692857027053833, + -1.5614285469055176, + 0.12285713106393814, + 1.0 + ], + "delta_full_state_norm": [ + 0.27534882752962897, + -0.7284249096129574, + -0.6047779221913034, + 0.6039833692886243, + -0.6726265710800334, + -0.20111855562553171, + -1.0 + ], + "movement_text": "move backward 4 mm; move right 15 mm; move upward 5 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 26 mm; move right 302 mm; move upward 44 mm; roll downward 40 degrees; pitch downward 89 degrees; yaw counterclockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 770 mm; move right 749 mm; move upward 74 mm; roll downward 312 degrees; pitch downward 216 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 66, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 15 mm; move upward 4 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 22 mm; move right 305 mm; move upward 40 mm; roll downward 42 degrees; pitch downward 88 degrees; yaw counterclockwise 6 degrees; open gripper;\nSubtask Movement: move forward 775 mm; move right 734 mm; move upward 70 mm; roll downward 312 degrees; pitch downward 211 degrees; yaw clockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.004285714589059353, + -0.014642857015132904, + 0.004285714589059353, + -0.014285714365541935, + -0.09285714477300644, + 0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + -0.022142859175801277, + -0.30500003695487976, + 0.04035714268684387, + -0.7314285039901733, + -1.5399999618530273, + 0.10999999195337296, + 1.0 + ], + "delta_full_state_norm": [ + 0.27534882752962897, + -0.7284249096129574, + -0.6350167775883369, + 0.6039833692886243, + -0.6726265710800334, + -0.20111855562553171, + -1.0 + ], + "movement_text": "move backward 4 mm; move right 15 mm; move upward 4 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 22 mm; move right 305 mm; move upward 40 mm; roll downward 42 degrees; pitch downward 88 degrees; yaw counterclockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 775 mm; move right 734 mm; move upward 70 mm; roll downward 312 degrees; pitch downward 211 degrees; yaw clockwise 7 degrees; open gripper;" + }, + { + "frame_index": 67, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 15 mm; move upward 5 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 18 mm; move right 308 mm; move upward 37 mm; roll downward 44 degrees; pitch downward 87 degrees; yaw counterclockwise 6 degrees; open gripper;\nSubtask Movement: move forward 779 mm; move right 720 mm; move upward 65 mm; roll downward 311 degrees; pitch downward 205 degrees; yaw clockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.004285714589059353, + -0.014642857015132904, + 0.004642857238650322, + -0.011428571306169033, + -0.09142857044935226, + 0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + -0.0178571455180645, + -0.30750003457069397, + 0.037142857909202576, + -0.7714284658432007, + -1.5157142877578735, + 0.09714285284280777, + 1.0 + ], + "delta_full_state_norm": [ + 0.27534882752962897, + -0.7284249096129574, + -0.6047779221913034, + 0.6820931095714142, + -0.647443949110289, + -0.20111855562553171, + -1.0 + ], + "movement_text": "move backward 4 mm; move right 15 mm; move upward 5 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 18 mm; move right 308 mm; move upward 37 mm; roll downward 44 degrees; pitch downward 87 degrees; yaw counterclockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 779 mm; move right 720 mm; move upward 65 mm; roll downward 311 degrees; pitch downward 205 degrees; yaw clockwise 8 degrees; open gripper;" + }, + { + "frame_index": 68, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 15 mm; move upward 5 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 14 mm; move right 309 mm; move upward 34 mm; roll downward 47 degrees; pitch downward 85 degrees; yaw counterclockwise 5 degrees; open gripper;\nSubtask Movement: move forward 783 mm; move right 705 mm; move upward 61 mm; roll downward 310 degrees; pitch downward 200 degrees; yaw clockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.004285714589059353, + -0.015357143245637417, + 0.004642857238650322, + -0.012857142835855484, + -0.09142857044935226, + 0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + -0.013571429066359997, + -0.3092857301235199, + 0.03392856940627098, + -0.8142856359481812, + -1.4914284944534302, + 0.08428570628166199, + 1.0 + ], + "delta_full_state_norm": [ + 0.27534882752962897, + -0.7887749559281162, + -0.6047779221913034, + 0.6430382394300194, + -0.647443949110289, + -0.20111855562553171, + -1.0 + ], + "movement_text": "move backward 4 mm; move right 15 mm; move upward 5 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 14 mm; move right 309 mm; move upward 34 mm; roll downward 47 degrees; pitch downward 85 degrees; yaw counterclockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 783 mm; move right 705 mm; move upward 61 mm; roll downward 310 degrees; pitch downward 200 degrees; yaw clockwise 8 degrees; open gripper;" + }, + { + "frame_index": 69, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 16 mm; move upward 5 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 9 mm; move right 307 mm; move upward 29 mm; roll downward 49 degrees; pitch downward 83 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move forward 788 mm; move right 690 mm; move upward 56 mm; roll downward 309 degrees; pitch downward 195 degrees; yaw clockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0035714288242161274, + -0.016428573057055473, + 0.005000000353902578, + -0.018571428954601288, + -0.09142857044935226, + 0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + -0.009285714477300644, + -0.30714288353919983, + 0.029285717755556107, + -0.8557142019271851, + -1.4557143449783325, + 0.0714285746216774, + 1.0 + ], + "delta_full_state_norm": [ + 0.2983280855483539, + -0.8793000647445782, + -0.574539027367267, + 0.48681875886443904, + -0.647443949110289, + -0.20111855562553171, + -1.0 + ], + "movement_text": "move backward 4 mm; move right 16 mm; move upward 5 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 9 mm; move right 307 mm; move upward 29 mm; roll downward 49 degrees; pitch downward 83 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 788 mm; move right 690 mm; move upward 56 mm; roll downward 309 degrees; pitch downward 195 degrees; yaw clockwise 9 degrees; open gripper;" + }, + { + "frame_index": 70, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 16 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 6 mm; move right 302 mm; move upward 24 mm; roll downward 51 degrees; pitch downward 81 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 791 mm; move right 673 mm; move upward 51 mm; roll downward 308 degrees; pitch downward 190 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.002500000176951289, + -0.015714285895228386, + 0.0057142856530845165, + -0.022857142612338066, + -0.09000000357627869, + 0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + -0.0057142856530845165, + -0.302142858505249, + 0.02428571693599224, + -0.8928570747375488, + -1.414285659790039, + 0.058571431785821915, + 1.0 + ], + "delta_full_state_norm": [ + 0.3327969725764417, + -0.8189499397419716, + -0.5140613165732003, + 0.36965417390112965, + -0.6222614584778867, + -0.20111855562553171, + -1.0 + ], + "movement_text": "move backward 3 mm; move right 16 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 6 mm; move right 302 mm; move upward 24 mm; roll downward 51 degrees; pitch downward 81 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 791 mm; move right 673 mm; move upward 51 mm; roll downward 308 degrees; pitch downward 190 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 71, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 2 mm; move right 15 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 3 mm; move right 296 mm; move upward 19 mm; roll downward 53 degrees; pitch downward 78 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 794 mm; move right 658 mm; move upward 45 mm; roll downward 307 degrees; pitch downward 184 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0021428572945296764, + -0.015357143245637417, + 0.0057142856530845165, + -0.025714285671710968, + -0.09000000357627869, + 0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + -0.0032142859417945147, + -0.2964285612106323, + 0.018571430817246437, + -0.9271427989006042, + -1.3685712814331055, + 0.04571428522467613, + 1.0 + ], + "delta_full_state_norm": [ + 0.34428660158580415, + -0.7887749559281162, + -0.5140613165732003, + 0.2915444336183395, + -0.6222614584778867, + -0.20111855562553171, + -1.0 + ], + "movement_text": "move backward 2 mm; move right 15 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 3 mm; move right 296 mm; move upward 19 mm; roll downward 53 degrees; pitch downward 78 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 794 mm; move right 658 mm; move upward 45 mm; roll downward 307 degrees; pitch downward 184 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 72, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move right 15 mm; move upward 5 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 1 mm; move right 289 mm; move upward 13 mm; roll downward 55 degrees; pitch downward 76 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move forward 796 mm; move right 642 mm; move upward 40 mm; roll downward 305 degrees; pitch downward 179 degrees; yaw clockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0010714286472648382, + -0.015357143245637417, + 0.004642857238650322, + -0.029999999329447746, + -0.09000000357627869, + 0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + -0.0010714286472648382, + -0.28928571939468384, + 0.012857143767178059, + -0.954285740852356, + -1.3199999332427979, + 0.03285714238882065, + 1.0 + ], + "delta_full_state_norm": [ + 0.37875548861389197, + -0.7887749559281162, + -0.6047779221913034, + 0.1743798486550301, + -0.6222614584778867, + -0.32095078009387334, + -1.0 + ], + "movement_text": "move backward 1 mm; move right 15 mm; move upward 5 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 1 mm; move right 289 mm; move upward 13 mm; roll downward 55 degrees; pitch downward 76 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 796 mm; move right 642 mm; move upward 40 mm; roll downward 305 degrees; pitch downward 179 degrees; yaw clockwise 11 degrees; open gripper;" + }, + { + "frame_index": 73, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 16 mm; move upward 3 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 280 mm; move upward 8 mm; roll downward 56 degrees; pitch downward 73 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 797 mm; move right 627 mm; move upward 35 mm; roll downward 304 degrees; pitch downward 174 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.015714285895228386, + 0.002500000176951289, + -0.03285714238882065, + -0.08714285492897034, + 0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.28035712242126465, + 0.008214286528527737, + -0.9800000190734863, + -1.2657142877578735, + 0.024285713210701942, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + -0.8189499397419716, + -0.7862111531410114, + 0.09627010837224015, + -0.5718962145383979, + -0.44078299154192935, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 16 mm; move upward 3 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 280 mm; move upward 8 mm; roll downward 56 degrees; pitch downward 73 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 797 mm; move right 627 mm; move upward 35 mm; roll downward 304 degrees; pitch downward 174 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 74, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 271 mm; move upward 6 mm; roll downward 58 degrees; pitch downward 70 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 797 mm; move right 611 mm; move upward 33 mm; roll downward 302 degrees; pitch downward 169 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.012857143767178059, + 0.0, + -0.04857143014669418, + -0.07571428269147873, + 0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.2710714042186737, + 0.0057142856530845165, + -1.0042858123779297, + -1.2142856121063232, + 0.019999999552965164, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + -0.5775499905436802, + -0.9978832789147557, + -0.33333348864398116, + -0.37043563279246905, + -0.44078299154192935, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 271 mm; move upward 6 mm; roll downward 58 degrees; pitch downward 70 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 797 mm; move right 611 mm; move upward 33 mm; roll downward 302 degrees; pitch downward 169 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 75, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 264 mm; move upward 6 mm; roll downward 58 degrees; pitch downward 67 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 797 mm; move right 598 mm; move upward 33 mm; roll downward 299 degrees; pitch downward 165 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.012500000186264515, + 0.0, + -0.04285714402794838, + -0.06714285910129547, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.264285683631897, + 0.0057142856530845165, + -1.014285683631897, + -1.1728571653366089, + 0.015714285895228386, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + -0.5473749280423769, + -0.9978832789147557, + -0.17711400807840094, + -0.21934029498602903, + -0.40083891671914884, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 264 mm; move upward 6 mm; roll downward 58 degrees; pitch downward 67 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 797 mm; move right 598 mm; move upward 33 mm; roll downward 299 degrees; pitch downward 165 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 76, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 258 mm; move upward 6 mm; roll downward 59 degrees; pitch downward 65 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 797 mm; move right 586 mm; move upward 33 mm; roll downward 297 degrees; pitch downward 161 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.012500000186264515, + 0.0, + -0.037142857909202576, + -0.0657142847776413, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.2582142949104309, + 0.0057142856530845165, + -1.0328571796417236, + -1.1399999856948853, + 0.009999999776482582, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + -0.5473749280423769, + -0.9978832789147557, + -0.020894527512820837, + -0.19415767301628462, + -0.40083891671914884, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 258 mm; move upward 6 mm; roll downward 59 degrees; pitch downward 65 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 797 mm; move right 586 mm; move upward 33 mm; roll downward 297 degrees; pitch downward 161 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 77, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 1 mm; move right 254 mm; move upward 6 mm; roll downward 61 degrees; pitch downward 64 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 797 mm; move right 573 mm; move upward 33 mm; roll downward 295 degrees; pitch downward 157 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.012500000186264515, + 0.0, + -0.03999999910593033, + -0.0657142847776413, + 0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.0007142857066355646, + -0.2542857527732849, + 0.0057142856530845165, + -1.0628571510314941, + -1.1099998950958252, + 0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + -0.5473749280423769, + -0.9978832789147557, + -0.09900421687385941, + -0.19415767301628462, + -0.44078299154192935, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 1 mm; move right 254 mm; move upward 6 mm; roll downward 61 degrees; pitch downward 64 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 797 mm; move right 573 mm; move upward 33 mm; roll downward 295 degrees; pitch downward 157 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 78, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 2 mm; move right 253 mm; move upward 6 mm; roll downward 63 degrees; pitch downward 62 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 797 mm; move right 561 mm; move upward 33 mm; roll downward 292 degrees; pitch downward 153 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.013928571715950966, + 0.0, + -0.04571428522467613, + -0.06285714358091354, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0021428572945296764, + -0.2525000274181366, + 0.0057142856530845165, + -1.0914286375045776, + -1.0814285278320312, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + -0.6680749419852465, + -0.9978832789147557, + -0.2552236974394396, + -0.1437925604141379, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 2 mm; move right 253 mm; move upward 6 mm; roll downward 63 degrees; pitch downward 62 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 797 mm; move right 561 mm; move upward 33 mm; roll downward 292 degrees; pitch downward 153 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 79, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 4 mm; move right 250 mm; move upward 6 mm; roll downward 64 degrees; pitch downward 61 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 797 mm; move right 547 mm; move upward 33 mm; roll downward 290 degrees; pitch downward 150 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.015000000596046448, + 0.0, + -0.04714285582304001, + -0.06428571790456772, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0035714288242161274, + -0.25035718083381653, + 0.0057142856530845165, + -1.1114286184310913, + -1.0571428537368774, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + -0.7585999721142607, + -0.9978832789147557, + -0.29427854211995885, + -0.16897518238388232, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 4 mm; move right 250 mm; move upward 6 mm; roll downward 64 degrees; pitch downward 61 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 797 mm; move right 547 mm; move upward 33 mm; roll downward 290 degrees; pitch downward 150 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 80, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 16 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 5 mm; move right 248 mm; move upward 6 mm; roll downward 65 degrees; pitch downward 59 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 797 mm; move right 532 mm; move upward 33 mm; roll downward 287 degrees; pitch downward 146 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.016428573057055473, + 0.0, + -0.051428571343421936, + -0.0657142847776413, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.005357143469154835, + -0.24821431934833527, + 0.0057142856530845165, + -1.132857084274292, + -1.0285714864730835, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + -0.8793000647445782, + -0.9978832789147557, + -0.41144317800501984, + -0.19415767301628462, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 16 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 5 mm; move right 248 mm; move upward 6 mm; roll downward 65 degrees; pitch downward 59 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 797 mm; move right 532 mm; move upward 33 mm; roll downward 287 degrees; pitch downward 146 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 81, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 17 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 8 mm; move right 246 mm; move upward 6 mm; roll downward 66 degrees; pitch downward 57 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 797 mm; move right 515 mm; move upward 33 mm; roll downward 284 degrees; pitch downward 142 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.016785714775323868, + 0.0, + -0.051428571343421936, + -0.06714285910129547, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.007500000298023224, + -0.24571433663368225, + 0.0057142856530845165, + -1.1557142734527588, + -1.0014286041259766, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + -0.9094749698709859, + -0.9978832789147557, + -0.41144317800501984, + -0.21934029498602903, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 17 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 8 mm; move right 246 mm; move upward 6 mm; roll downward 66 degrees; pitch downward 57 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 797 mm; move right 515 mm; move upward 33 mm; roll downward 284 degrees; pitch downward 142 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 82, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 17 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 10 mm; move right 245 mm; move upward 6 mm; roll downward 67 degrees; pitch downward 56 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 797 mm; move right 499 mm; move upward 33 mm; roll downward 281 degrees; pitch downward 138 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.016785714775323868, + 0.0, + -0.04857143014669418, + -0.06714285910129547, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.010357143357396126, + -0.24464289844036102, + 0.0057142856530845165, + -1.177142858505249, + -0.9699999094009399, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + -0.9094749698709859, + -0.9978832789147557, + -0.33333348864398116, + -0.21934029498602903, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 17 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 10 mm; move right 245 mm; move upward 6 mm; roll downward 67 degrees; pitch downward 56 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 797 mm; move right 499 mm; move upward 33 mm; roll downward 281 degrees; pitch downward 138 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 83, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 17 mm; move upward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 14 mm; move right 244 mm; move upward 6 mm; roll downward 69 degrees; pitch downward 54 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 797 mm; move right 482 mm; move upward 33 mm; roll downward 278 degrees; pitch downward 135 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01714285835623741, + 0.0003571428533177823, + -0.04857143014669418, + -0.07000000029802322, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.013571429066359997, + -0.2442857325077057, + 0.0057142856530845165, + -1.2028571367263794, + -0.9414284825325012, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + -0.9396500323722891, + -0.9676444062684085, + -0.33333348864398116, + -0.26970540758817574, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 17 mm; move upward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 14 mm; move right 244 mm; move upward 6 mm; roll downward 69 degrees; pitch downward 54 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 797 mm; move right 482 mm; move upward 33 mm; roll downward 278 degrees; pitch downward 135 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 84, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move upward 1 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 17 mm; move right 244 mm; move upward 5 mm; roll downward 70 degrees; pitch downward 52 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 797 mm; move right 465 mm; move upward 32 mm; roll downward 275 degrees; pitch downward 131 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01785714365541935, + 0.0014285714132711291, + -0.04857143014669418, + -0.07285714149475098, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.016785716637969017, + -0.24392855167388916, + 0.0053571430034935474, + -1.2257142066955566, + -0.9114285111427307, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + -1.0, + -0.8769277883293668, + -0.33333348864398116, + -0.32007052019032245, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move upward 1 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 17 mm; move right 244 mm; move upward 5 mm; roll downward 70 degrees; pitch downward 52 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 797 mm; move right 465 mm; move upward 32 mm; roll downward 275 degrees; pitch downward 131 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 85, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move upward 1 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 20 mm; move right 244 mm; move upward 4 mm; roll downward 71 degrees; pitch downward 50 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 797 mm; move right 447 mm; move upward 31 mm; roll downward 273 degrees; pitch downward 126 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.017500000074505806, + 0.0014285714132711291, + -0.05285714194178581, + -0.0714285746216774, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.020000001415610313, + -0.2435714304447174, + 0.0039285714738070965, + -1.2471429109573364, + -0.8785714507102966, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + -0.9698249374986967, + -0.8769277883293668, + -0.45049802268553907, + -0.29488802955792004, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move upward 1 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 20 mm; move right 244 mm; move upward 4 mm; roll downward 71 degrees; pitch downward 50 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 797 mm; move right 447 mm; move upward 31 mm; roll downward 273 degrees; pitch downward 126 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 86, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 17 mm; move upward 1 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 24 mm; move right 243 mm; move upward 3 mm; roll downward 72 degrees; pitch downward 49 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 797 mm; move right 429 mm; move upward 29 mm; roll downward 270 degrees; pitch downward 122 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01714285835623741, + 0.0010714286472648382, + -0.05428571254014969, + -0.06857142597436905, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.023571429774165154, + -0.24285712838172913, + 0.002500000176951289, + -1.26285719871521, + -0.8500000238418579, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + -0.9396500323722891, + -0.907166653583151, + -0.4895528673660584, + -0.24452278561843133, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 17 mm; move upward 1 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 24 mm; move right 243 mm; move upward 3 mm; roll downward 72 degrees; pitch downward 49 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 797 mm; move right 429 mm; move upward 29 mm; roll downward 270 degrees; pitch downward 122 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 87, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 16 mm; move upward 1 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 29 mm; move right 241 mm; move upward 1 mm; roll downward 73 degrees; pitch downward 47 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 797 mm; move right 412 mm; move upward 28 mm; roll downward 267 degrees; pitch downward 118 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.016428573057055473, + 0.0014285714132711291, + -0.05428571254014969, + -0.06714285910129547, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.028928572311997414, + -0.24071429669857025, + 0.0014285714132711291, + -1.278571605682373, + -0.821428656578064, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + -0.8793000647445782, + -0.8769277883293668, + -0.4895528673660584, + -0.21934029498602903, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 16 mm; move upward 1 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 29 mm; move right 241 mm; move upward 1 mm; roll downward 73 degrees; pitch downward 47 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 797 mm; move right 412 mm; move upward 28 mm; roll downward 267 degrees; pitch downward 118 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 88, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 36 mm; move right 237 mm; move downward 0 mm; roll downward 74 degrees; pitch downward 46 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 797 mm; move right 396 mm; move upward 27 mm; roll downward 263 degrees; pitch downward 115 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.013214285485446453, + 0.0, + -0.05428571254014969, + -0.055714286863803864, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0357142873108387, + -0.23749999701976776, + 0.0, + -1.29285728931427, + -0.7942858338356018, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + -0.6077248956700878, + -0.9978832789147557, + -0.4895528673660584, + -0.01787971324010018, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 36 mm; move right 237 mm; move downward 0 mm; roll downward 74 degrees; pitch downward 46 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 797 mm; move right 396 mm; move upward 27 mm; roll downward 263 degrees; pitch downward 115 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 89, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 11 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 44 mm; move right 237 mm; move downward 0 mm; roll downward 75 degrees; pitch downward 45 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 797 mm; move right 383 mm; move upward 27 mm; roll downward 260 degrees; pitch downward 111 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.011428571306169033, + 0.0, + -0.055714286863803864, + -0.05000000074505806, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.044285714626312256, + -0.23749999701976776, + 0.0, + -1.3042858839035034, + -0.7785715460777283, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + -0.4568498979133627, + -0.9978832789147557, + -0.5286078138900807, + 0.0828505776328643, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 11 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 44 mm; move right 237 mm; move downward 0 mm; roll downward 75 degrees; pitch downward 45 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 797 mm; move right 383 mm; move upward 27 mm; roll downward 260 degrees; pitch downward 111 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 90, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 10 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 55 mm; move right 237 mm; move downward 0 mm; roll downward 75 degrees; pitch downward 44 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 797 mm; move right 371 mm; move upward 27 mm; roll downward 257 degrees; pitch downward 109 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.010000000707805157, + 0.0, + -0.05714285746216774, + -0.044285714626312256, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05464285612106323, + -0.23714284598827362, + 0.0, + -1.3142857551574707, + -0.7642858028411865, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + -0.33614996265794084, + -0.9978832789147557, + -0.5676626585705999, + 0.18358086850582866, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 10 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 55 mm; move right 237 mm; move downward 0 mm; roll downward 75 degrees; pitch downward 44 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 797 mm; move right 371 mm; move upward 27 mm; roll downward 257 degrees; pitch downward 109 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 91, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 8 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 65 mm; move right 237 mm; move downward 0 mm; roll downward 75 degrees; pitch downward 43 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 797 mm; move right 361 mm; move upward 27 mm; roll downward 254 degrees; pitch downward 106 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.008214286528527737, + 0.0, + -0.05285714194178581, + -0.041428569704294205, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.06499999761581421, + -0.23714284598827362, + 0.0, + -1.3157143592834473, + -0.7557142972946167, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + -0.18527496490121576, + -0.9978832789147557, + -0.45049802268553907, + 0.23394604677664632, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 8 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 65 mm; move right 237 mm; move downward 0 mm; roll downward 75 degrees; pitch downward 43 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 797 mm; move right 361 mm; move upward 27 mm; roll downward 254 degrees; pitch downward 106 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 92, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 6 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 77 mm; move right 238 mm; move downward 0 mm; roll downward 76 degrees; pitch downward 43 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 797 mm; move right 353 mm; move upward 27 mm; roll downward 251 degrees; pitch downward 104 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.006428571883589029, + 0.0, + -0.055714286863803864, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.07678571343421936, + -0.23821428418159485, + 0.0, + -1.321428656578064, + -0.7442857027053833, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + -0.03439992780076673, + -0.9978832789147557, + -0.5286078138900807, + 0.33467627198093974, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 6 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 77 mm; move right 238 mm; move downward 0 mm; roll downward 76 degrees; pitch downward 43 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 797 mm; move right 353 mm; move upward 27 mm; roll downward 251 degrees; pitch downward 104 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 93, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 6 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 90 mm; move right 239 mm; move downward 0 mm; roll downward 76 degrees; pitch downward 42 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 797 mm; move right 346 mm; move upward 27 mm; roll downward 248 degrees; pitch downward 102 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.006428571883589029, + 0.0, + -0.05714285746216774, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.08964285999536514, + -0.23892855644226074, + 0.0, + -1.3271428346633911, + -0.73714280128479, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + -0.03439992780076673, + -0.9978832789147557, + -0.5676626585705999, + 0.33467627198093974, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 6 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 90 mm; move right 239 mm; move downward 0 mm; roll downward 76 degrees; pitch downward 42 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 797 mm; move right 346 mm; move upward 27 mm; roll downward 248 degrees; pitch downward 102 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 94, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 6 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 102 mm; move right 239 mm; move downward 0 mm; roll downward 76 degrees; pitch downward 42 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 797 mm; move right 340 mm; move upward 27 mm; roll downward 244 degrees; pitch downward 100 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.006071428768336773, + 0.0, + -0.058571428060531616, + -0.034285712987184525, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.10249999910593033, + -0.23892858624458313, + 0.0, + -1.3285715579986572, + -0.7299999594688416, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + -0.004224904643187366, + -0.9978832789147557, + -0.6067175032511193, + 0.35985889395068416, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 6 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 102 mm; move right 239 mm; move downward 0 mm; roll downward 76 degrees; pitch downward 42 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 797 mm; move right 340 mm; move upward 27 mm; roll downward 244 degrees; pitch downward 100 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 95, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 6 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 116 mm; move right 239 mm; move downward 0 mm; roll downward 76 degrees; pitch downward 41 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 797 mm; move right 334 mm; move upward 27 mm; roll downward 241 degrees; pitch downward 98 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.006428571883589029, + 0.0, + -0.06142857298254967, + -0.034285712987184525, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1160714253783226, + -0.23892855644226074, + 0.0, + -1.3300000429153442, + -0.7228570580482483, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + -0.03439992780076673, + -0.9978832789147557, + -0.6848272944556608, + 0.35985889395068416, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 6 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 116 mm; move right 239 mm; move downward 0 mm; roll downward 76 degrees; pitch downward 41 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 797 mm; move right 334 mm; move upward 27 mm; roll downward 241 degrees; pitch downward 98 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 96, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 9 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 130 mm; move right 238 mm; move downward 0 mm; roll downward 76 degrees; pitch downward 41 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 797 mm; move right 328 mm; move upward 27 mm; roll downward 237 degrees; pitch downward 96 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0007142857066355646, + -0.008571429178118706, + 0.0, + -0.06714285910129547, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.12999999523162842, + -0.23821429908275604, + 0.0, + -1.3314286470413208, + -0.7157142162322998, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4362036317881084, + -0.21544994871507128, + -0.9978832789147557, + -0.8410467750212411, + 0.33467627198093974, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 9 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 130 mm; move right 238 mm; move downward 0 mm; roll downward 76 degrees; pitch downward 41 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 797 mm; move right 328 mm; move upward 27 mm; roll downward 237 degrees; pitch downward 96 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 97, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 11 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 144 mm; move right 236 mm; move downward 0 mm; roll downward 76 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 796 mm; move right 319 mm; move upward 27 mm; roll downward 234 degrees; pitch downward 94 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0014285714132711291, + -0.010714286006987095, + 0.0, + -0.06857142597436905, + -0.037142857909202576, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.14357143640518188, + -0.23607145249843597, + 0.0, + -1.3242857456207275, + -0.705714225769043, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4591828879342372, + -0.3964999302856518, + -0.9978832789147557, + -0.8801015178582574, + 0.3094937156798665, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 11 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 144 mm; move right 236 mm; move downward 0 mm; roll downward 76 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 796 mm; move right 319 mm; move upward 27 mm; roll downward 234 degrees; pitch downward 94 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 98, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 12 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 158 mm; move right 232 mm; move downward 0 mm; roll downward 75 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 795 mm; move right 308 mm; move upward 27 mm; roll downward 230 degrees; pitch downward 91 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0014285714132711291, + -0.011785714887082577, + 0.0, + -0.0657142847776413, + -0.03857142850756645, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.15785716474056244, + -0.23178575932979584, + 0.0, + -1.3171428442001343, + -0.6928571462631226, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4591828879342372, + -0.48702496041466603, + -0.9978832789147557, + -0.8019918284972187, + 0.28431115937879303, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 12 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 158 mm; move right 232 mm; move downward 0 mm; roll downward 75 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 795 mm; move right 308 mm; move upward 27 mm; roll downward 230 degrees; pitch downward 91 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 99, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 13 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 172 mm; move right 226 mm; move downward 0 mm; roll downward 75 degrees; pitch downward 39 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 793 mm; move right 296 mm; move upward 27 mm; roll downward 226 degrees; pitch downward 89 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 227, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0017857144121080637, + -0.012857143767178059, + 0.0, + -0.06857142597436905, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17178571224212646, + -0.22642861306667328, + 0.0, + -1.3142856359481812, + -0.6800000667572021, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4706725206887923, + -0.5775499905436802, + -0.9978832789147557, + -0.8801015178582574, + 0.33467627198093974, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 13 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 172 mm; move right 226 mm; move downward 0 mm; roll downward 75 degrees; pitch downward 39 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 793 mm; move right 296 mm; move upward 27 mm; roll downward 226 degrees; pitch downward 89 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 100, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 14 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 185 mm; move right 220 mm; move downward 0 mm; roll downward 75 degrees; pitch downward 38 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 791 mm; move right 284 mm; move upward 27 mm; roll downward 222 degrees; pitch downward 87 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 227, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0021428572945296764, + -0.013928571715950966, + 0.0, + -0.07428571581840515, + -0.03857142850756645, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18535713851451874, + -0.21964286267757416, + 0.0, + -1.3028570413589478, + -0.6657143831253052, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.48216214969815496, + -0.6680749419852465, + -0.9978832789147557, + -1.0, + 0.28431115937879303, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 14 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 185 mm; move right 220 mm; move downward 0 mm; roll downward 75 degrees; pitch downward 38 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 791 mm; move right 284 mm; move upward 27 mm; roll downward 222 degrees; pitch downward 87 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 101, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 16 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 198 mm; move right 211 mm; move downward 0 mm; roll downward 74 degrees; pitch downward 37 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 789 mm; move right 270 mm; move upward 27 mm; roll downward 218 degrees; pitch downward 85 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 228, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0028571428265422583, + -0.015714285895228386, + 0.0, + -0.07285714149475098, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.19785714149475098, + -0.2110714465379715, + 0.0, + -1.2857142686843872, + -0.6500000357627869, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5051414002264949, + -0.8189499397419716, + -0.9978832789147557, + -0.9972661537433183, + 0.33467627198093974, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 16 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 198 mm; move right 211 mm; move downward 0 mm; roll downward 74 degrees; pitch downward 37 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 789 mm; move right 270 mm; move upward 27 mm; roll downward 218 degrees; pitch downward 85 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 102, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 16 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 209 mm; move right 200 mm; move downward 0 mm; roll downward 73 degrees; pitch downward 37 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 786 mm; move right 254 mm; move upward 27 mm; roll downward 214 degrees; pitch downward 83 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 229, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0032142859417945147, + -0.016428573057055473, + 0.0, + -0.07428571581840515, + -0.03857142850756645, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20928572118282318, + -0.20035715401172638, + 0.0, + -1.2714285850524902, + -0.6371428370475769, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5166310367262426, + -0.8793000647445782, + -0.9978832789147557, + -1.0, + 0.28431115937879303, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 16 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 209 mm; move right 200 mm; move downward 0 mm; roll downward 73 degrees; pitch downward 37 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 786 mm; move right 254 mm; move upward 27 mm; roll downward 214 degrees; pitch downward 83 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 103, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 17 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 220 mm; move right 189 mm; move downward 0 mm; roll downward 72 degrees; pitch downward 36 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 783 mm; move right 237 mm; move upward 27 mm; roll downward 209 degrees; pitch downward 81 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 230, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0032142859417945147, + -0.016785714775323868, + 0.0, + -0.0714285746216774, + -0.03999999910593033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2200000137090683, + -0.18892857432365417, + 0.0, + -1.2542858123779297, + -0.6200000047683716, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5166310367262426, + -0.9094749698709859, + -0.9978832789147557, + -0.958211410906302, + 0.2591286030777198, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 17 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 220 mm; move right 189 mm; move downward 0 mm; roll downward 72 degrees; pitch downward 36 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 783 mm; move right 237 mm; move upward 27 mm; roll downward 209 degrees; pitch downward 81 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 104, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 18 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 230 mm; move right 176 mm; move downward 0 mm; roll downward 71 degrees; pitch downward 35 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 780 mm; move right 221 mm; move upward 27 mm; roll downward 205 degrees; pitch downward 78 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 230, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0032142859417945147, + -0.017500000074505806, + 0.0, + -0.07000000029802322, + -0.03999999910593033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2296428680419922, + -0.17642857134342194, + 0.0, + -1.2414286136627197, + -0.6042856574058533, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5166310367262426, + -0.9698249374986967, + -0.9978832789147557, + -0.9191564643822797, + 0.2591286030777198, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 18 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 230 mm; move right 176 mm; move downward 0 mm; roll downward 71 degrees; pitch downward 35 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 780 mm; move right 221 mm; move upward 27 mm; roll downward 205 degrees; pitch downward 78 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 105, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 17 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 239 mm; move right 163 mm; move downward 0 mm; roll downward 70 degrees; pitch downward 34 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 777 mm; move right 203 mm; move upward 27 mm; roll downward 201 degrees; pitch downward 76 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 231, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0035714288242161274, + -0.016785714775323868, + 0.0, + -0.06857142597436905, + -0.04285714402794838, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23928573727607727, + -0.16250000894069672, + 0.0, + -1.2271428108215332, + -0.587142825126648, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.528120665735605, + -0.9094749698709859, + -0.9978832789147557, + -0.8801015178582574, + 0.2087634248069019, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 17 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 239 mm; move right 163 mm; move downward 0 mm; roll downward 70 degrees; pitch downward 34 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 777 mm; move right 203 mm; move upward 27 mm; roll downward 201 degrees; pitch downward 76 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 106, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 15 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 249 mm; move right 147 mm; move downward 0 mm; roll downward 69 degrees; pitch downward 32 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 773 mm; move right 186 mm; move upward 27 mm; roll downward 197 degrees; pitch downward 74 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 232, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0053571430034935474, + -0.015000000596046448, + 0.0, + -0.07000000029802322, + -0.03999999910593033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2485714703798294, + -0.14714285731315613, + 0.0, + -1.2128571271896362, + -0.5642856359481812, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5855688032920328, + -0.7585999721142607, + -0.9978832789147557, + -0.9191564643822797, + 0.2591286030777198, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 15 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 249 mm; move right 147 mm; move downward 0 mm; roll downward 69 degrees; pitch downward 32 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 773 mm; move right 186 mm; move upward 27 mm; roll downward 197 degrees; pitch downward 74 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 107, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 13 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 256 mm; move right 132 mm; move downward 0 mm; roll downward 69 degrees; pitch downward 31 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 768 mm; move right 171 mm; move upward 27 mm; roll downward 193 degrees; pitch downward 71 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 233, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006785714533179998, + -0.013214285485446453, + 0.0, + -0.06857142597436905, + -0.03999999910593033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2560714781284332, + -0.1321428418159485, + 0.0, + -1.1957143545150757, + -0.5414285063743591, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.631527319329483, + -0.6077248956700878, + -0.9978832789147557, + -0.8801015178582574, + 0.2591286030777198, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 13 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 256 mm; move right 132 mm; move downward 0 mm; roll downward 69 degrees; pitch downward 31 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 768 mm; move right 171 mm; move upward 27 mm; roll downward 193 degrees; pitch downward 71 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 108, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 13 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 262 mm; move right 119 mm; move downward 0 mm; roll downward 68 degrees; pitch downward 30 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 761 mm; move right 158 mm; move upward 27 mm; roll downward 189 degrees; pitch downward 69 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 233, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008571429178118706, + -0.013214285485446453, + 0.0, + -0.0657142847776413, + -0.03999999910593033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.26214292645454407, + -0.11892856657505035, + 0.0, + -1.1828571557998657, + -0.5171428322792053, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.688975471866681, + -0.6077248956700878, + -0.9978832789147557, + -0.8019918284972187, + 0.2591286030777198, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 13 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 262 mm; move right 119 mm; move downward 0 mm; roll downward 68 degrees; pitch downward 30 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 761 mm; move right 158 mm; move upward 27 mm; roll downward 189 degrees; pitch downward 69 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 109, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 11 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 266 mm; move right 106 mm; move downward 0 mm; roll downward 67 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 753 mm; move right 145 mm; move upward 27 mm; roll downward 186 degrees; pitch downward 67 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 234, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + -0.011071428656578064, + 0.0, + -0.0657142847776413, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2664286494255066, + -0.10571427643299103, + 0.0, + -1.175714373588562, + -0.4928571283817291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7464236094231087, + -0.4266749140995072, + -0.9978832789147557, + -0.8019918284972187, + 0.33467627198093974, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 11 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 266 mm; move right 106 mm; move downward 0 mm; roll downward 67 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 753 mm; move right 145 mm; move upward 27 mm; roll downward 186 degrees; pitch downward 67 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 110, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 10 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 269 mm; move right 95 mm; move downward 0 mm; roll downward 67 degrees; pitch downward 27 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 742 mm; move right 134 mm; move upward 27 mm; roll downward 182 degrees; pitch downward 65 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 234, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + -0.010000000707805157, + 0.0, + -0.058571428060531616, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2685714662075043, + -0.09464286267757416, + 0.0, + -1.1699999570846558, + -0.4714285731315613, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7464236094231087, + -0.33614996265794084, + -0.9978832789147557, + -0.6067175032511193, + 0.33467627198093974, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 10 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 269 mm; move right 95 mm; move downward 0 mm; roll downward 67 degrees; pitch downward 27 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 742 mm; move right 134 mm; move upward 27 mm; roll downward 182 degrees; pitch downward 65 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 111, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 9 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 271 mm; move right 85 mm; move downward 0 mm; roll downward 67 degrees; pitch downward 26 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 732 mm; move right 124 mm; move upward 27 mm; roll downward 178 degrees; pitch downward 63 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 234, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + -0.009285714477300644, + 0.0, + -0.058571428060531616, + -0.029999999329447746, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.27071431279182434, + -0.08464286476373672, + 0.0, + -1.1714285612106323, + -0.44999998807907104, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7923821254605588, + -0.2757999163427821, + -0.9978832789147557, + -0.6067175032511193, + 0.4354065956882398, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 9 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 271 mm; move right 85 mm; move downward 0 mm; roll downward 67 degrees; pitch downward 26 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 732 mm; move right 124 mm; move upward 27 mm; roll downward 178 degrees; pitch downward 63 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 112, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 7 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 271 mm; move right 75 mm; move downward 0 mm; roll downward 67 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 720 mm; move right 115 mm; move upward 27 mm; roll downward 175 degrees; pitch downward 61 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 234, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + -0.007142857648432255, + 0.0, + -0.06142857298254967, + -0.02857142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2710714340209961, + -0.07535715401172638, + 0.0, + -1.1714285612106323, + -0.4342857301235199, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8268510199790315, + -0.09474993477220162, + -0.9978832789147557, + -0.6848272944556608, + 0.46058915198931305, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 7 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 271 mm; move right 75 mm; move downward 0 mm; roll downward 67 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 720 mm; move right 115 mm; move upward 27 mm; roll downward 175 degrees; pitch downward 61 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 113, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 6 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 270 mm; move right 68 mm; move downward 0 mm; roll downward 67 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 707 mm; move right 108 mm; move upward 27 mm; roll downward 172 degrees; pitch downward 59 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 234, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + -0.006428571883589029, + 0.0, + -0.058571428060531616, + -0.02857142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2696428596973419, + -0.0682142898440361, + 0.0, + -1.1657143831253052, + -0.41999998688697815, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8268510199790315, + -0.03439992780076673, + -0.9978832789147557, + -0.6067175032511193, + 0.46058915198931305, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 6 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 270 mm; move right 68 mm; move downward 0 mm; roll downward 67 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 707 mm; move right 108 mm; move upward 27 mm; roll downward 172 degrees; pitch downward 59 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 114, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 267 mm; move right 62 mm; move downward 0 mm; roll downward 66 degrees; pitch downward 23 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 694 mm; move right 101 mm; move upward 27 mm; roll downward 168 degrees; pitch downward 58 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 234, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013571429066359997, + -0.006071428768336773, + 0.0, + -0.05999999865889549, + -0.027142856270074844, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2671428620815277, + -0.06178572401404381, + 0.0, + -1.1571428775787354, + -0.40714287757873535, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8498302630169865, + -0.004224904643187366, + -0.9978832789147557, + -0.6457723479316386, + 0.485771741124722, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 267 mm; move right 62 mm; move downward 0 mm; roll downward 66 degrees; pitch downward 23 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 694 mm; move right 101 mm; move upward 27 mm; roll downward 168 degrees; pitch downward 58 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 115, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 263 mm; move right 56 mm; move upward 1 mm; roll downward 66 degrees; pitch downward 23 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 681 mm; move right 95 mm; move upward 27 mm; roll downward 165 degrees; pitch downward 56 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 234, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.0057142856530845165, + 0.0, + -0.06285714358091354, + -0.027142856270074844, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.26321426033973694, + -0.05571429058909416, + 0.0014285714132711291, + -1.1442856788635254, + -0.3971428871154785, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.861319884535964, + 0.025950118514391995, + -0.9978832789147557, + -0.7238821391361802, + 0.485771741124722, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 263 mm; move right 56 mm; move upward 1 mm; roll downward 66 degrees; pitch downward 23 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 681 mm; move right 95 mm; move upward 27 mm; roll downward 165 degrees; pitch downward 56 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 116, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 258 mm; move right 50 mm; move upward 4 mm; roll downward 65 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 667 mm; move right 89 mm; move upward 27 mm; roll downward 161 degrees; pitch downward 55 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 234, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.006428571883589029, + 0.0, + -0.05999999865889549, + -0.025714285671710968, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.25785714387893677, + -0.05000000819563866, + 0.0039285714738070965, + -1.1271429061889648, + -0.3871428668498993, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8728095360164818, + -0.03439992780076673, + -0.9978832789147557, + -0.6457723479316386, + 0.5109542974257952, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 258 mm; move right 50 mm; move upward 4 mm; roll downward 65 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 667 mm; move right 89 mm; move upward 27 mm; roll downward 161 degrees; pitch downward 55 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 117, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 6 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 252 mm; move right 44 mm; move upward 7 mm; roll downward 64 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 653 mm; move right 83 mm; move upward 27 mm; roll downward 158 degrees; pitch downward 53 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 233, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015714285895228386, + -0.006428571883589029, + 0.0, + -0.06142857298254967, + -0.02428571507334709, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2517857253551483, + -0.043571434915065765, + 0.006785714533179998, + -1.1100001335144043, + -0.3800000250339508, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9187680220923917, + -0.03439992780076673, + -0.9978832789147557, + -0.6848272944556608, + 0.5361368537268687, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 6 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 252 mm; move right 44 mm; move upward 7 mm; roll downward 64 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 653 mm; move right 83 mm; move upward 27 mm; roll downward 158 degrees; pitch downward 53 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 118, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 6 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 244 mm; move right 37 mm; move upward 9 mm; roll downward 63 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 637 mm; move right 76 mm; move upward 27 mm; roll downward 154 degrees; pitch downward 52 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 233, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + -0.006428571883589029, + 0.0, + -0.06285714358091354, + -0.025714285671710968, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.24392858147621155, + -0.037142857909202576, + 0.009285714477300644, + -1.0914286375045776, + -0.3742857575416565, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9072784005734142, + -0.03439992780076673, + -0.9978832789147557, + -0.7238821391361802, + 0.5109542974257952, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 6 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 244 mm; move right 37 mm; move upward 9 mm; roll downward 63 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 637 mm; move right 76 mm; move upward 27 mm; roll downward 154 degrees; pitch downward 52 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 119, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 6 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 236 mm; move right 31 mm; move upward 13 mm; roll downward 61 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 621 mm; move right 70 mm; move upward 27 mm; roll downward 151 degrees; pitch downward 50 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 232, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + -0.006071428768336773, + 0.0, + -0.05714285746216774, + -0.02142857201397419, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23571427166461945, + -0.030714288353919983, + 0.012500000186264515, + -1.071428656578064, + -0.3685714900493622, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9072784005734142, + -0.004224904643187366, + -0.9978832789147557, + -0.5676626585705999, + 0.5865019991633509, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 6 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 236 mm; move right 31 mm; move upward 13 mm; roll downward 61 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 621 mm; move right 70 mm; move upward 27 mm; roll downward 151 degrees; pitch downward 50 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 120, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 5 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 227 mm; move right 26 mm; move upward 15 mm; roll downward 61 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 606 mm; move right 64 mm; move upward 27 mm; roll downward 147 degrees; pitch downward 49 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 232, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.0053571430034935474, + 0.0, + -0.05714285746216774, + -0.022857142612338066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22749999165534973, + -0.02607142925262451, + 0.015000000596046448, + -1.0600000619888306, + -0.367142915725708, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8842991275739189, + 0.05612510232824741, + -0.9978832789147557, + -0.5676626585705999, + 0.5613194428622774, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 5 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 227 mm; move right 26 mm; move upward 15 mm; roll downward 61 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 606 mm; move right 64 mm; move upward 27 mm; roll downward 147 degrees; pitch downward 49 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 121, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 5 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 220 mm; move right 23 mm; move upward 18 mm; roll downward 60 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 591 mm; move right 59 mm; move upward 27 mm; roll downward 144 degrees; pitch downward 48 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 232, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.005000000353902578, + 0.0, + -0.058571428060531616, + -0.022857142612338066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21964287757873535, + -0.02321428619325161, + 0.017500001937150955, + -1.0485714673995972, + -0.3671428859233856, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8728095360164818, + 0.08630008614210283, + -0.9978832789147557, + -0.6067175032511193, + 0.5613194428622774, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 5 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 220 mm; move right 23 mm; move upward 18 mm; roll downward 60 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 591 mm; move right 59 mm; move upward 27 mm; roll downward 144 degrees; pitch downward 48 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 122, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 5 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 212 mm; move right 20 mm; move upward 20 mm; roll downward 60 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 577 mm; move right 54 mm; move upward 27 mm; roll downward 141 degrees; pitch downward 46 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 231, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.005000000353902578, + 0.0, + -0.05714285746216774, + -0.02142857201397419, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2117857187986374, + -0.020357144996523857, + 0.020000001415610313, + -1.0399999618530273, + -0.3700000047683716, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.861319884535964, + 0.08630008614210283, + -0.9978832789147557, + -0.5676626585705999, + 0.5865019991633509, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 5 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 212 mm; move right 20 mm; move upward 20 mm; roll downward 60 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 577 mm; move right 54 mm; move upward 27 mm; roll downward 141 degrees; pitch downward 46 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 123, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 4 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 204 mm; move right 18 mm; move upward 23 mm; roll downward 59 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 563 mm; move right 49 mm; move upward 27 mm; roll downward 137 degrees; pitch downward 45 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 231, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + -0.004285714589059353, + 0.0, + -0.058571428060531616, + -0.02428571507334709, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20357143878936768, + -0.01785714365541935, + 0.022857144474983215, + -1.031428575515747, + -0.3742857277393341, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8268510199790315, + 0.14665009311353772, + -0.9978832789147557, + -0.6067175032511193, + 0.5361368537268687, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 4 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 204 mm; move right 18 mm; move upward 23 mm; roll downward 59 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 563 mm; move right 49 mm; move upward 27 mm; roll downward 137 degrees; pitch downward 45 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 124, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 4 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 198 mm; move right 16 mm; move upward 25 mm; roll downward 59 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 550 mm; move right 44 mm; move upward 27 mm; roll downward 134 degrees; pitch downward 44 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 230, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + -0.0035714288242161274, + 0.0, + -0.055714286863803864, + -0.022857142612338066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.19750002026557922, + -0.016428573057055473, + 0.024642860516905785, + -1.0242857933044434, + -0.37142860889434814, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8268510199790315, + 0.2070001000849726, + -0.9978832789147557, + -0.5286078138900807, + 0.5613194428622774, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 4 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 198 mm; move right 16 mm; move upward 25 mm; roll downward 59 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 550 mm; move right 44 mm; move upward 27 mm; roll downward 134 degrees; pitch downward 44 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 125, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 1 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 192 mm; move right 16 mm; move upward 26 mm; roll downward 59 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 538 mm; move right 41 mm; move upward 27 mm; roll downward 131 degrees; pitch downward 42 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 230, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + -0.0014285714132711291, + 0.0, + -0.05428571254014969, + -0.019999999552965164, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.19178572297096252, + -0.015714285895228386, + 0.02607143297791481, + -1.0242856740951538, + -0.3685714304447174, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8268510199790315, + 0.388050130835208, + -0.9978832789147557, + -0.4895528673660584, + 0.6116845882987596, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 1 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 192 mm; move right 16 mm; move upward 26 mm; roll downward 59 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 538 mm; move right 41 mm; move upward 27 mm; roll downward 131 degrees; pitch downward 42 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 126, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 187 mm; move right 17 mm; move upward 27 mm; roll downward 59 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 525 mm; move right 39 mm; move upward 27 mm; roll downward 128 degrees; pitch downward 41 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 230, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + 0.0, + -0.05285714194178581, + -0.017142856493592262, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1867857128381729, + -0.01714285835623741, + 0.026785720139741898, + -1.0257142782211304, + -0.3685714304447174, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8268510199790315, + 0.5087501349421466, + -0.9978832789147557, + -0.45049802268553907, + 0.662049733735242, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 187 mm; move right 17 mm; move upward 27 mm; roll downward 59 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 525 mm; move right 39 mm; move upward 27 mm; roll downward 128 degrees; pitch downward 41 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 127, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 183 mm; move right 21 mm; move upward 27 mm; roll downward 59 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 512 mm; move right 39 mm; move upward 27 mm; roll downward 125 degrees; pitch downward 40 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 229, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + 0.0, + -0.055714286863803864, + -0.015714285895228386, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18250000476837158, + -0.021071430295705795, + 0.026785720139741898, + -1.0285714864730835, + -0.37142860889434814, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8268510199790315, + 0.5087501349421466, + -0.9978832789147557, + -0.5286078138900807, + 0.6872322900363153, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 183 mm; move right 21 mm; move upward 27 mm; roll downward 59 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 512 mm; move right 39 mm; move upward 27 mm; roll downward 125 degrees; pitch downward 40 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 128, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 179 mm; move right 24 mm; move upward 27 mm; roll downward 59 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 499 mm; move right 39 mm; move upward 27 mm; roll downward 122 degrees; pitch downward 39 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 228, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + 0.0, + -0.058571428060531616, + -0.015714285895228386, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1785714328289032, + -0.02428571693599224, + 0.026785720139741898, + -1.0342857837677002, + -0.37571433186531067, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8268510199790315, + 0.5087501349421466, + -0.9978832789147557, + -0.6067175032511193, + 0.6872322900363153, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 179 mm; move right 24 mm; move upward 27 mm; roll downward 59 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 499 mm; move right 39 mm; move upward 27 mm; roll downward 122 degrees; pitch downward 39 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 129, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 176 mm; move right 26 mm; move upward 27 mm; roll downward 59 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 486 mm; move right 39 mm; move upward 27 mm; roll downward 118 degrees; pitch downward 39 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 228, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + 0.0, + -0.05999999865889549, + -0.014285714365541935, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.176071435213089, + -0.026428574696183205, + 0.026785720139741898, + -1.0357142686843872, + -0.3800000548362732, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8153613684985137, + 0.5087501349421466, + -0.9978832789147557, + -0.6457723479316386, + 0.7124148627545563, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 176 mm; move right 26 mm; move upward 27 mm; roll downward 59 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 486 mm; move right 39 mm; move upward 27 mm; roll downward 118 degrees; pitch downward 39 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 130, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 175 mm; move right 28 mm; move upward 27 mm; roll downward 60 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 474 mm; move right 39 mm; move upward 27 mm; roll downward 115 degrees; pitch downward 38 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 227, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + 0.0, + -0.05999999865889549, + -0.014285714365541935, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17500001192092896, + -0.028214288875460625, + 0.026785720139741898, + -1.0399999618530273, + -0.3842857778072357, + -0.0028571428265422583, + 1.0 + ], + "delta_full_state_norm": [ + 0.8153613684985137, + 0.5087501349421466, + -0.9978832789147557, + -0.6457723479316386, + 0.7124148627545563, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 175 mm; move right 28 mm; move upward 27 mm; roll downward 60 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 474 mm; move right 39 mm; move upward 27 mm; roll downward 115 degrees; pitch downward 38 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 131, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 175 mm; move right 30 mm; move upward 27 mm; roll downward 60 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 461 mm; move right 39 mm; move upward 27 mm; roll downward 111 degrees; pitch downward 37 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 227, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + 0.0, + 0.0, + -0.058571428060531616, + -0.014285714365541935, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1753571480512619, + -0.0296428594738245, + 0.026785720139741898, + -1.044285774230957, + -0.3857143521308899, + -0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + 0.8038717469795362, + 0.5087501349421466, + -0.9978832789147557, + -0.6067175032511193, + 0.7124148627545563, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 175 mm; move right 30 mm; move upward 27 mm; roll downward 60 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 461 mm; move right 39 mm; move upward 27 mm; roll downward 111 degrees; pitch downward 37 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 132, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 177 mm; move right 32 mm; move upward 27 mm; roll downward 60 degrees; pitch downward 22 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 449 mm; move right 39 mm; move upward 27 mm; roll downward 108 degrees; pitch downward 36 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + 0.0, + -0.055714286863803864, + -0.014285714365541935, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.17714285850524902, + -0.031785719096660614, + 0.026785720139741898, + -1.0471428632736206, + -0.3871428966522217, + -0.011428571306169033, + 1.0 + ], + "delta_full_state_norm": [ + 0.7808924739800411, + 0.5087501349421466, + -0.9978832789147557, + -0.5286078138900807, + 0.7124148627545563, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 177 mm; move right 32 mm; move upward 27 mm; roll downward 60 degrees; pitch downward 22 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 449 mm; move right 39 mm; move upward 27 mm; roll downward 108 degrees; pitch downward 36 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 133, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 181 mm; move right 33 mm; move upward 27 mm; roll downward 60 degrees; pitch downward 22 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 438 mm; move right 39 mm; move upward 27 mm; roll downward 105 degrees; pitch downward 35 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + 0.0, + 0.0, + -0.05000000074505806, + -0.015714285895228386, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1810714304447174, + -0.03321428969502449, + 0.026785720139741898, + -1.0500000715255737, + -0.39000004529953003, + -0.018571428954601288, + 1.0 + ], + "delta_full_state_norm": [ + 0.7464236094231087, + 0.5087501349421466, + -0.9978832789147557, + -0.3723883333245005, + 0.6872322900363153, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 181 mm; move right 33 mm; move upward 27 mm; roll downward 60 degrees; pitch downward 22 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 438 mm; move right 39 mm; move upward 27 mm; roll downward 105 degrees; pitch downward 35 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 134, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move upward 1 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 187 mm; move right 35 mm; move upward 27 mm; roll downward 61 degrees; pitch downward 23 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 427 mm; move right 39 mm; move upward 27 mm; roll downward 102 degrees; pitch downward 34 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + 0.0, + 0.0014285714132711291, + -0.04714285582304001, + -0.017142856493592262, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1867857128381729, + -0.03500000387430191, + 0.026785720139741898, + -1.0571428537368774, + -0.392857164144516, + -0.030000001192092896, + 1.0 + ], + "delta_full_state_norm": [ + 0.7234443364236134, + 0.5087501349421466, + -0.8769277883293668, + -0.29427854211995885, + 0.662049733735242, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move upward 1 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 187 mm; move right 35 mm; move upward 27 mm; roll downward 61 degrees; pitch downward 23 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 427 mm; move right 39 mm; move upward 27 mm; roll downward 102 degrees; pitch downward 34 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 135, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move upward 3 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 194 mm; move right 36 mm; move upward 25 mm; roll downward 61 degrees; pitch downward 23 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 418 mm; move right 39 mm; move upward 25 mm; roll downward 99 degrees; pitch downward 33 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008571429178118706, + 0.0, + 0.002500000176951289, + -0.04571428522467613, + -0.017142856493592262, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.19357143342494965, + -0.03607143089175224, + 0.025357145816087723, + -1.0657142400741577, + -0.39428573846817017, + -0.04285714402794838, + 1.0 + ], + "delta_full_state_norm": [ + 0.688975471866681, + 0.5087501349421466, + -0.7862111531410114, + -0.2552236974394396, + 0.662049733735242, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move upward 3 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 194 mm; move right 36 mm; move upward 25 mm; roll downward 61 degrees; pitch downward 23 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 418 mm; move right 39 mm; move upward 25 mm; roll downward 99 degrees; pitch downward 33 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 136, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move upward 3 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 201 mm; move right 37 mm; move upward 23 mm; roll downward 61 degrees; pitch downward 23 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 409 mm; move right 39 mm; move upward 23 mm; roll downward 97 degrees; pitch downward 32 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008214286528527737, + 0.0, + 0.0028571428265422583, + -0.04285714402794838, + -0.018571428954601288, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2014285773038864, + -0.037142861634492874, + 0.022857144474983215, + -1.0728570222854614, + -0.39428576827049255, + -0.05714285746216774, + 1.0 + ], + "delta_full_state_norm": [ + 0.6774858503477035, + 0.5087501349421466, + -0.755972297743978, + -0.17711400807840094, + 0.6368671445998331, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move upward 3 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 201 mm; move right 37 mm; move upward 23 mm; roll downward 61 degrees; pitch downward 23 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 409 mm; move right 39 mm; move upward 23 mm; roll downward 97 degrees; pitch downward 32 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 137, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move upward 3 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 210 mm; move right 39 mm; move upward 20 mm; roll downward 62 degrees; pitch downward 22 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 401 mm; move right 39 mm; move upward 20 mm; roll downward 94 degrees; pitch downward 31 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007857142947614193, + 0.0, + 0.002500000176951289, + -0.04285714402794838, + -0.018571428954601288, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20999999344348907, + -0.03857143223285675, + 0.020000001415610313, + -1.0828570127487183, + -0.39000001549720764, + -0.0714285746216774, + 1.0 + ], + "delta_full_state_norm": [ + 0.6659961988671856, + 0.5087501349421466, + -0.7862111531410114, + -0.17711400807840094, + 0.6368671445998331, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move upward 3 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 210 mm; move right 39 mm; move upward 20 mm; roll downward 62 degrees; pitch downward 22 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 401 mm; move right 39 mm; move upward 20 mm; roll downward 94 degrees; pitch downward 31 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 138, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move upward 3 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 219 mm; move right 39 mm; move upward 18 mm; roll downward 63 degrees; pitch downward 22 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 393 mm; move right 39 mm; move upward 18 mm; roll downward 92 degrees; pitch downward 30 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007142857648432255, + 0.0, + 0.0032142859417945147, + -0.04285714402794838, + -0.019999999552965164, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21857142448425293, + -0.03928571939468384, + 0.017500001937150955, + -1.0928571224212646, + -0.38857144117355347, + -0.08714286237955093, + 1.0 + ], + "delta_full_state_norm": [ + 0.6430169558292307, + 0.5087501349421466, + -0.7257334029199416, + -0.17711400807840094, + 0.6116845882987596, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move upward 3 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 219 mm; move right 39 mm; move upward 18 mm; roll downward 63 degrees; pitch downward 22 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 393 mm; move right 39 mm; move upward 18 mm; roll downward 92 degrees; pitch downward 30 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 139, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 1 mm; move upward 3 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 228 mm; move right 39 mm; move upward 14 mm; roll downward 63 degrees; pitch downward 22 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 386 mm; move right 39 mm; move upward 14 mm; roll downward 89 degrees; pitch downward 29 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007142857648432255, + -0.0014285714132711291, + 0.002500000176951289, + -0.04571428522467613, + -0.019999999552965164, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22785714268684387, + -0.03928571939468384, + 0.01428571529686451, + -1.101428508758545, + -0.3814285695552826, + -0.10285715013742447, + 1.0 + ], + "delta_full_state_norm": [ + 0.6430169558292307, + 0.388050130835208, + -0.7862111531410114, + -0.2552236974394396, + 0.6116845882987596, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 1 mm; move upward 3 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 228 mm; move right 39 mm; move upward 14 mm; roll downward 63 degrees; pitch downward 22 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 386 mm; move right 39 mm; move upward 14 mm; roll downward 89 degrees; pitch downward 29 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 140, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 3 mm; move upward 3 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 236 mm; move right 38 mm; move upward 12 mm; roll downward 63 degrees; pitch downward 22 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move forward 379 mm; move right 38 mm; move upward 12 mm; roll downward 87 degrees; pitch downward 28 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006785714533179998, + -0.002500000176951289, + 0.002500000176951289, + -0.04571428522467613, + -0.022857142612338066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23642857372760773, + -0.03785714879631996, + 0.011785714887082577, + -1.104285717010498, + -0.37857145071029663, + -0.118571437895298, + 1.0 + ], + "delta_full_state_norm": [ + 0.631527319329483, + 0.2975251105421248, + -0.7862111531410114, + -0.2552236974394396, + 0.5613194428622774, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 3 mm; move upward 3 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 236 mm; move right 38 mm; move upward 12 mm; roll downward 63 degrees; pitch downward 22 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 379 mm; move right 38 mm; move upward 12 mm; roll downward 87 degrees; pitch downward 28 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 141, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 2 mm; move upward 3 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 245 mm; move right 35 mm; move upward 9 mm; roll downward 63 degrees; pitch downward 21 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move forward 372 mm; move right 35 mm; move upward 9 mm; roll downward 84 degrees; pitch downward 27 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006428571883589029, + -0.0021428572945296764, + 0.002500000176951289, + -0.05000000074505806, + -0.025714285671710968, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2449999898672104, + -0.035357147455215454, + 0.009285714477300644, + -1.1042858362197876, + -0.3700000047683716, + -0.13428571820259094, + 1.0 + ], + "delta_full_state_norm": [ + 0.6200376978105056, + 0.32770011402784216, + -0.7862111531410114, + -0.3723883333245005, + 0.5109542974257952, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 2 mm; move upward 3 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 245 mm; move right 35 mm; move upward 9 mm; roll downward 63 degrees; pitch downward 21 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move forward 372 mm; move right 35 mm; move upward 9 mm; roll downward 84 degrees; pitch downward 27 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 142, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 3 mm; move upward 3 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 254 mm; move right 33 mm; move upward 7 mm; roll downward 63 degrees; pitch downward 21 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move forward 365 mm; move right 33 mm; move upward 7 mm; roll downward 81 degrees; pitch downward 25 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0057142856530845165, + -0.002500000176951289, + 0.0028571428265422583, + -0.04857143014669418, + -0.025714285671710968, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.25357142090797424, + -0.03321428969502449, + 0.006785714533179998, + -1.0957143306732178, + -0.35857143998146057, + -0.14714285731315613, + 1.0 + ], + "delta_full_state_norm": [ + 0.5970584248110102, + 0.2975251105421248, + -0.755972297743978, + -0.33333348864398116, + 0.5109542974257952, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 3 mm; move upward 3 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 254 mm; move right 33 mm; move upward 7 mm; roll downward 63 degrees; pitch downward 21 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move forward 365 mm; move right 33 mm; move upward 7 mm; roll downward 81 degrees; pitch downward 25 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 143, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 3 mm; move upward 2 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 263 mm; move right 31 mm; move upward 4 mm; roll downward 62 degrees; pitch downward 20 degrees; yaw clockwise 9 degrees; open gripper;\nSubtask Movement: move forward 360 mm; move right 31 mm; move upward 4 mm; roll downward 78 degrees; pitch downward 24 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006785714533179998, + -0.0028571428265422583, + 0.0017857144121080637, + -0.051428571343421936, + -0.02142857201397419, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2628571689128876, + -0.030714288353919983, + 0.0039285714738070965, + -1.090000033378601, + -0.3442857265472412, + -0.1599999964237213, + 1.0 + ], + "delta_full_state_norm": [ + 0.631527319329483, + 0.2673501267282692, + -0.8466889033620811, + -0.41144317800501984, + 0.5865019991633509, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 3 mm; move upward 2 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 263 mm; move right 31 mm; move upward 4 mm; roll downward 62 degrees; pitch downward 20 degrees; yaw clockwise 9 degrees; open gripper;", + "subtask_movement_text": "move forward 360 mm; move right 31 mm; move upward 4 mm; roll downward 78 degrees; pitch downward 24 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 144, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 3 mm; move upward 1 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 271 mm; move right 28 mm; move upward 2 mm; roll downward 62 degrees; pitch downward 19 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move forward 353 mm; move right 28 mm; move upward 2 mm; roll downward 75 degrees; pitch downward 23 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007142857648432255, + -0.0028571428265422583, + 0.0014285714132711291, + -0.055714286863803864, + -0.019999999552965164, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2710714340209961, + -0.02785714529454708, + 0.0021428572945296764, + -1.0828571319580078, + -0.334285706281662, + -0.17142856121063232, + 1.0 + ], + "delta_full_state_norm": [ + 0.6430169558292307, + 0.2673501267282692, + -0.8769277883293668, + -0.5286078138900807, + 0.6116845882987596, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 3 mm; move upward 1 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 271 mm; move right 28 mm; move upward 2 mm; roll downward 62 degrees; pitch downward 19 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 353 mm; move right 28 mm; move upward 2 mm; roll downward 75 degrees; pitch downward 23 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 145, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 3 mm; move upward 1 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 279 mm; move right 25 mm; move upward 1 mm; roll downward 61 degrees; pitch downward 19 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move forward 346 mm; move right 25 mm; move upward 1 mm; roll downward 72 degrees; pitch downward 21 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007857142947614193, + -0.0028571428265422583, + 0.0007142857066355646, + -0.055714286863803864, + -0.019999999552965164, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.279285728931427, + -0.02500000409781933, + 0.0007142857066355646, + -1.070000171661377, + -0.3257142901420593, + -0.18285712599754333, + 1.0 + ], + "delta_full_state_norm": [ + 0.6659961988671856, + 0.2673501267282692, + -0.9374055336220612, + -0.5286078138900807, + 0.6116845882987596, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 3 mm; move upward 1 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 279 mm; move right 25 mm; move upward 1 mm; roll downward 61 degrees; pitch downward 19 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 346 mm; move right 25 mm; move upward 1 mm; roll downward 72 degrees; pitch downward 21 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 146, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 4 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 288 mm; move right 22 mm; move downward 0 mm; roll downward 61 degrees; pitch downward 18 degrees; yaw clockwise 11 degrees; open gripper;\nSubtask Movement: move forward 338 mm; move right 22 mm; move downward 0 mm; roll downward 69 degrees; pitch downward 20 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008571429178118706, + -0.0039285714738070965, + 0.0, + -0.055714286863803864, + -0.019999999552965164, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2875000238418579, + -0.022142859175801277, + 0.0, + -1.0600000619888306, + -0.3171428442001343, + -0.19428569078445435, + 1.0 + ], + "delta_full_state_norm": [ + 0.688975471866681, + 0.17682511627111697, + -0.9978832789147557, + -0.5286078138900807, + 0.6116845882987596, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 4 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 288 mm; move right 22 mm; move downward 0 mm; roll downward 61 degrees; pitch downward 18 degrees; yaw clockwise 11 degrees; open gripper;", + "subtask_movement_text": "move forward 338 mm; move right 22 mm; move downward 0 mm; roll downward 69 degrees; pitch downward 20 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 147, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 3 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 295 mm; move right 18 mm; move downward 0 mm; roll downward 60 degrees; pitch downward 18 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 329 mm; move right 18 mm; move downward 0 mm; roll downward 66 degrees; pitch downward 19 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008928571827709675, + -0.0032142859417945147, + 0.0, + -0.06142857298254967, + -0.019999999552965164, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2950000464916229, + -0.018214287236332893, + 0.0, + -1.0514285564422607, + -0.30857139825820923, + -0.20571425557136536, + 1.0 + ], + "delta_full_state_norm": [ + 0.7004650933856584, + 0.23717510357068994, + -0.9978832789147557, + -0.6848272944556608, + 0.6116845882987596, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 3 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 295 mm; move right 18 mm; move downward 0 mm; roll downward 60 degrees; pitch downward 18 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 329 mm; move right 18 mm; move downward 0 mm; roll downward 66 degrees; pitch downward 19 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 148, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 2 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 303 mm; move right 15 mm; move downward 0 mm; roll downward 60 degrees; pitch downward 17 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 320 mm; move right 15 mm; move downward 0 mm; roll downward 62 degrees; pitch downward 18 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + -0.0021428572945296764, + 0.0, + -0.05999999865889549, + -0.019999999552965164, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.30321434140205383, + -0.015000000596046448, + 0.0, + -1.0385713577270508, + -0.29999998211860657, + -0.21714282035827637, + 1.0 + ], + "delta_full_state_norm": [ + 0.7464236094231087, + 0.32770011402784216, + -0.9978832789147557, + -0.6457723479316386, + 0.6116845882987596, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 2 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 303 mm; move right 15 mm; move downward 0 mm; roll downward 60 degrees; pitch downward 17 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 320 mm; move right 15 mm; move downward 0 mm; roll downward 62 degrees; pitch downward 18 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 149, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 2 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 310 mm; move right 13 mm; move downward 0 mm; roll downward 59 degrees; pitch downward 17 degrees; yaw clockwise 13 degrees; open gripper;\nSubtask Movement: move forward 310 mm; move right 13 mm; move downward 0 mm; roll downward 59 degrees; pitch downward 17 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + -0.0017857144121080637, + 0.0, + -0.06428571790456772, + -0.018571428954601288, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.3100000321865082, + -0.012857143767178059, + 0.0, + -1.0271427631378174, + -0.2928571105003357, + -0.22857138514518738, + 1.0 + ], + "delta_full_state_norm": [ + 0.7808924739800411, + 0.3578751175135595, + -0.9978832789147557, + -0.7629370856602025, + 0.6368671445998331, + -0.6405033461254036, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 2 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 310 mm; move right 13 mm; move downward 0 mm; roll downward 59 degrees; pitch downward 17 degrees; yaw clockwise 13 degrees; open gripper;", + "subtask_movement_text": "move forward 310 mm; move right 13 mm; move downward 0 mm; roll downward 59 degrees; pitch downward 17 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 150, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 1 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 316 mm; move right 11 mm; move downward 0 mm; roll downward 58 degrees; pitch downward 16 degrees; yaw clockwise 14 degrees; open gripper;\nSubtask Movement: move forward 299 mm; move right 11 mm; move downward 0 mm; roll downward 55 degrees; pitch downward 16 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + -0.0014285714132711291, + 0.0, + -0.06428571790456772, + -0.015714285895228386, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.31642863154411316, + -0.011071428656578064, + 0.0, + -1.014285683631897, + -0.2857142388820648, + -0.23714280128479004, + 1.0 + ], + "delta_full_state_norm": [ + 0.8268510199790315, + 0.388050130835208, + -0.9978832789147557, + -0.7629370856602025, + 0.6872322900363153, + -0.6405033461254036, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 1 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 316 mm; move right 11 mm; move downward 0 mm; roll downward 58 degrees; pitch downward 16 degrees; yaw clockwise 14 degrees; open gripper;", + "subtask_movement_text": "move forward 299 mm; move right 11 mm; move downward 0 mm; roll downward 55 degrees; pitch downward 16 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 151, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 2 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 322 mm; move right 10 mm; move downward 0 mm; roll downward 57 degrees; pitch downward 16 degrees; yaw clockwise 14 degrees; open gripper;\nSubtask Movement: move forward 286 mm; move right 10 mm; move downward 0 mm; roll downward 51 degrees; pitch downward 15 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.0021428572945296764, + 0.0, + -0.06142857298254967, + -0.015714285895228386, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.32178574800491333, + -0.009642857126891613, + 0.0, + -0.9999999403953552, + -0.2814285159111023, + -0.2442856729030609, + 1.0 + ], + "delta_full_state_norm": [ + 0.861319884535964, + 0.32770011402784216, + -0.9978832789147557, + -0.6848272944556608, + 0.6872322900363153, + -0.7203914892608219, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 2 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 322 mm; move right 10 mm; move downward 0 mm; roll downward 57 degrees; pitch downward 16 degrees; yaw clockwise 14 degrees; open gripper;", + "subtask_movement_text": "move forward 286 mm; move right 10 mm; move downward 0 mm; roll downward 51 degrees; pitch downward 15 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 152, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 326 mm; move right 8 mm; move downward 0 mm; roll downward 57 degrees; pitch downward 16 degrees; yaw clockwise 14 degrees; open gripper;\nSubtask Movement: move forward 272 mm; move right 8 mm; move downward 0 mm; roll downward 48 degrees; pitch downward 14 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + -0.0014285714132711291, + 0.0, + -0.058571428060531616, + -0.017142856493592262, + -0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.32607147097587585, + -0.007500000298023224, + 0.0, + -0.991428554058075, + -0.27857136726379395, + -0.24857139587402344, + 1.0 + ], + "delta_full_state_norm": [ + 0.9072784005734142, + 0.388050130835208, + -0.9978832789147557, + -0.6067175032511193, + 0.662049733735242, + -0.7603355640836025, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 326 mm; move right 8 mm; move downward 0 mm; roll downward 57 degrees; pitch downward 16 degrees; yaw clockwise 14 degrees; open gripper;", + "subtask_movement_text": "move forward 272 mm; move right 8 mm; move downward 0 mm; roll downward 48 degrees; pitch downward 14 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 153, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 2 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 329 mm; move right 6 mm; move downward 0 mm; roll downward 56 degrees; pitch downward 16 degrees; yaw clockwise 14 degrees; open gripper;\nSubtask Movement: move forward 256 mm; move right 6 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 13 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01607142947614193, + -0.0017857144121080637, + 0.0, + -0.05714285746216774, + -0.018571428954601288, + -0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + 0.32928577065467834, + -0.006071428768336773, + 0.0, + -0.9828571677207947, + -0.2742856442928314, + -0.2514285445213318, + 1.0 + ], + "delta_full_state_norm": [ + 0.9302576735729096, + 0.3578751175135595, + -0.9978832789147557, + -0.5676626585705999, + 0.6368671445998331, + -0.8801677755316584, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 2 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 329 mm; move right 6 mm; move downward 0 mm; roll downward 56 degrees; pitch downward 16 degrees; yaw clockwise 14 degrees; open gripper;", + "subtask_movement_text": "move forward 256 mm; move right 6 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 13 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 154, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 1 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 332 mm; move right 4 mm; move downward 0 mm; roll downward 56 degrees; pitch downward 15 degrees; yaw clockwise 14 degrees; open gripper;\nSubtask Movement: move forward 240 mm; move right 4 mm; move downward 0 mm; roll downward 41 degrees; pitch downward 12 degrees; yaw clockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.016428573057055473, + -0.0010714286472648382, + 0.0, + -0.055714286863803864, + -0.018571428954601288, + -0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + 0.33178573846817017, + -0.004285714589059353, + 0.0, + -0.9742856621742249, + -0.2685713768005371, + -0.24857139587402344, + 1.0 + ], + "delta_full_state_norm": [ + 0.9417473250534274, + 0.4182251244849944, + -0.9978832789147557, + -0.5286078138900807, + 0.6368671445998331, + -0.920111850354439, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 1 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 332 mm; move right 4 mm; move downward 0 mm; roll downward 56 degrees; pitch downward 15 degrees; yaw clockwise 14 degrees; open gripper;", + "subtask_movement_text": "move forward 240 mm; move right 4 mm; move downward 0 mm; roll downward 41 degrees; pitch downward 12 degrees; yaw clockwise 11 degrees; open gripper;" + }, + { + "frame_index": 155, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 1 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 333 mm; move right 3 mm; move downward 0 mm; roll downward 55 degrees; pitch downward 15 degrees; yaw clockwise 14 degrees; open gripper;\nSubtask Movement: move forward 224 mm; move right 3 mm; move downward 0 mm; roll downward 38 degrees; pitch downward 11 degrees; yaw clockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.016428573057055473, + -0.0010714286472648382, + 0.0, + -0.05285714194178581, + -0.017142856493592262, + -0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + 0.33250004053115845, + -0.0032142859417945147, + 0.0, + -0.9657142162322998, + -0.26142850518226624, + -0.2442856878042221, + 1.0 + ], + "delta_full_state_norm": [ + 0.9417473250534274, + 0.4182251244849944, + -0.9978832789147557, + -0.45049802268553907, + 0.662049733735242, + -0.9600559251772195, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 1 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 333 mm; move right 3 mm; move downward 0 mm; roll downward 55 degrees; pitch downward 15 degrees; yaw clockwise 14 degrees; open gripper;", + "subtask_movement_text": "move forward 224 mm; move right 3 mm; move downward 0 mm; roll downward 38 degrees; pitch downward 11 degrees; yaw clockwise 11 degrees; open gripper;" + }, + { + "frame_index": 156, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 17 mm; move right 1 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 330 mm; move right 2 mm; move downward 0 mm; roll downward 55 degrees; pitch downward 15 degrees; yaw clockwise 14 degrees; open gripper;\nSubtask Movement: move forward 207 mm; move right 2 mm; move downward 0 mm; roll downward 35 degrees; pitch downward 10 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.016785714775323868, + -0.0014285714132711291, + 0.0, + -0.05285714194178581, + -0.014285714365541935, + -0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + 0.3303571343421936, + -0.0021428572945296764, + 0.0, + -0.9585713744163513, + -0.2571428120136261, + -0.23714284598827362, + 1.0 + ], + "delta_full_state_norm": [ + 0.9532369166108645, + 0.388050130835208, + -0.9978832789147557, + -0.45049802268553907, + 0.7124148627545563, + -0.9600559251772195, + -1.0 + ], + "movement_text": "move forward 17 mm; move right 1 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 330 mm; move right 2 mm; move downward 0 mm; roll downward 55 degrees; pitch downward 15 degrees; yaw clockwise 14 degrees; open gripper;", + "subtask_movement_text": "move forward 207 mm; move right 2 mm; move downward 0 mm; roll downward 35 degrees; pitch downward 10 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 157, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 1 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 324 mm; move right 1 mm; move downward 0 mm; roll downward 54 degrees; pitch downward 14 degrees; yaw clockwise 13 degrees; open gripper;\nSubtask Movement: move forward 191 mm; move right 1 mm; move downward 0 mm; roll downward 32 degrees; pitch downward 9 degrees; yaw clockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.016428573057055473, + -0.0007142857066355646, + 0.0, + -0.05285714194178581, + -0.017142856493592262, + -0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + 0.32428571581840515, + -0.0007142857066355646, + 0.0, + -0.9428571462631226, + -0.2514285147190094, + -0.2314285784959793, + 1.0 + ], + "delta_full_state_norm": [ + 0.9417473250534274, + 0.4484001328886773, + -0.9978832789147557, + -0.45049802268553907, + 0.662049733735242, + -1.0, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 1 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 324 mm; move right 1 mm; move downward 0 mm; roll downward 54 degrees; pitch downward 14 degrees; yaw clockwise 13 degrees; open gripper;", + "subtask_movement_text": "move forward 191 mm; move right 1 mm; move downward 0 mm; roll downward 32 degrees; pitch downward 9 degrees; yaw clockwise 9 degrees; open gripper;" + }, + { + "frame_index": 158, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 317 mm; move right 0 mm; move downward 0 mm; roll downward 52 degrees; pitch downward 13 degrees; yaw clockwise 13 degrees; open gripper;\nSubtask Movement: move forward 174 mm; move right 0 mm; move downward 0 mm; roll downward 29 degrees; pitch downward 8 degrees; yaw clockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.016428573057055473, + 0.0, + 0.0, + -0.051428571343421936, + -0.012857142835855484, + -0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + 0.3171428442001343, + 0.0, + 0.0, + -0.9157142639160156, + -0.23428568243980408, + -0.2257142961025238, + 1.0 + ], + "delta_full_state_norm": [ + 0.9417473250534274, + 0.5087501349421466, + -0.9978832789147557, + -0.41144317800501984, + 0.7375974354727974, + -1.0, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 317 mm; move right 0 mm; move downward 0 mm; roll downward 52 degrees; pitch downward 13 degrees; yaw clockwise 13 degrees; open gripper;", + "subtask_movement_text": "move forward 174 mm; move right 0 mm; move downward 0 mm; roll downward 29 degrees; pitch downward 8 degrees; yaw clockwise 8 degrees; open gripper;" + }, + { + "frame_index": 159, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 307 mm; move right 0 mm; move downward 0 mm; roll downward 51 degrees; pitch downward 13 degrees; yaw clockwise 13 degrees; open gripper;\nSubtask Movement: move forward 158 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 7 degrees; yaw clockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015714285895228386, + 0.0, + 0.0, + -0.04857143014669418, + -0.017142856493592262, + -0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + 0.3067857027053833, + 0.0, + 0.0, + -0.89000004529953, + -0.2214285433292389, + -0.22285716235637665, + 1.0 + ], + "delta_full_state_norm": [ + 0.9187680220923917, + 0.5087501349421466, + -0.9978832789147557, + -0.33333348864398116, + 0.662049733735242, + -1.0, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 307 mm; move right 0 mm; move downward 0 mm; roll downward 51 degrees; pitch downward 13 degrees; yaw clockwise 13 degrees; open gripper;", + "subtask_movement_text": "move forward 158 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 7 degrees; yaw clockwise 7 degrees; open gripper;" + }, + { + "frame_index": 160, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 292 mm; move right 0 mm; move downward 0 mm; roll downward 50 degrees; pitch downward 12 degrees; yaw clockwise 13 degrees; open gripper;\nSubtask Movement: move forward 142 mm; move right 0 mm; move downward 0 mm; roll downward 23 degrees; pitch downward 6 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + 0.0, + 0.0, + -0.04571428522467613, + -0.014285714365541935, + -0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + 0.2921428680419922, + 0.0, + 0.0, + -0.8642857074737549, + -0.20428569614887238, + -0.21857145428657532, + 1.0 + ], + "delta_full_state_norm": [ + 0.9072784005734142, + 0.5087501349421466, + -0.9978832789147557, + -0.2552236974394396, + 0.7124148627545563, + -1.0, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 292 mm; move right 0 mm; move downward 0 mm; roll downward 50 degrees; pitch downward 12 degrees; yaw clockwise 13 degrees; open gripper;", + "subtask_movement_text": "move forward 142 mm; move right 0 mm; move downward 0 mm; roll downward 23 degrees; pitch downward 6 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 161, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 277 mm; move right 0 mm; move downward 0 mm; roll downward 48 degrees; pitch downward 11 degrees; yaw clockwise 13 degrees; open gripper;\nSubtask Movement: move forward 127 mm; move right 0 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 5 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + 0.0, + -0.041428569704294205, + -0.014285714365541935, + -0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + 0.2767857015132904, + 0.0, + 0.0, + -0.8342857360839844, + -0.18999998271465302, + -0.2200000137090683, + 1.0 + ], + "delta_full_state_norm": [ + 0.8957887790544368, + 0.5087501349421466, + -0.9978832789147557, + -0.13805906155437875, + 0.7124148627545563, + -0.920111850354439, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 277 mm; move right 0 mm; move downward 0 mm; roll downward 48 degrees; pitch downward 11 degrees; yaw clockwise 13 degrees; open gripper;", + "subtask_movement_text": "move forward 127 mm; move right 0 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 5 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 162, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 251 mm; move right 0 mm; move downward 0 mm; roll downward 47 degrees; pitch downward 10 degrees; yaw clockwise 13 degrees; open gripper;\nSubtask Movement: move forward 112 mm; move right 0 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 5 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + 0.0, + -0.04285714402794838, + -0.011428571306169033, + -0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + 0.2507143020629883, + 0.0, + 0.0, + -0.8157142400741577, + -0.17571426928043365, + -0.22142857313156128, + 1.0 + ], + "delta_full_state_norm": [ + 0.8957887790544368, + 0.5087501349421466, + -0.9978832789147557, + -0.17711400807840094, + 0.7627800081910385, + -0.920111850354439, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 251 mm; move right 0 mm; move downward 0 mm; roll downward 47 degrees; pitch downward 10 degrees; yaw clockwise 13 degrees; open gripper;", + "subtask_movement_text": "move forward 112 mm; move right 0 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 5 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 163, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 214 mm; move right 0 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 9 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 97 mm; move right 0 mm; move downward 0 mm; roll downward 16 degrees; pitch downward 4 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + 0.0, + -0.044285714626312256, + -0.011428571306169033, + -0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + 0.2142857313156128, + 0.0, + 0.0, + -0.7871428728103638, + -0.16428570449352264, + -0.21285712718963623, + 1.0 + ], + "delta_full_state_norm": [ + 0.8957887790544368, + 0.5087501349421466, + -0.9978832789147557, + -0.21616885275892028, + 0.7627800081910385, + -0.8801677755316584, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 214 mm; move right 0 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 9 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 97 mm; move right 0 mm; move downward 0 mm; roll downward 16 degrees; pitch downward 4 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 164, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 170 mm; move right 0 mm; move downward 0 mm; roll downward 43 degrees; pitch downward 9 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 82 mm; move right 0 mm; move downward 0 mm; roll downward 13 degrees; pitch downward 3 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + 0.0, + 0.0, + -0.04285714402794838, + -0.011428571306169033, + -0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + 0.17000000178813934, + 0.0, + 0.0, + -0.7428571581840515, + -0.15285712480545044, + -0.20142856240272522, + 1.0 + ], + "delta_full_state_norm": [ + 0.9072784005734142, + 0.5087501349421466, + -0.9978832789147557, + -0.17711400807840094, + 0.7627800081910385, + -0.8801677755316584, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 170 mm; move right 0 mm; move downward 0 mm; roll downward 43 degrees; pitch downward 9 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 82 mm; move right 0 mm; move downward 0 mm; roll downward 13 degrees; pitch downward 3 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 165, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 120 mm; move right 0 mm; move downward 0 mm; roll downward 40 degrees; pitch downward 8 degrees; yaw clockwise 11 degrees; open gripper;\nSubtask Movement: move forward 66 mm; move right 0 mm; move downward 0 mm; roll downward 11 degrees; pitch downward 3 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01607142947614193, + 0.0, + 0.0, + -0.04571428522467613, + -0.011428571306169033, + -0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + 0.12035714834928513, + 0.0, + -0.0003571428533177823, + -0.699999988079071, + -0.14142857491970062, + -0.1899999976158142, + 1.0 + ], + "delta_full_state_norm": [ + 0.9302576735729096, + 0.5087501349421466, + -0.9978832789147557, + -0.2552236974394396, + 0.7627800081910385, + -0.8801677755316584, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 120 mm; move right 0 mm; move downward 0 mm; roll downward 40 degrees; pitch downward 8 degrees; yaw clockwise 11 degrees; open gripper;", + "subtask_movement_text": "move forward 66 mm; move right 0 mm; move downward 0 mm; roll downward 11 degrees; pitch downward 3 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 166, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 69 mm; move right 0 mm; move downward 1 mm; roll downward 37 degrees; pitch downward 7 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move forward 50 mm; move right 0 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01607142947614193, + 0.0, + 0.0, + -0.04714285582304001, + -0.011428571306169033, + -0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + 0.0689285546541214, + 0.0, + -0.0007142857066355646, + -0.654285728931427, + -0.12999999523162842, + -0.178571417927742, + 1.0 + ], + "delta_full_state_norm": [ + 0.9302576735729096, + 0.5087501349421466, + -0.9978832789147557, + -0.29427854211995885, + 0.7627800081910385, + -0.8801677755316584, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 69 mm; move right 0 mm; move downward 1 mm; roll downward 37 degrees; pitch downward 7 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 50 mm; move right 0 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 2 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 167, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 17 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 16 mm; move left 1 mm; move downward 1 mm; roll downward 35 degrees; pitch downward 7 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move forward 34 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01714285835623741, + 0.0, + 0.0, + -0.04857143014669418, + -0.011428571306169033, + -0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + 0.015714267268776894, + 0.0010714286472648382, + -0.0007142857066355646, + -0.6071428656578064, + -0.11857143044471741, + -0.167142853140831, + 1.0 + ], + "delta_full_state_norm": [ + 0.9647265680913824, + 0.5087501349421466, + -0.9978832789147557, + -0.33333348864398116, + 0.7627800081910385, + -0.8801677755316584, + -1.0 + ], + "movement_text": "move forward 17 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 16 mm; move left 1 mm; move downward 1 mm; roll downward 35 degrees; pitch downward 7 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 34 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 168, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 17 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 40 mm; move left 3 mm; move downward 1 mm; roll downward 32 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; open gripper;\nSubtask Movement: move forward 17 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01714285835623741, + 0.0, + 0.0, + -0.04857143014669418, + -0.012857142835855484, + -0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + -0.04035715013742447, + 0.0032142859417945147, + -0.0007142857066355646, + -0.558571457862854, + -0.1071428656578064, + -0.1557142734527588, + 1.0 + ], + "delta_full_state_norm": [ + 0.9647265680913824, + 0.5087501349421466, + -0.9978832789147557, + -0.33333348864398116, + 0.7375974354727974, + -0.8801677755316584, + -1.0 + ], + "movement_text": "move forward 17 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 40 mm; move left 3 mm; move downward 1 mm; roll downward 32 degrees; pitch downward 6 degrees; yaw clockwise 9 degrees; open gripper;", + "subtask_movement_text": "move forward 17 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 169, + "segment_id": 20000, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly over the microwave control panel, specifically hovering near the buttons on the right side where the red indicator light is located. The arm remains static in this precise configuration throughout the sequence, consistent with holding a press or preparing to actuate the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 99 mm; move left 6 mm; move downward 1 mm; roll downward 29 degrees; pitch downward 5 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01785714365541935, + 0.0, + 0.0, + -0.051428571343421936, + -0.011428571306169033, + -0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + -0.09928572177886963, + 0.00607142923399806, + -0.0007142857066355646, + -0.5099999904632568, + -0.09428571164608002, + -0.14428569376468658, + 1.0 + ], + "delta_full_state_norm": [ + 0.9877058111293373, + 0.5087501349421466, + -0.9978832789147557, + -0.41144317800501984, + 0.7627800081910385, + -0.8801677755316584, + -1.0 + ], + "movement_text": "move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 99 mm; move left 6 mm; move downward 1 mm; roll downward 29 degrees; pitch downward 5 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 170, + "segment_id": 20170, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 160 mm; move left 11 mm; move downward 1 mm; roll downward 26 degrees; pitch downward 5 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move forward 121 mm; move right 0 mm; move downward 0 mm; roll downward 25 degrees; pitch downward 5 degrees; yaw clockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018214285373687744, + 0.0, + 0.0, + -0.05000000074505806, + -0.011428571306169033, + -0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + -0.16035716235637665, + 0.01071428693830967, + -0.0007142857066355646, + -0.4585714042186737, + -0.082857146859169, + -0.13285712897777557, + 1.0 + ], + "delta_full_state_norm": [ + 0.9991954026867744, + 0.5087501349421466, + -0.9978832789147557, + -0.3723883333245005, + 0.7627800081910385, + -0.8402237007088779, + -1.0 + ], + "movement_text": "move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 160 mm; move left 11 mm; move downward 1 mm; roll downward 26 degrees; pitch downward 5 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move forward 121 mm; move right 0 mm; move downward 0 mm; roll downward 25 degrees; pitch downward 5 degrees; yaw clockwise 7 degrees; open gripper;" + }, + { + "frame_index": 171, + "segment_id": 20170, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 223 mm; move left 16 mm; move downward 1 mm; roll downward 23 degrees; pitch downward 4 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move forward 103 mm; move right 0 mm; move downward 0 mm; roll downward 23 degrees; pitch downward 4 degrees; yaw clockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018214285373687744, + 0.0, + 0.0, + -0.05285714194178581, + -0.012857142835855484, + -0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + -0.2225000113248825, + 0.016428573057055473, + -0.0007142857066355646, + -0.40857139229774475, + -0.07000000029802322, + -0.12285713106393814, + 1.0 + ], + "delta_full_state_norm": [ + 0.9991954026867744, + 0.5087501349421466, + -0.9978832789147557, + -0.45049802268553907, + 0.7375974354727974, + -0.8402237007088779, + -1.0 + ], + "movement_text": "move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 223 mm; move left 16 mm; move downward 1 mm; roll downward 23 degrees; pitch downward 4 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 103 mm; move right 0 mm; move downward 0 mm; roll downward 23 degrees; pitch downward 4 degrees; yaw clockwise 7 degrees; open gripper;" + }, + { + "frame_index": 172, + "segment_id": 20170, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 285 mm; move left 24 mm; move downward 1 mm; roll downward 20 degrees; pitch downward 3 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move forward 85 mm; move right 0 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 3 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018571428954601288, + 0.0, + 0.0, + -0.05000000074505806, + -0.012857142835855484, + -0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + -0.2849999964237213, + 0.023571429774165154, + -0.0007142857066355646, + -0.3528571128845215, + -0.04714285582304001, + -0.11428571492433548, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.5087501349421466, + -0.9978832789147557, + -0.3723883333245005, + 0.7375974354727974, + -0.8402237007088779, + -1.0 + ], + "movement_text": "move forward 19 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 285 mm; move left 24 mm; move downward 1 mm; roll downward 20 degrees; pitch downward 3 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 85 mm; move right 0 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 3 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 173, + "segment_id": 20170, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 348 mm; move left 32 mm; move downward 1 mm; roll downward 17 degrees; pitch downward 1 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 66 mm; move right 0 mm; move downward 0 mm; roll downward 17 degrees; pitch downward 3 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018571428954601288, + 0.0, + 0.0, + -0.04857143014669418, + -0.012857142835855484, + -0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + -0.3475000560283661, + 0.031785715371370316, + -0.0007142857066355646, + -0.29714280366897583, + -0.018571430817246437, + -0.10571428388357162, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.5087501349421466, + -0.9978832789147557, + -0.33333348864398116, + 0.7375974354727974, + -0.8002796258860974, + -1.0 + ], + "movement_text": "move forward 19 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 348 mm; move left 32 mm; move downward 1 mm; roll downward 17 degrees; pitch downward 1 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 66 mm; move right 0 mm; move downward 0 mm; roll downward 17 degrees; pitch downward 3 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 174, + "segment_id": 20170, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 17 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 409 mm; move left 43 mm; move downward 3 mm; roll downward 14 degrees; pitch upward 1 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 48 mm; move right 0 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 2 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01714285835623741, + 0.0, + 0.0, + -0.04714285582304001, + -0.011428571306169033, + -0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + -0.40928569436073303, + 0.04285714402794838, + -0.002500000176951289, + -0.24142855405807495, + 0.018571428954601288, + -0.10000000894069672, + 1.0 + ], + "delta_full_state_norm": [ + 0.9647265680913824, + 0.5087501349421466, + -0.9978832789147557, + -0.29427854211995885, + 0.7627800081910385, + -0.8002796258860974, + -1.0 + ], + "movement_text": "move forward 17 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 409 mm; move left 43 mm; move downward 3 mm; roll downward 14 degrees; pitch upward 1 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 48 mm; move right 0 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 2 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 175, + "segment_id": 20170, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 426 mm; move left 43 mm; move downward 3 mm; roll downward 11 degrees; pitch upward 2 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 30 mm; move right 0 mm; move downward 0 mm; roll downward 11 degrees; pitch downward 1 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + 0.0, + 0.0, + -0.04571428522467613, + -0.012857142835855484, + -0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + -0.42642855644226074, + 0.04285714402794838, + -0.002500000176951289, + -0.19428572058677673, + 0.030000001192092896, + -0.09142857789993286, + 1.0 + ], + "delta_full_state_norm": [ + 0.8728095360164818, + 0.5087501349421466, + -0.9978832789147557, + -0.2552236974394396, + 0.7375974354727974, + -0.7603355640836025, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 426 mm; move left 43 mm; move downward 3 mm; roll downward 11 degrees; pitch upward 2 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 30 mm; move right 0 mm; move downward 0 mm; roll downward 11 degrees; pitch downward 1 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 176, + "segment_id": 20170, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 441 mm; move left 43 mm; move downward 3 mm; roll downward 9 degrees; pitch upward 2 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + 0.0, + 0.0, + -0.037142857909202576, + -0.008571428246796131, + -0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + -0.4407143294811249, + 0.04285714402794838, + -0.002500000176951289, + -0.1485714316368103, + 0.04285714402794838, + -0.08428572118282318, + 1.0 + ], + "delta_full_state_norm": [ + 0.7579132309420862, + 0.5087501349421466, + -0.9978832789147557, + -0.020894527512820837, + 0.8131451536275207, + -0.8002796258860974, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 441 mm; move left 43 mm; move downward 3 mm; roll downward 9 degrees; pitch upward 2 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 177, + "segment_id": 20170, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 451 mm; move left 43 mm; move downward 3 mm; roll downward 6 degrees; pitch upward 3 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + 0.0, + 0.0, + -0.025714285671710968, + 0.0, + -0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + -0.4514285624027252, + 0.04285714402794838, + -0.002500000176951289, + -0.11142858117818832, + 0.051428571343421936, + -0.07571429014205933, + 1.0 + ], + "delta_full_state_norm": [ + 0.7119547149046359, + 0.5087501349421466, + -0.9978832789147557, + 0.2915444336183395, + 0.9642405735197996, + -0.8402237007088779, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 451 mm; move left 43 mm; move downward 3 mm; roll downward 6 degrees; pitch upward 3 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 178, + "segment_id": 20170, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 461 mm; move left 43 mm; move downward 3 mm; roll downward 5 degrees; pitch upward 3 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move backward 4 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006071428768336773, + 0.0, + 0.0, + -0.025714285671710968, + 0.0, + -0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + -0.46071431040763855, + 0.04285714402794838, + -0.002500000176951289, + -0.08571429550647736, + 0.051428571343421936, + -0.0657142847776413, + 1.0 + ], + "delta_full_state_norm": [ + 0.6085480613107579, + 0.5087501349421466, + -0.9978832789147557, + 0.2915444336183395, + 0.9642405735197996, + -0.920111850354439, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 461 mm; move left 43 mm; move downward 3 mm; roll downward 5 degrees; pitch upward 3 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 4 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 179, + "segment_id": 20170, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 467 mm; move left 43 mm; move downward 3 mm; roll downward 3 degrees; pitch upward 3 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move backward 10 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0010714286472648382, + 0.0, + 0.0, + -0.022857142612338066, + 0.0, + -0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + -0.466785728931427, + 0.04285714402794838, + -0.002500000176951289, + -0.06000000238418579, + 0.051428571343421936, + -0.052857138216495514, + 1.0 + ], + "delta_full_state_norm": [ + 0.44769326267006715, + 0.5087501349421466, + -0.9978832789147557, + 0.36965417390112965, + 0.9642405735197996, + -0.8801677755316584, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 467 mm; move left 43 mm; move downward 3 mm; roll downward 3 degrees; pitch upward 3 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move backward 10 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 180, + "segment_id": 20170, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 468 mm; move left 43 mm; move downward 3 mm; roll downward 2 degrees; pitch upward 3 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move backward 11 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.015714285895228386, + 0.0, + -0.017142856493592262, + 1.0 + ], + "delta_next_20": [ + -0.4678571820259094, + 0.04285714402794838, + -0.002500000176951289, + -0.037142857909202576, + 0.051428571343421936, + -0.041428569704294205, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + 0.5087501349421466, + -0.9978832789147557, + 0.5649284991472292, + 0.9642405735197996, + -1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 468 mm; move left 43 mm; move downward 3 mm; roll downward 2 degrees; pitch upward 3 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 11 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 181, + "segment_id": 20170, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 468 mm; move left 43 mm; move downward 3 mm; roll downward 1 degrees; pitch upward 3 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011071428656578064, + 0.0, + 0.0, + -0.022857142612338066, + 0.0, + -0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + -0.4678571820259094, + 0.04285714402794838, + -0.002500000176951289, + -0.02142857387661934, + 0.051428571343421936, + -0.024285713210701942, + 1.0 + ], + "delta_full_state_norm": [ + 0.05704589882289546, + 0.5087501349421466, + -0.9978832789147557, + 0.36965417390112965, + 0.9642405735197996, + -0.9600559251772195, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 468 mm; move left 43 mm; move downward 3 mm; roll downward 1 degrees; pitch upward 3 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 182, + "segment_id": 20170, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, specifically positioned over the stop button area, indicating an active pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 457 mm; move left 43 mm; move downward 3 mm; roll upward 0 degrees; pitch upward 3 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02142857201397419, + 0.0, + 0.0, + -0.014285714365541935, + 0.0, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + -0.45678573846817017, + 0.04285714402794838, + -0.002500000176951289, + 0.001428571529686451, + 0.051428571343421936, + -0.009999999776482582, + 1.0 + ], + "delta_full_state_norm": [ + -0.2761533349582336, + 0.5087501349421466, + -0.9978832789147557, + 0.6039833692886243, + 0.9642405735197996, + -0.6804474144380414, + -1.0 + ], + "movement_text": "move backward 21 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 457 mm; move left 43 mm; move downward 3 mm; roll upward 0 degrees; pitch upward 3 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 183, + "segment_id": 20183, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned at the bottom of the unit and appears to be retracting or moving away from the appliance, indicating the completion of the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned at the bottom of the unit and appears to be retracting or moving away from the appliance, indicating the completion of the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 29 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 435 mm; move left 43 mm; move downward 3 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 392 mm; move left 32 mm; move downward 1 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.029285714030265808, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.43535715341567993, + 0.04285714402794838, + -0.002500000176951289, + 0.015714285895228386, + 0.051428571343421936, + -0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + -0.5289251282218993, + 0.5087501349421466, + -0.9978832789147557, + 0.994532045241699, + 0.9642405735197996, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 29 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 435 mm; move left 43 mm; move downward 3 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 392 mm; move left 32 mm; move downward 1 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 184, + "segment_id": 20183, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned at the bottom of the unit and appears to be retracting or moving away from the appliance, indicating the completion of the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned at the bottom of the unit and appears to be retracting or moving away from the appliance, indicating the completion of the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 34 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 406 mm; move left 43 mm; move downward 3 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 363 mm; move left 32 mm; move downward 1 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03428571671247482, + 0.0, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.40607142448425293, + 0.04285714402794838, + -0.002500000176951289, + 0.015714285895228386, + 0.051428571343421936, + -0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + -0.6897800092568258, + 0.5087501349421466, + -1.0, + 0.994532045241699, + 0.9642405735197996, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 34 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 406 mm; move left 43 mm; move downward 3 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 363 mm; move left 32 mm; move downward 1 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 185, + "segment_id": 20183, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned at the bottom of the unit and appears to be retracting or moving away from the appliance, indicating the completion of the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned at the bottom of the unit and appears to be retracting or moving away from the appliance, indicating the completion of the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 35 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 372 mm; move left 43 mm; move downward 2 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 329 mm; move left 32 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.035357143729925156, + 0.0, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3717857003211975, + 0.04285714402794838, + -0.0021428572945296764, + 0.015714285895228386, + 0.051428571343421936, + -0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + -0.724248843852218, + 0.5087501349421466, + -1.0, + 0.994532045241699, + 0.9642405735197996, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 35 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 372 mm; move left 43 mm; move downward 2 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 329 mm; move left 32 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 186, + "segment_id": 20183, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned at the bottom of the unit and appears to be retracting or moving away from the appliance, indicating the completion of the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned at the bottom of the unit and appears to be retracting or moving away from the appliance, indicating the completion of the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 37 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 336 mm; move left 43 mm; move downward 2 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 293 mm; move left 32 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.037142857909202576, + 0.0010714286472648382, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.33642855286598206, + 0.04285714402794838, + -0.0017857144121080637, + 0.015714285895228386, + 0.051428571343421936, + -0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + -0.7816969814086457, + 0.5992751453992988, + -0.9978832789147557, + 0.994532045241699, + 0.9642405735197996, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 37 mm; move left 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 336 mm; move left 43 mm; move downward 2 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 293 mm; move left 32 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 187, + "segment_id": 20183, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned at the bottom of the unit and appears to be retracting or moving away from the appliance, indicating the completion of the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned at the bottom of the unit and appears to be retracting or moving away from the appliance, indicating the completion of the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 39 mm; move left 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 299 mm; move left 42 mm; move downward 2 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 256 mm; move left 31 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.038928572088479996, + 0.0021428572945296764, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2992857098579407, + 0.04178571328520775, + -0.0017857144121080637, + 0.015714285895228386, + 0.051428571343421936, + -0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + -0.8391451189650734, + 0.689800155856451, + -0.9978832789147557, + 0.994532045241699, + 0.9642405735197996, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 39 mm; move left 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 299 mm; move left 42 mm; move downward 2 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 256 mm; move left 31 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 188, + "segment_id": 20183, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned at the bottom of the unit and appears to be retracting or moving away from the appliance, indicating the completion of the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned at the bottom of the unit and appears to be retracting or moving away from the appliance, indicating the completion of the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 42 mm; move left 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 260 mm; move left 40 mm; move downward 2 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 217 mm; move left 29 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.04178571328520775, + 0.0028571428265422583, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.260357141494751, + 0.03964285925030708, + -0.0017857144121080637, + 0.015714285895228386, + 0.051428571343421936, + -0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + -0.9310620911168932, + 0.750150143156024, + -0.9978832789147557, + 0.994532045241699, + 0.9642405735197996, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 42 mm; move left 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 260 mm; move left 40 mm; move downward 2 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 217 mm; move left 29 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 189, + "segment_id": 20183, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned at the bottom of the unit and appears to be retracting or moving away from the appliance, indicating the completion of the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned at the bottom of the unit and appears to be retracting or moving away from the appliance, indicating the completion of the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 43 mm; move left 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 219 mm; move left 37 mm; move downward 2 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 175 mm; move left 26 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.04321428760886192, + 0.004642857238650322, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.21857142448425293, + 0.03678571805357933, + -0.0017857144121080637, + 0.015714285895228386, + 0.051428571343421936, + -0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + -0.9770206970389644, + 0.9010251605846109, + -0.9978832789147557, + 0.994532045241699, + 0.9642405735197996, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 43 mm; move left 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 219 mm; move left 37 mm; move downward 2 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 175 mm; move left 26 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 190, + "segment_id": 20183, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned at the bottom of the unit and appears to be retracting or moving away from the appliance, indicating the completion of the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned at the bottom of the unit and appears to be retracting or moving away from the appliance, indicating the completion of the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 44 mm; move left 6 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 175 mm; move left 32 mm; move downward 2 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 132 mm; move left 21 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.04392857477068901, + 0.0057142856530845165, + 0.0, + 0.0, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.1753571480512619, + 0.03214285895228386, + -0.0017857144121080637, + 0.015714285895228386, + 0.051428571343421936, + -0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.9915501513699012, + -0.9978832789147557, + 0.994532045241699, + 0.9894231441858947, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 44 mm; move left 6 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 175 mm; move left 32 mm; move downward 2 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 132 mm; move left 21 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 191, + "segment_id": 20183, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned at the bottom of the unit and appears to be retracting or moving away from the appliance, indicating the completion of the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned at the bottom of the unit and appears to be retracting or moving away from the appliance, indicating the completion of the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 44 mm; move left 7 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 131 mm; move left 26 mm; move downward 2 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 88 mm; move left 15 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.044285714626312256, + 0.007142857648432255, + 0.0, + 0.0028571428265422583, + 0.009999999776482582, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + -0.1314285844564438, + 0.026428570970892906, + -0.0017857144121080637, + 0.015714285895228386, + 0.05000000074505806, + -0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 1.0, + -0.9978832789147557, + 1.0, + 1.0, + -0.6005592745576944, + -1.0 + ], + "movement_text": "move backward 44 mm; move left 7 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 131 mm; move left 26 mm; move downward 2 mm; roll upward 1 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 88 mm; move left 15 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 192, + "segment_id": 20183, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned at the bottom of the unit and appears to be retracting or moving away from the appliance, indicating the completion of the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned at the bottom of the unit and appears to be retracting or moving away from the appliance, indicating the completion of the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 44 mm; move left 8 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 87 mm; move left 19 mm; move downward 2 mm; roll upward 1 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 44 mm; move left 8 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.04392857477068901, + 0.008214286528527737, + 0.0, + 0.0057142856530845165, + 0.015714285895228386, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + -0.08714286237955093, + 0.019285714253783226, + -0.0017857144121080637, + 0.012857142835855484, + 0.03999999910593033, + -0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 1.0, + -0.9978832789147557, + 1.0, + 1.0, + -0.6005592745576944, + -1.0 + ], + "movement_text": "move backward 44 mm; move left 8 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 87 mm; move left 19 mm; move downward 2 mm; roll upward 1 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 44 mm; move left 8 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 193, + "segment_id": 20183, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned at the bottom of the unit and appears to be retracting or moving away from the appliance, indicating the completion of the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned at the bottom of the unit and appears to be retracting or moving away from the appliance, indicating the completion of the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 43 mm; move left 11 mm; move downward 2 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.04321428760886192, + 0.011071428656578064, + -0.0017857144121080637, + 0.0071428571827709675, + 0.02428571507334709, + -0.0028571428265422583, + 1.0 + ], + "delta_full_state_norm": [ + 0.41322437564197956, + 0.5087501349421466, + -0.9978832789147557, + 0.994532045241699, + 0.9642405735197996, + -0.5606152029899854, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 43 mm; move left 11 mm; move downward 2 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + } + ], + "all_object_names": [ + "obj" + ], + "obj_cat": "obj", + "distr_cats": [], + "grounding_camera": "robot0_agentview_left", + "grounding_method": "self_render_selfconsistent" +} \ No newline at end of file diff --git a/grounding_cot/TurnOffMicrowave/extras/episode_000034/cot_annotations.json b/grounding_cot/TurnOffMicrowave/extras/episode_000034/cot_annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..027653c4938f87f9ce3c6ba16f9e3fcbb1c26fa5 --- /dev/null +++ b/grounding_cot/TurnOffMicrowave/extras/episode_000034/cot_annotations.json @@ -0,0 +1,8349 @@ +{ + "sample_key": "TurnOffMicrowave|34", + "subtask_list": [ + "approach the microwave", + "reach for the stop button", + "press the stop button", + "move away from the microwave" + ], + "segment_labels_raw": { + "1": [ + "reach for the stop button", + "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet." + ], + "2": [ + "press the stop button", + "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface." + ], + "3": [ + "press the stop button", + "The robot's end-effector is extended and positioned directly in front of the microwave control panel, maintaining a static pose consistent with pressing the interface." + ], + "4": [ + "move away from the microwave", + "The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above." + ], + "5": [ + "press the stop button", + "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action." + ], + "6": [ + "move away from the microwave", + "The robot's arm is visibly retracting from the microwave door handle area, indicating the completion of the interaction and a return to a neutral pose." + ], + "7": [ + "move away from the microwave", + "The robot arm is seen retracting and moving laterally to the right, creating distance between the end-effector and the microwave appliance." + ] + }, + "instruction": "press the stop button on the microwave", + "suite": "TurnOffMicrowave", + "num_frames": 172, + "segment_count": 7, + "movement_statistics": { + "mean": [ + 0.0030710133933732936, + -0.005444352275950476, + 0.005209717773331524, + -0.025257475067032933, + -0.04315614617066891, + 0.012267441869182728, + 0.9651162790697675 + ], + "std": [ + 0.016583332562738105, + 0.007897705031797297, + 0.006842506687894807, + 0.01776468181625415, + 0.04005461172543122, + 0.022053913150308573, + 0.26182163370227346 + ], + "Q1": [ + -0.05000000074505806, + -0.02321428619325161, + 0.0, + -0.066128571331501, + -0.116128573641181, + 0.0, + -1.0 + ], + "Q99": [ + 0.02377857251092791, + 0.0, + 0.020357143133878708, + 0.0, + 0.0, + 0.0789857157319784, + 1.0 + ] + }, + "frames": [ + { + "frame_index": 0, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 117 mm; move right 0 mm; move upward 158 mm; roll downward 0 degrees; pitch downward 39 degrees; yaw counterclockwise 5 degrees; open gripper;\nSubtask Movement: move backward 498 mm; move right 124 mm; move upward 421 mm; roll downward 25 degrees; pitch downward 150 degrees; yaw counterclockwise 68 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 106 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0003571428533177823, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.11714285612106323, + 0.0, + 0.158214271068573, + -0.0014285714132711291, + -0.6857143044471741, + 0.07999999821186066, + 1.0 + ], + "delta_full_state_norm": [ + 0.3554069091182055, + 0.9999991384619271, + -0.9649122987905987, + 0.9999996975589134, + 0.9999998277771125, + -1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 117 mm; move right 0 mm; move upward 158 mm; roll downward 0 degrees; pitch downward 39 degrees; yaw counterclockwise 5 degrees; open gripper;", + "subtask_movement_text": "move backward 498 mm; move right 124 mm; move upward 421 mm; roll downward 25 degrees; pitch downward 150 degrees; yaw counterclockwise 68 degrees; open gripper;" + }, + { + "frame_index": 1, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 136 mm; move right 0 mm; move upward 168 mm; roll downward 0 degrees; pitch downward 44 degrees; yaw counterclockwise 6 degrees; open gripper;\nSubtask Movement: move backward 498 mm; move right 124 mm; move upward 421 mm; roll downward 25 degrees; pitch downward 150 degrees; yaw counterclockwise 68 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 106 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0014285714132711291, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.13607142865657806, + 0.0, + 0.16821427643299103, + -0.0014285714132711291, + -0.7685714364051819, + 0.1071428507566452, + 1.0 + ], + "delta_full_state_norm": [ + 0.3554069091182055, + 0.9999991384619271, + -0.8596491951623946, + 0.9999996975589134, + 0.9999998277771125, + -1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 136 mm; move right 0 mm; move upward 168 mm; roll downward 0 degrees; pitch downward 44 degrees; yaw counterclockwise 6 degrees; open gripper;", + "subtask_movement_text": "move backward 498 mm; move right 124 mm; move upward 421 mm; roll downward 25 degrees; pitch downward 150 degrees; yaw counterclockwise 68 degrees; open gripper;" + }, + { + "frame_index": 2, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 156 mm; move right 0 mm; move upward 177 mm; roll downward 0 degrees; pitch downward 49 degrees; yaw counterclockwise 8 degrees; open gripper;\nSubtask Movement: move backward 498 mm; move right 124 mm; move upward 419 mm; roll downward 25 degrees; pitch downward 150 degrees; yaw counterclockwise 68 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 106 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0014285714132711291, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.15571428835391998, + 0.0, + 0.17678570747375488, + -0.0014285714132711291, + -0.8528571724891663, + 0.1371428519487381, + 1.0 + ], + "delta_full_state_norm": [ + 0.3554069091182055, + 0.9999991384619271, + -0.8596491951623946, + 0.9999996975589134, + 0.9999998277771125, + -1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 156 mm; move right 0 mm; move upward 177 mm; roll downward 0 degrees; pitch downward 49 degrees; yaw counterclockwise 8 degrees; open gripper;", + "subtask_movement_text": "move backward 498 mm; move right 124 mm; move upward 419 mm; roll downward 25 degrees; pitch downward 150 degrees; yaw counterclockwise 68 degrees; open gripper;" + }, + { + "frame_index": 3, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 176 mm; move right 0 mm; move upward 184 mm; roll downward 0 degrees; pitch downward 54 degrees; yaw counterclockwise 10 degrees; open gripper;\nSubtask Movement: move backward 498 mm; move right 124 mm; move upward 418 mm; roll downward 25 degrees; pitch downward 150 degrees; yaw counterclockwise 68 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 106 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0017857144121080637, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.176071435213089, + 0.0, + 0.1842857003211975, + -0.0028571428265422583, + -0.940000057220459, + 0.167142853140831, + 1.0 + ], + "delta_full_state_norm": [ + 0.3554069091182055, + 0.9999991384619271, + -0.8245614796563819, + 0.9999996975589134, + 0.9999998277771125, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 176 mm; move right 0 mm; move upward 184 mm; roll downward 0 degrees; pitch downward 54 degrees; yaw counterclockwise 10 degrees; open gripper;", + "subtask_movement_text": "move backward 498 mm; move right 124 mm; move upward 418 mm; roll downward 25 degrees; pitch downward 150 degrees; yaw counterclockwise 68 degrees; open gripper;" + }, + { + "frame_index": 4, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 197 mm; move right 0 mm; move upward 192 mm; roll downward 1 degrees; pitch downward 59 degrees; yaw counterclockwise 11 degrees; open gripper;\nSubtask Movement: move backward 498 mm; move right 124 mm; move upward 416 mm; roll downward 25 degrees; pitch downward 150 degrees; yaw counterclockwise 68 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 105 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0032142859417945147, + -0.0014285714132711291, + -0.0057142856530845165, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.19714286923408508, + 0.0, + 0.19214284420013428, + -0.014285714365541935, + -1.0328571796417236, + 0.19999998807907104, + 1.0 + ], + "delta_full_state_norm": [ + 0.3554069091182055, + 0.9999991384619271, + -0.6842106633814875, + 0.9567938284927155, + 0.9015867502398758, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 197 mm; move right 0 mm; move upward 192 mm; roll downward 1 degrees; pitch downward 59 degrees; yaw counterclockwise 11 degrees; open gripper;", + "subtask_movement_text": "move backward 498 mm; move right 124 mm; move upward 416 mm; roll downward 25 degrees; pitch downward 150 degrees; yaw counterclockwise 68 degrees; open gripper;" + }, + { + "frame_index": 5, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 219 mm; move right 0 mm; move upward 198 mm; roll downward 2 degrees; pitch downward 64 degrees; yaw counterclockwise 14 degrees; open gripper;\nSubtask Movement: move backward 498 mm; move right 124 mm; move upward 413 mm; roll downward 24 degrees; pitch downward 149 degrees; yaw counterclockwise 68 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 105 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.005000000353902578, + 0.0, + -0.008571428246796131, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.21857142448425293, + 0.0, + 0.19821427762508392, + -0.029999999329447746, + -1.1214286088943481, + 0.23714284598827362, + 1.0 + ], + "delta_full_state_norm": [ + 0.3554069091182055, + 0.9999991384619271, + -0.5087721430378696, + 0.9999996975589134, + 0.852380215481134, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 219 mm; move right 0 mm; move upward 198 mm; roll downward 2 degrees; pitch downward 64 degrees; yaw counterclockwise 14 degrees; open gripper;", + "subtask_movement_text": "move backward 498 mm; move right 124 mm; move upward 413 mm; roll downward 24 degrees; pitch downward 149 degrees; yaw counterclockwise 68 degrees; open gripper;" + }, + { + "frame_index": 6, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 240 mm; move right 1 mm; move upward 202 mm; roll downward 3 degrees; pitch downward 69 degrees; yaw counterclockwise 16 degrees; open gripper;\nSubtask Movement: move backward 498 mm; move right 124 mm; move upward 408 mm; roll downward 24 degrees; pitch downward 149 degrees; yaw counterclockwise 68 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 105 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.005000000353902578, + 0.0, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2403571456670761, + -0.0010714286472648382, + 0.20249998569488525, + -0.051428571343421936, + -1.2085715532302856, + 0.2800000011920929, + 1.0 + ], + "delta_full_state_norm": [ + 0.3554069091182055, + 0.9999991384619271, + -0.5087721430378696, + 0.9999996975589134, + 0.8277769440918865, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 240 mm; move right 1 mm; move upward 202 mm; roll downward 3 degrees; pitch downward 69 degrees; yaw counterclockwise 16 degrees; open gripper;", + "subtask_movement_text": "move backward 498 mm; move right 124 mm; move upward 408 mm; roll downward 24 degrees; pitch downward 149 degrees; yaw counterclockwise 68 degrees; open gripper;" + }, + { + "frame_index": 7, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 263 mm; move right 3 mm; move upward 209 mm; roll downward 4 degrees; pitch downward 74 degrees; yaw counterclockwise 19 degrees; open gripper;\nSubtask Movement: move backward 498 mm; move right 124 mm; move upward 403 mm; roll downward 24 degrees; pitch downward 148 degrees; yaw counterclockwise 68 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 105 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0057142856530845165, + 0.0, + -0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2628571391105652, + -0.002500000176951289, + 0.2085714191198349, + -0.0771428570151329, + -1.295714259147644, + 0.33000001311302185, + 1.0 + ], + "delta_full_state_norm": [ + 0.3554069091182055, + 0.9999991384619271, + -0.4385967806495783, + 0.9999996975589134, + 0.8031736727026391, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 263 mm; move right 3 mm; move upward 209 mm; roll downward 4 degrees; pitch downward 74 degrees; yaw counterclockwise 19 degrees; open gripper;", + "subtask_movement_text": "move backward 498 mm; move right 124 mm; move upward 403 mm; roll downward 24 degrees; pitch downward 148 degrees; yaw counterclockwise 68 degrees; open gripper;" + }, + { + "frame_index": 8, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 284 mm; move right 4 mm; move upward 215 mm; roll downward 5 degrees; pitch downward 79 degrees; yaw counterclockwise 23 degrees; open gripper;\nSubtask Movement: move backward 498 mm; move right 124 mm; move upward 397 mm; roll downward 24 degrees; pitch downward 148 degrees; yaw counterclockwise 68 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 105 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0014285714132711291, + 0.0, + 0.006071428768336773, + 0.0, + -0.019999999552965164, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2839285731315613, + -0.004285714589059353, + 0.21535710990428925, + -0.09285714477300644, + -1.382857084274292, + 0.39428573846817017, + 1.0 + ], + "delta_full_state_norm": [ + 0.31668099842093755, + 0.9999991384619271, + -0.40350905370627677, + 0.9999996975589134, + 0.6555540604066603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 1 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 284 mm; move right 4 mm; move upward 215 mm; roll downward 5 degrees; pitch downward 79 degrees; yaw counterclockwise 23 degrees; open gripper;", + "subtask_movement_text": "move backward 498 mm; move right 124 mm; move upward 397 mm; roll downward 24 degrees; pitch downward 148 degrees; yaw counterclockwise 68 degrees; open gripper;" + }, + { + "frame_index": 9, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 0 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 303 mm; move right 9 mm; move upward 222 mm; roll downward 5 degrees; pitch downward 84 degrees; yaw counterclockwise 27 degrees; open gripper;\nSubtask Movement: move backward 496 mm; move right 124 mm; move upward 391 mm; roll downward 24 degrees; pitch downward 147 degrees; yaw counterclockwise 68 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 104 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0028571428265422583, + 0.0, + 0.007857142947614193, + 0.0, + -0.025714285671710968, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.30321428179740906, + -0.008571429178118706, + 0.22214284539222717, + -0.09571428596973419, + -1.4657142162322998, + 0.47285717725753784, + 1.0 + ], + "delta_full_state_norm": [ + 0.2779550877236696, + 0.9999991384619271, + -0.2280705562372367, + 0.9999996975589134, + 0.5571409748496705, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 3 mm; move right 0 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 303 mm; move right 9 mm; move upward 222 mm; roll downward 5 degrees; pitch downward 84 degrees; yaw counterclockwise 27 degrees; open gripper;", + "subtask_movement_text": "move backward 496 mm; move right 124 mm; move upward 391 mm; roll downward 24 degrees; pitch downward 147 degrees; yaw counterclockwise 68 degrees; open gripper;" + }, + { + "frame_index": 10, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 321 mm; move right 15 mm; move upward 228 mm; roll downward 6 degrees; pitch downward 89 degrees; yaw counterclockwise 32 degrees; open gripper;\nSubtask Movement: move backward 493 mm; move right 124 mm; move upward 383 mm; roll downward 24 degrees; pitch downward 145 degrees; yaw counterclockwise 68 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 158, + 104 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0053571430034935474, + 0.0, + 0.010357143357396126, + 0.0, + -0.037142857909202576, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3214285671710968, + -0.015357143245637417, + 0.228214293718338, + -0.11142857372760773, + -1.545714259147644, + 0.5542857646942139, + 1.0 + ], + "delta_full_state_norm": [ + 0.21018473848079622, + 0.9999991384619271, + 0.017543395118406524, + 0.9999996975589134, + 0.36031480373569047, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 5 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 321 mm; move right 15 mm; move upward 228 mm; roll downward 6 degrees; pitch downward 89 degrees; yaw counterclockwise 32 degrees; open gripper;", + "subtask_movement_text": "move backward 493 mm; move right 124 mm; move upward 383 mm; roll downward 24 degrees; pitch downward 145 degrees; yaw counterclockwise 68 degrees; open gripper;" + }, + { + "frame_index": 11, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 336 mm; move right 23 mm; move upward 232 mm; roll downward 8 degrees; pitch downward 92 degrees; yaw counterclockwise 36 degrees; open gripper;\nSubtask Movement: move backward 488 mm; move right 124 mm; move upward 373 mm; roll downward 24 degrees; pitch downward 143 degrees; yaw counterclockwise 68 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 158, + 104 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007142857648432255, + 0.0, + 0.011071428656578064, + 0.0, + -0.04285714402794838, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.33642855286598206, + -0.02321428619325161, + 0.2321428507566452, + -0.1371428668498993, + -1.6128571033477783, + 0.6342857480049133, + 1.0 + ], + "delta_full_state_norm": [ + 0.16177733985285303, + 0.9999991384619271, + 0.08771875750669778, + 0.9999996975589134, + 0.26190171817870067, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 7 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 336 mm; move right 23 mm; move upward 232 mm; roll downward 8 degrees; pitch downward 92 degrees; yaw counterclockwise 36 degrees; open gripper;", + "subtask_movement_text": "move backward 488 mm; move right 124 mm; move upward 373 mm; roll downward 24 degrees; pitch downward 143 degrees; yaw counterclockwise 68 degrees; open gripper;" + }, + { + "frame_index": 12, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 350 mm; move right 33 mm; move upward 236 mm; roll downward 9 degrees; pitch downward 96 degrees; yaw counterclockwise 41 degrees; open gripper;\nSubtask Movement: move backward 481 mm; move right 124 mm; move upward 362 mm; roll downward 24 degrees; pitch downward 141 degrees; yaw counterclockwise 68 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 158, + 103 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007857142947614193, + 0.0, + 0.011428571306169033, + 0.0, + -0.04714285582304001, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3499999940395355, + -0.0325000025331974, + 0.23571430146694183, + -0.16428571939468384, + -1.6728570461273193, + 0.7114285826683044, + 1.0 + ], + "delta_full_state_norm": [ + 0.14241439554952806, + 0.9999991384619271, + 0.1228064387008434, + 0.9999996975589134, + 0.18809195212947705, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 8 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 350 mm; move right 33 mm; move upward 236 mm; roll downward 9 degrees; pitch downward 96 degrees; yaw counterclockwise 41 degrees; open gripper;", + "subtask_movement_text": "move backward 481 mm; move right 124 mm; move upward 362 mm; roll downward 24 degrees; pitch downward 141 degrees; yaw counterclockwise 68 degrees; open gripper;" + }, + { + "frame_index": 13, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 0 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 362 mm; move right 44 mm; move upward 240 mm; roll downward 11 degrees; pitch downward 99 degrees; yaw counterclockwise 45 degrees; open gripper;\nSubtask Movement: move backward 473 mm; move right 124 mm; move upward 350 mm; roll downward 24 degrees; pitch downward 138 degrees; yaw counterclockwise 68 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 158, + 103 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.010714286006987095, + 0.0, + 0.013214285485446453, + 0.0, + -0.055714286863803864, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3617857098579407, + -0.04392857477068901, + 0.24000000953674316, + -0.19285714626312256, + -1.7300000190734863, + 0.7857142686843872, + 1.0 + ], + "delta_full_state_norm": [ + 0.06496256784338694, + 0.9999991384619271, + 0.29824493616988335, + 0.9999996975589134, + 0.04047229171497957, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 11 mm; move right 0 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 362 mm; move right 44 mm; move upward 240 mm; roll downward 11 degrees; pitch downward 99 degrees; yaw counterclockwise 45 degrees; open gripper;", + "subtask_movement_text": "move backward 473 mm; move right 124 mm; move upward 350 mm; roll downward 24 degrees; pitch downward 138 degrees; yaw counterclockwise 68 degrees; open gripper;" + }, + { + "frame_index": 14, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 0 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 370 mm; move right 55 mm; move upward 243 mm; roll downward 13 degrees; pitch downward 102 degrees; yaw counterclockwise 49 degrees; open gripper;\nSubtask Movement: move backward 462 mm; move right 124 mm; move upward 337 mm; roll downward 24 degrees; pitch downward 135 degrees; yaw counterclockwise 68 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 158, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011785714887082577, + 0.0, + 0.012500000186264515, + 0.0, + -0.058571428060531616, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3700000047683716, + -0.05535714700818062, + 0.24321427941322327, + -0.2257142961025238, + -1.7814284563064575, + 0.8571428656578064, + 1.0 + ], + "delta_full_state_norm": [ + 0.03591812614197898, + 0.9999991384619271, + 0.2280695737815921, + 0.9999996975589134, + -0.008734218984502884, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 12 mm; move right 0 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 370 mm; move right 55 mm; move upward 243 mm; roll downward 13 degrees; pitch downward 102 degrees; yaw counterclockwise 49 degrees; open gripper;", + "subtask_movement_text": "move backward 462 mm; move right 124 mm; move upward 337 mm; roll downward 24 degrees; pitch downward 135 degrees; yaw counterclockwise 68 degrees; open gripper;" + }, + { + "frame_index": 15, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 0 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 377 mm; move right 68 mm; move upward 249 mm; roll downward 15 degrees; pitch downward 105 degrees; yaw counterclockwise 53 degrees; open gripper;\nSubtask Movement: move backward 450 mm; move right 124 mm; move upward 325 mm; roll downward 24 degrees; pitch downward 131 degrees; yaw counterclockwise 68 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 159, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011785714887082577, + 0.0, + 0.012857143767178059, + 0.0, + -0.06142857298254967, + 0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + -0.37714287638664246, + -0.06785714626312256, + 0.24857142567634583, + -0.2600000202655792, + -1.8342857360839844, + 0.9257143139839172, + 1.0 + ], + "delta_full_state_norm": [ + 0.03591812614197898, + 0.9999991384619271, + 0.26315734647404976, + 0.9999996975589134, + -0.05794079384201045, + -0.9276541982728024, + 0.9999999900000001 + ], + "movement_text": "move backward 12 mm; move right 0 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 377 mm; move right 68 mm; move upward 249 mm; roll downward 15 degrees; pitch downward 105 degrees; yaw counterclockwise 53 degrees; open gripper;", + "subtask_movement_text": "move backward 450 mm; move right 124 mm; move upward 325 mm; roll downward 24 degrees; pitch downward 131 degrees; yaw counterclockwise 68 degrees; open gripper;" + }, + { + "frame_index": 16, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 384 mm; move right 81 mm; move upward 254 mm; roll downward 17 degrees; pitch downward 108 degrees; yaw counterclockwise 57 degrees; open gripper;\nSubtask Movement: move backward 439 mm; move right 124 mm; move upward 312 mm; roll downward 24 degrees; pitch downward 128 degrees; yaw counterclockwise 68 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 159, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012500000186264515, + 0.0, + 0.013928571715950966, + 0.0, + -0.0657142847776413, + 0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + -0.38428571820259094, + -0.08107142895460129, + 0.25357145071029663, + -0.2985714375972748, + -1.8857141733169556, + 0.9914286732673645, + 1.0 + ], + "delta_full_state_norm": [ + 0.01655518183865401, + 0.9999991384619271, + 0.36842039005648664, + 0.9999996975589134, + -0.13175055989123396, + -0.8191354927342501, + 0.9999999900000001 + ], + "movement_text": "move backward 13 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 384 mm; move right 81 mm; move upward 254 mm; roll downward 17 degrees; pitch downward 108 degrees; yaw counterclockwise 57 degrees; open gripper;", + "subtask_movement_text": "move backward 439 mm; move right 124 mm; move upward 312 mm; roll downward 24 degrees; pitch downward 128 degrees; yaw counterclockwise 68 degrees; open gripper;" + }, + { + "frame_index": 17, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 0 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 391 mm; move right 94 mm; move upward 258 mm; roll downward 19 degrees; pitch downward 111 degrees; yaw counterclockwise 60 degrees; open gripper;\nSubtask Movement: move backward 426 mm; move right 124 mm; move upward 298 mm; roll downward 24 degrees; pitch downward 124 degrees; yaw counterclockwise 68 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 160, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012500000186264515, + 0.0, + 0.012857143767178059, + 0.0, + -0.0714285746216774, + 0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + -0.39071428775787354, + -0.09428571909666061, + 0.25785714387893677, + -0.3385714292526245, + -1.9342856407165527, + 1.0528571605682373, + 1.0 + ], + "delta_full_state_norm": [ + 0.01655518183865401, + 0.9999991384619271, + 0.26315734647404976, + 0.9999996975589134, + -0.2301637096062491, + -0.529752274034436, + 0.9999999900000001 + ], + "movement_text": "move backward 13 mm; move right 0 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 391 mm; move right 94 mm; move upward 258 mm; roll downward 19 degrees; pitch downward 111 degrees; yaw counterclockwise 60 degrees; open gripper;", + "subtask_movement_text": "move backward 426 mm; move right 124 mm; move upward 298 mm; roll downward 24 degrees; pitch downward 124 degrees; yaw counterclockwise 68 degrees; open gripper;" + }, + { + "frame_index": 18, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 0 mm; move upward 12 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 396 mm; move right 109 mm; move upward 265 mm; roll downward 22 degrees; pitch downward 113 degrees; yaw counterclockwise 63 degrees; open gripper;\nSubtask Movement: move backward 414 mm; move right 124 mm; move upward 285 mm; roll downward 24 degrees; pitch downward 120 degrees; yaw counterclockwise 66 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 160, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.015714285895228386, + 0.0, + 0.011785714887082577, + 0.0, + -0.08142857253551483, + 0.02428571507334709, + 1.0 + ], + "delta_next_20": [ + -0.3960714340209961, + -0.10892857611179352, + 0.2646428346633911, + -0.3799999952316284, + -1.9771428108215332, + 1.098571538925171, + 1.0 + ], + "delta_full_state_norm": [ + -0.07057811801914937, + 0.9999991384619271, + 0.15789421139330084, + 0.9999996975589134, + -0.40238656121246263, + -0.3850606587890171, + 0.9999999900000001 + ], + "movement_text": "move backward 16 mm; move right 0 mm; move upward 12 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 396 mm; move right 109 mm; move upward 265 mm; roll downward 22 degrees; pitch downward 113 degrees; yaw counterclockwise 63 degrees; open gripper;", + "subtask_movement_text": "move backward 414 mm; move right 124 mm; move upward 285 mm; roll downward 24 degrees; pitch downward 120 degrees; yaw counterclockwise 66 degrees; open gripper;" + }, + { + "frame_index": 19, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 18 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 398 mm; move right 124 mm; move upward 273 mm; roll downward 24 degrees; pitch downward 115 degrees; yaw counterclockwise 65 degrees; open gripper;\nSubtask Movement: move backward 398 mm; move right 124 mm; move upward 273 mm; roll downward 24 degrees; pitch downward 115 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 160, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.017500000074505806, + 0.0, + 0.010357143357396126, + 0.0, + -0.08285713940858841, + 0.027142856270074844, + 1.0 + ], + "delta_next_20": [ + -0.3978571593761444, + -0.12357143312692642, + 0.27321428060531616, + -0.427142858505249, + -2.0114285945892334, + 1.1357142925262451, + 1.0 + ], + "delta_full_state_norm": [ + -0.1189855040238823, + 0.9999991384619271, + 0.017543395118406524, + 0.9999996975589134, + -0.4269897524041786, + -0.3127148983304029, + 0.9999999900000001 + ], + "movement_text": "move backward 18 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 398 mm; move right 124 mm; move upward 273 mm; roll downward 24 degrees; pitch downward 115 degrees; yaw counterclockwise 65 degrees; open gripper;", + "subtask_movement_text": "move backward 398 mm; move right 124 mm; move upward 273 mm; roll downward 24 degrees; pitch downward 115 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 20, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 19 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 396 mm; move right 139 mm; move upward 284 mm; roll downward 27 degrees; pitch downward 117 degrees; yaw counterclockwise 67 degrees; open gripper;\nSubtask Movement: move backward 380 mm; move right 124 mm; move upward 263 mm; roll downward 24 degrees; pitch downward 110 degrees; yaw counterclockwise 64 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 161, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.018928570672869682, + 0.0, + 0.010357143357396126, + 0.0, + -0.08285713940858841, + 0.027142856270074844, + 1.0 + ], + "delta_next_20": [ + -0.39642858505249023, + -0.13928572833538055, + 0.2835714519023895, + -0.477142870426178, + -2.0457141399383545, + 1.164285659790039, + 1.0 + ], + "delta_full_state_norm": [ + -0.15771139263053213, + 0.9999991384619271, + 0.017543395118406524, + 0.9999996975589134, + -0.4269897524041786, + -0.3127148983304029, + 0.9999999900000001 + ], + "movement_text": "move backward 19 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 396 mm; move right 139 mm; move upward 284 mm; roll downward 27 degrees; pitch downward 117 degrees; yaw counterclockwise 67 degrees; open gripper;", + "subtask_movement_text": "move backward 380 mm; move right 124 mm; move upward 263 mm; roll downward 24 degrees; pitch downward 110 degrees; yaw counterclockwise 64 degrees; open gripper;" + }, + { + "frame_index": 21, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 392 mm; move right 157 mm; move upward 294 mm; roll downward 31 degrees; pitch downward 119 degrees; yaw counterclockwise 68 degrees; open gripper;\nSubtask Movement: move backward 361 mm; move right 124 mm; move upward 252 mm; roll downward 24 degrees; pitch downward 106 degrees; yaw counterclockwise 62 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 161, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01964285783469677, + 0.0, + 0.010000000707805157, + 0.0, + -0.08428571373224258, + 0.029999999329447746, + 1.0 + ], + "delta_next_20": [ + -0.39178571105003357, + -0.15678571164608002, + 0.293571412563324, + -0.5357142686843872, + -2.0814285278320312, + 1.1871427297592163, + 1.0 + ], + "delta_full_state_norm": [ + -0.17707438742669845, + 0.9999991384619271, + -0.0175442860757391, + 0.9999996975589134, + -0.451593071911945, + -0.2403690907076934, + 0.9999999900000001 + ], + "movement_text": "move backward 20 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 392 mm; move right 157 mm; move upward 294 mm; roll downward 31 degrees; pitch downward 119 degrees; yaw counterclockwise 68 degrees; open gripper;", + "subtask_movement_text": "move backward 361 mm; move right 124 mm; move upward 252 mm; roll downward 24 degrees; pitch downward 106 degrees; yaw counterclockwise 62 degrees; open gripper;" + }, + { + "frame_index": 22, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 385 mm; move right 175 mm; move upward 303 mm; roll downward 34 degrees; pitch downward 121 degrees; yaw counterclockwise 69 degrees; open gripper;\nSubtask Movement: move backward 342 mm; move right 124 mm; move upward 242 mm; roll downward 24 degrees; pitch downward 101 degrees; yaw counterclockwise 60 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 162, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.020357143133878708, + 0.0, + 0.008928571827709675, + -0.0014285714132711291, + -0.08714285492897034, + 0.029999999329447746, + 1.0 + ], + "delta_next_20": [ + -0.38535717129707336, + -0.17499999701976776, + 0.3028571307659149, + -0.5928571224212646, + -2.1128571033477783, + 1.2028570175170898, + 1.0 + ], + "delta_full_state_norm": [ + -0.1964373317300233, + 0.9999991384619271, + -0.1228074211564879, + 0.9567938284927155, + -0.5007995826114273, + -0.2403690907076934, + 0.9999999900000001 + ], + "movement_text": "move backward 20 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 385 mm; move right 175 mm; move upward 303 mm; roll downward 34 degrees; pitch downward 121 degrees; yaw counterclockwise 69 degrees; open gripper;", + "subtask_movement_text": "move backward 342 mm; move right 124 mm; move upward 242 mm; roll downward 24 degrees; pitch downward 101 degrees; yaw counterclockwise 60 degrees; open gripper;" + }, + { + "frame_index": 23, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 0 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 377 mm; move right 194 mm; move upward 311 mm; roll downward 37 degrees; pitch downward 122 degrees; yaw counterclockwise 69 degrees; open gripper;\nSubtask Movement: move backward 321 mm; move right 124 mm; move upward 234 mm; roll downward 24 degrees; pitch downward 96 degrees; yaw counterclockwise 59 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 163, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.021071428433060646, + 0.0, + 0.009642857126891613, + -0.011428571306169033, + -0.09285714477300644, + 0.03285714238882065, + 1.0 + ], + "delta_next_20": [ + -0.3767857253551483, + -0.1939285844564438, + 0.3107143044471741, + -0.645714282989502, + -2.1371426582336426, + 1.2128570079803467, + 1.0 + ], + "delta_full_state_norm": [ + -0.21580027603334828, + 0.9999991384619271, + -0.052632058768196655, + 0.6543527450293294, + -0.5992127323264425, + -0.16802328308498393, + 0.9999999900000001 + ], + "movement_text": "move backward 21 mm; move right 0 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 377 mm; move right 194 mm; move upward 311 mm; roll downward 37 degrees; pitch downward 122 degrees; yaw counterclockwise 69 degrees; open gripper;", + "subtask_movement_text": "move backward 321 mm; move right 124 mm; move upward 234 mm; roll downward 24 degrees; pitch downward 96 degrees; yaw counterclockwise 59 degrees; open gripper;" + }, + { + "frame_index": 24, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 0 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 365 mm; move right 215 mm; move upward 317 mm; roll downward 39 degrees; pitch downward 123 degrees; yaw counterclockwise 70 degrees; open gripper;\nSubtask Movement: move backward 300 mm; move right 124 mm; move upward 224 mm; roll downward 24 degrees; pitch downward 91 degrees; yaw counterclockwise 57 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 163, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02142857201397419, + 0.0, + 0.009285714477300644, + -0.017142856493592262, + -0.09428571164608002, + 0.037142857909202576, + 1.0 + ], + "delta_next_20": [ + -0.3653571605682373, + -0.21464286744594574, + 0.3171428442001343, + -0.6871428489685059, + -2.1528573036193848, + 1.2157140970230103, + 1.0 + ], + "delta_full_state_norm": [ + -0.2254817734314314, + 0.9999991384619271, + -0.08771973996234228, + 0.48152928284804797, + -0.6238159235181585, + -0.059504548068872065, + 0.9999999900000001 + ], + "movement_text": "move backward 21 mm; move right 0 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 365 mm; move right 215 mm; move upward 317 mm; roll downward 39 degrees; pitch downward 123 degrees; yaw counterclockwise 70 degrees; open gripper;", + "subtask_movement_text": "move backward 300 mm; move right 124 mm; move upward 224 mm; roll downward 24 degrees; pitch downward 91 degrees; yaw counterclockwise 57 degrees; open gripper;" + }, + { + "frame_index": 25, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 1 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 353 mm; move right 236 mm; move upward 324 mm; roll downward 41 degrees; pitch downward 124 degrees; yaw counterclockwise 69 degrees; open gripper;\nSubtask Movement: move backward 279 mm; move right 124 mm; move upward 215 mm; roll downward 23 degrees; pitch downward 85 degrees; yaw counterclockwise 55 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 164, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.021785713732242584, + -0.0010714286472648382, + 0.009285714477300644, + -0.02142857201397419, + -0.09571428596973419, + 0.04285714402794838, + 1.0 + ], + "delta_next_20": [ + -0.3525000214576721, + -0.23571430146694183, + 0.3239285945892334, + -0.7228571772575378, + -2.1671431064605713, + 1.209999918937683, + 1.0 + ], + "delta_full_state_norm": [ + -0.23516322033667314, + 0.9076914812884738, + -0.08771973996234228, + 0.3519116369197999, + -0.6484192430259249, + 0.0851870671765469, + 0.9999999900000001 + ], + "movement_text": "move backward 22 mm; move right 1 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 353 mm; move right 236 mm; move upward 324 mm; roll downward 41 degrees; pitch downward 124 degrees; yaw counterclockwise 69 degrees; open gripper;", + "subtask_movement_text": "move backward 279 mm; move right 124 mm; move upward 215 mm; roll downward 23 degrees; pitch downward 85 degrees; yaw counterclockwise 55 degrees; open gripper;" + }, + { + "frame_index": 26, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 1 mm; move upward 11 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 337 mm; move right 256 mm; move upward 330 mm; roll downward 43 degrees; pitch downward 125 degrees; yaw counterclockwise 68 degrees; open gripper;\nSubtask Movement: move backward 257 mm; move right 123 mm; move upward 205 mm; roll downward 22 degrees; pitch downward 80 degrees; yaw counterclockwise 52 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 164, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.022499999031424522, + -0.0014285714132711291, + 0.011071428656578064, + -0.025714285671710968, + -0.09714286029338837, + 0.05000000074505806, + 1.0 + ], + "delta_next_20": [ + -0.3371428847312927, + -0.25607141852378845, + 0.33000001311302185, + -0.7557142972946167, + -2.1785714626312256, + 1.1942857503890991, + 1.0 + ], + "delta_full_state_norm": [ + -0.2545261646399981, + 0.8769222722602792, + 0.08771875750669778, + 0.22229404732559388, + -0.6730225625336913, + 0.26605156265127294, + 0.9999999900000001 + ], + "movement_text": "move backward 22 mm; move right 1 mm; move upward 11 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 337 mm; move right 256 mm; move upward 330 mm; roll downward 43 degrees; pitch downward 125 degrees; yaw counterclockwise 68 degrees; open gripper;", + "subtask_movement_text": "move backward 257 mm; move right 123 mm; move upward 205 mm; roll downward 22 degrees; pitch downward 80 degrees; yaw counterclockwise 52 degrees; open gripper;" + }, + { + "frame_index": 27, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 2 mm; move upward 13 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 320 mm; move right 278 mm; move upward 334 mm; roll downward 45 degrees; pitch downward 125 degrees; yaw counterclockwise 67 degrees; open gripper;\nSubtask Movement: move backward 235 mm; move right 121 mm; move upward 194 mm; roll downward 20 degrees; pitch downward 74 degrees; yaw counterclockwise 49 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 165, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.021071428433060646, + -0.0017857144121080637, + 0.012500000186264515, + -0.015714285895228386, + -0.09857142716646194, + 0.06428571790456772, + 1.0 + ], + "delta_next_20": [ + -0.3196428716182709, + -0.2775000035762787, + 0.3335714638233185, + -0.785714328289032, + -2.187143087387085, + 1.1671429872512817, + 1.0 + ], + "delta_full_state_norm": [ + -0.21580027603334828, + 0.8461530431728381, + 0.2280695737815921, + 0.5247351272681025, + -0.6976257537254072, + 0.6277806479289159, + 0.9999999900000001 + ], + "movement_text": "move backward 21 mm; move right 2 mm; move upward 13 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 320 mm; move right 278 mm; move upward 334 mm; roll downward 45 degrees; pitch downward 125 degrees; yaw counterclockwise 67 degrees; open gripper;", + "subtask_movement_text": "move backward 235 mm; move right 121 mm; move upward 194 mm; roll downward 20 degrees; pitch downward 74 degrees; yaw counterclockwise 49 degrees; open gripper;" + }, + { + "frame_index": 28, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 4 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move backward 302 mm; move right 299 mm; move upward 335 mm; roll downward 47 degrees; pitch downward 126 degrees; yaw counterclockwise 64 degrees; open gripper;\nSubtask Movement: move backward 214 mm; move right 119 mm; move upward 182 mm; roll downward 19 degrees; pitch downward 69 degrees; yaw counterclockwise 46 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 166, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02071428671479225, + -0.004285714589059353, + 0.012857143767178059, + -0.0028571428265422583, + -0.10285714268684387, + 0.07857143133878708, + 1.0 + ], + "delta_next_20": [ + -0.3021429181098938, + -0.2989285886287689, + 0.33500003814697266, + -0.8271428942680359, + -2.192857027053833, + 1.1228572130203247, + 1.0 + ], + "delta_full_state_norm": [ + -0.20611882912810642, + 0.6307685097681133, + 0.26315734647404976, + 0.9135879594265175, + -0.771435583932656, + 0.989509638878368, + 0.9999999900000001 + ], + "movement_text": "move backward 21 mm; move right 4 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move backward 302 mm; move right 299 mm; move upward 335 mm; roll downward 47 degrees; pitch downward 126 degrees; yaw counterclockwise 64 degrees; open gripper;", + "subtask_movement_text": "move backward 214 mm; move right 119 mm; move upward 182 mm; roll downward 19 degrees; pitch downward 69 degrees; yaw counterclockwise 46 degrees; open gripper;" + }, + { + "frame_index": 29, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 7 mm; move upward 14 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move backward 284 mm; move right 318 mm; move upward 336 mm; roll downward 51 degrees; pitch downward 126 degrees; yaw counterclockwise 61 degrees; open gripper;\nSubtask Movement: move backward 193 mm; move right 115 mm; move upward 169 mm; roll downward 19 degrees; pitch downward 63 degrees; yaw counterclockwise 41 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 167, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.021071428433060646, + -0.006785714533179998, + 0.013928571715950966, + -0.015714285895228386, + -0.10571428388357162, + 0.08142857253551483, + 1.0 + ], + "delta_next_20": [ + -0.2835714519023895, + -0.31785714626312256, + 0.33571431040763855, + -0.881428599357605, + -2.1942858695983887, + 1.0600000619888306, + 1.0 + ], + "delta_full_state_norm": [ + -0.21580027603334828, + 0.4153839964226347, + 0.36842039005648664, + 0.5247351272681025, + -0.8206420946321384, + 1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 21 mm; move right 7 mm; move upward 14 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move backward 284 mm; move right 318 mm; move upward 336 mm; roll downward 51 degrees; pitch downward 126 degrees; yaw counterclockwise 61 degrees; open gripper;", + "subtask_movement_text": "move backward 193 mm; move right 115 mm; move upward 169 mm; roll downward 19 degrees; pitch downward 63 degrees; yaw counterclockwise 41 degrees; open gripper;" + }, + { + "frame_index": 30, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 8 mm; move upward 14 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move backward 263 mm; move right 334 mm; move upward 335 mm; roll downward 53 degrees; pitch downward 125 degrees; yaw counterclockwise 57 degrees; open gripper;\nSubtask Movement: move backward 172 mm; move right 108 mm; move upward 155 mm; roll downward 18 degrees; pitch downward 57 degrees; yaw counterclockwise 36 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 168, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.020357143133878708, + -0.007857142947614193, + 0.01428571529686451, + -0.025714285671710968, + -0.10428571701049805, + 0.07999999821186066, + 1.0 + ], + "delta_next_20": [ + -0.2628571689128876, + -0.334285706281662, + 0.3353571891784668, + -0.9200000762939453, + -2.190000057220459, + 0.9885713458061218, + 1.0 + ], + "delta_full_state_norm": [ + -0.1964373317300233, + 0.3230763593084276, + 0.4035081627489443, + 0.22229404732559388, + -0.7960389034404224, + 1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 20 mm; move right 8 mm; move upward 14 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move backward 263 mm; move right 334 mm; move upward 335 mm; roll downward 53 degrees; pitch downward 125 degrees; yaw counterclockwise 57 degrees; open gripper;", + "subtask_movement_text": "move backward 172 mm; move right 108 mm; move upward 155 mm; roll downward 18 degrees; pitch downward 57 degrees; yaw counterclockwise 36 degrees; open gripper;" + }, + { + "frame_index": 31, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 9 mm; move upward 15 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 243 mm; move right 349 mm; move upward 335 mm; roll downward 54 degrees; pitch downward 125 degrees; yaw counterclockwise 52 degrees; open gripper;\nSubtask Movement: move backward 151 mm; move right 100 mm; move upward 141 mm; roll downward 17 degrees; pitch downward 51 degrees; yaw counterclockwise 32 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 169, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02071428671479225, + -0.009285714477300644, + 0.014642857015132904, + -0.027142856270074844, + -0.10285714268684387, + 0.0771428570151329, + 1.0 + ], + "delta_next_20": [ + -0.24250005185604095, + -0.3489285707473755, + 0.3346428871154785, + -0.9442857503890991, + -2.190000057220459, + 0.9157142639160156, + 1.0 + ], + "delta_full_state_norm": [ + -0.20611882912810642, + 0.19999948307715631, + 0.43859575244477766, + 0.1790882029055394, + -0.771435583932656, + 0.95333666432087, + 0.9999999900000001 + ], + "movement_text": "move backward 21 mm; move right 9 mm; move upward 15 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 243 mm; move right 349 mm; move upward 335 mm; roll downward 54 degrees; pitch downward 125 degrees; yaw counterclockwise 52 degrees; open gripper;", + "subtask_movement_text": "move backward 151 mm; move right 100 mm; move upward 141 mm; roll downward 17 degrees; pitch downward 51 degrees; yaw counterclockwise 32 degrees; open gripper;" + }, + { + "frame_index": 32, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 11 mm; move upward 16 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 222 mm; move right 361 mm; move upward 334 mm; roll downward 55 degrees; pitch downward 126 degrees; yaw counterclockwise 48 degrees; open gripper;\nSubtask Movement: move backward 131 mm; move right 91 mm; move upward 126 mm; roll downward 15 degrees; pitch downward 45 degrees; yaw counterclockwise 27 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 170, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01964285783469677, + -0.011428571306169033, + 0.015714285895228386, + -0.02857142873108387, + -0.10428571701049805, + 0.07428571581840515, + 1.0 + ], + "delta_next_20": [ + -0.2217857390642166, + -0.3610714375972748, + 0.3335714638233185, + -0.9600000381469727, + -2.1914286613464355, + 0.8385713696479797, + 1.0 + ], + "delta_full_state_norm": [ + -0.17707438742669845, + 0.015384208848742142, + 0.5438588875255266, + 0.1358823021514426, + -0.7960389034404224, + 0.8809909038622559, + 0.9999999900000001 + ], + "movement_text": "move backward 20 mm; move right 11 mm; move upward 16 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 222 mm; move right 361 mm; move upward 334 mm; roll downward 55 degrees; pitch downward 126 degrees; yaw counterclockwise 48 degrees; open gripper;", + "subtask_movement_text": "move backward 131 mm; move right 91 mm; move upward 126 mm; roll downward 15 degrees; pitch downward 45 degrees; yaw counterclockwise 27 degrees; open gripper;" + }, + { + "frame_index": 33, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 19 mm; move right 11 mm; move upward 16 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 202 mm; move right 370 mm; move upward 333 mm; roll downward 54 degrees; pitch downward 126 degrees; yaw counterclockwise 44 degrees; open gripper;\nSubtask Movement: move backward 111 mm; move right 80 mm; move upward 110 mm; roll downward 13 degrees; pitch downward 39 degrees; yaw counterclockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 171, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.018928570672869682, + -0.011428571306169033, + 0.016428573057055473, + -0.03285714238882065, + -0.1071428582072258, + 0.0714285746216774, + 1.0 + ], + "delta_next_20": [ + -0.2021428644657135, + -0.37035712599754333, + 0.33321431279182434, + -0.9485714435577393, + -2.192857265472412, + 0.764285683631897, + 1.0 + ], + "delta_full_state_norm": [ + -0.15771139263053213, + 0.015384208848742142, + 0.6140344329104419, + 0.006264712557236818, + -0.8452454141399048, + 0.8086451434036419, + 0.9999999900000001 + ], + "movement_text": "move backward 19 mm; move right 11 mm; move upward 16 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 202 mm; move right 370 mm; move upward 333 mm; roll downward 54 degrees; pitch downward 126 degrees; yaw counterclockwise 44 degrees; open gripper;", + "subtask_movement_text": "move backward 111 mm; move right 80 mm; move upward 110 mm; roll downward 13 degrees; pitch downward 39 degrees; yaw counterclockwise 23 degrees; open gripper;" + }, + { + "frame_index": 34, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 19 mm; move right 13 mm; move upward 18 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 183 mm; move right 379 mm; move upward 332 mm; roll downward 54 degrees; pitch downward 125 degrees; yaw counterclockwise 40 degrees; open gripper;\nSubtask Movement: move backward 92 mm; move right 68 mm; move upward 94 mm; roll downward 12 degrees; pitch downward 33 degrees; yaw counterclockwise 19 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 173, + 98 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.018928570672869682, + -0.012500000186264515, + 0.01785714365541935, + -0.034285712987184525, + -0.11142857372760773, + 0.06857142597436905, + 1.0 + ], + "delta_next_20": [ + -0.18321430683135986, + -0.37928569316864014, + 0.3321428596973419, + -0.9357142448425293, + -2.187142848968506, + 0.6928571462631226, + 1.0 + ], + "delta_full_state_norm": [ + -0.15771139263053213, + -0.0769234683839578, + 0.7543851576870242, + -0.03694113186281767, + -0.9190552443471536, + 0.7362991942886463, + 0.9999999900000001 + ], + "movement_text": "move backward 19 mm; move right 13 mm; move upward 18 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 183 mm; move right 379 mm; move upward 332 mm; roll downward 54 degrees; pitch downward 125 degrees; yaw counterclockwise 40 degrees; open gripper;", + "subtask_movement_text": "move backward 92 mm; move right 68 mm; move upward 94 mm; roll downward 12 degrees; pitch downward 33 degrees; yaw counterclockwise 19 degrees; open gripper;" + }, + { + "frame_index": 35, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 19 mm; move right 13 mm; move upward 18 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 164 mm; move right 387 mm; move upward 330 mm; roll downward 53 degrees; pitch downward 125 degrees; yaw counterclockwise 36 degrees; open gripper;\nSubtask Movement: move backward 73 mm; move right 56 mm; move upward 76 mm; roll downward 10 degrees; pitch downward 26 degrees; yaw counterclockwise 15 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 174, + 98 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.018928570672869682, + -0.013214285485446453, + 0.01785714365541935, + -0.03857142850756645, + -0.1128571406006813, + 0.06857142597436905, + 1.0 + ], + "delta_next_20": [ + -0.16428570449352264, + -0.38678571581840515, + 0.33000001311302185, + -0.9228571057319641, + -2.177142858505249, + 0.6242856979370117, + 1.0 + ], + "delta_full_state_norm": [ + -0.15771139263053213, + -0.1384618663811007, + 0.7543851576870242, + -0.16655877779106576, + -0.9436584355388695, + 0.7362991942886463, + 0.9999999900000001 + ], + "movement_text": "move backward 19 mm; move right 13 mm; move upward 18 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 164 mm; move right 387 mm; move upward 330 mm; roll downward 53 degrees; pitch downward 125 degrees; yaw counterclockwise 36 degrees; open gripper;", + "subtask_movement_text": "move backward 73 mm; move right 56 mm; move upward 76 mm; roll downward 10 degrees; pitch downward 26 degrees; yaw counterclockwise 15 degrees; open gripper;" + }, + { + "frame_index": 36, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 19 mm; move right 13 mm; move upward 18 mm; roll downward 2 degrees; pitch downward 7 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 145 mm; move right 394 mm; move upward 327 mm; roll downward 52 degrees; pitch downward 124 degrees; yaw counterclockwise 32 degrees; open gripper;\nSubtask Movement: move backward 54 mm; move right 43 mm; move upward 58 mm; roll downward 7 degrees; pitch downward 20 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 176, + 98 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.018928570672869682, + -0.013214285485446453, + 0.018214285373687744, + -0.03999999910593033, + -0.11428571492433548, + 0.06857142597436905, + 1.0 + ], + "delta_next_20": [ + -0.1453571319580078, + -0.3942857086658478, + 0.3271428644657135, + -0.9071428179740906, + -2.1628572940826416, + 0.5557142496109009, + 1.0 + ], + "delta_full_state_norm": [ + -0.15771139263053213, + -0.1384618663811007, + 0.7894727473828578, + -0.20976462221112024, + -0.9682617550466359, + 0.7362991942886463, + 0.9999999900000001 + ], + "movement_text": "move backward 19 mm; move right 13 mm; move upward 18 mm; roll downward 2 degrees; pitch downward 7 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 145 mm; move right 394 mm; move upward 327 mm; roll downward 52 degrees; pitch downward 124 degrees; yaw counterclockwise 32 degrees; open gripper;", + "subtask_movement_text": "move backward 54 mm; move right 43 mm; move upward 58 mm; roll downward 7 degrees; pitch downward 20 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 37, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 18 mm; move right 15 mm; move upward 20 mm; roll downward 2 degrees; pitch downward 7 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 126 mm; move right 402 mm; move upward 324 mm; roll downward 51 degrees; pitch downward 123 degrees; yaw counterclockwise 28 degrees; open gripper;\nSubtask Movement: move backward 35 mm; move right 29 mm; move upward 40 mm; roll downward 5 degrees; pitch downward 13 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 177, + 97 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01785714365541935, + -0.014642857015132904, + 0.01964285783469677, + -0.041428569704294205, + -0.11428571492433548, + 0.06428571790456772, + 1.0 + ], + "delta_next_20": [ + -0.12642857432365417, + -0.4017857015132904, + 0.3239285945892334, + -0.891428530216217, + -2.1471428871154785, + 0.4871428608894348, + 1.0 + ], + "delta_full_state_norm": [ + -0.1286670014219654, + -0.261538742612372, + 0.9298236551560644, + -0.25297046663117473, + -0.9682617550466359, + 0.6277806479289159, + 0.9999999900000001 + ], + "movement_text": "move backward 18 mm; move right 15 mm; move upward 20 mm; roll downward 2 degrees; pitch downward 7 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 126 mm; move right 402 mm; move upward 324 mm; roll downward 51 degrees; pitch downward 123 degrees; yaw counterclockwise 28 degrees; open gripper;", + "subtask_movement_text": "move backward 35 mm; move right 29 mm; move upward 40 mm; roll downward 5 degrees; pitch downward 13 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 38, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 18 mm; move right 15 mm; move upward 20 mm; roll downward 3 degrees; pitch downward 7 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 109 mm; move right 409 mm; move upward 319 mm; roll downward 50 degrees; pitch downward 122 degrees; yaw counterclockwise 24 degrees; open gripper;\nSubtask Movement: move backward 18 mm; move right 15 mm; move upward 20 mm; roll downward 3 degrees; pitch downward 7 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 179, + 97 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.017500000074505806, + -0.014642857015132904, + 0.020357143133878708, + -0.04714285582304001, + -0.11571428924798965, + 0.06142857298254967, + 1.0 + ], + "delta_next_20": [ + -0.10857142508029938, + -0.40857139229774475, + 0.3192857503890991, + -0.8757142424583435, + -2.1314284801483154, + 0.4228571653366089, + 1.0 + ], + "delta_full_state_norm": [ + -0.1189855040238823, + -0.261538742612372, + 0.9999990175443554, + -0.4257939569794774, + -0.9928650745544023, + 0.5554347931421109, + 0.9999999900000001 + ], + "movement_text": "move backward 18 mm; move right 15 mm; move upward 20 mm; roll downward 3 degrees; pitch downward 7 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 109 mm; move right 409 mm; move upward 319 mm; roll downward 50 degrees; pitch downward 122 degrees; yaw counterclockwise 24 degrees; open gripper;", + "subtask_movement_text": "move backward 18 mm; move right 15 mm; move upward 20 mm; roll downward 3 degrees; pitch downward 7 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 39, + "segment_id": 0, + "subtask": "reach for the stop button", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, moving towards the interface. The end-effector is hovering near the buttons without making contact or pressing them yet.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 16 mm; move upward 21 mm; roll downward 3 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 91 mm; move right 416 mm; move upward 312 mm; roll downward 49 degrees; pitch downward 121 degrees; yaw counterclockwise 21 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 181, + 96 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01607142947614193, + -0.015714285895228386, + 0.02071428671479225, + -0.05000000074505806, + -0.11714285612106323, + 0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + -0.09107143431901932, + -0.4160713851451874, + 0.3125, + -0.85999995470047, + -2.114285707473755, + 0.36142855882644653, + 1.0 + ], + "delta_full_state_norm": [ + -0.08025961541723248, + -0.3538464198450719, + 1.0, + -0.512205758487671, + -1.0, + 0.4107431778966919, + 0.9999999900000001 + ], + "movement_text": "move backward 16 mm; move right 16 mm; move upward 21 mm; roll downward 3 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 91 mm; move right 416 mm; move upward 312 mm; roll downward 49 degrees; pitch downward 121 degrees; yaw counterclockwise 21 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 40, + "segment_id": 100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 18 mm; move upward 20 mm; roll downward 3 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 75 mm; move right 422 mm; move upward 306 mm; roll downward 48 degrees; pitch downward 120 degrees; yaw counterclockwise 18 degrees; open gripper;\nSubtask Movement: move backward 75 mm; move right 295 mm; move upward 218 mm; roll downward 39 degrees; pitch downward 86 degrees; yaw counterclockwise 18 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 183, + 95 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01428571529686451, + -0.017500000074505806, + 0.020357143133878708, + -0.058571428060531616, + -0.11857143044471741, + 0.05000000074505806, + 1.0 + ], + "delta_next_20": [ + -0.07500000298023224, + -0.42214280366897583, + 0.3060714602470398, + -0.8442857265472412, + -2.0957143306732178, + 0.30571430921554565, + 1.0 + ], + "delta_full_state_norm": [ + -0.031852229412499544, + -0.5076924950749147, + 0.9999990175443554, + -0.7714409376760827, + -1.0, + 0.26605156265127294, + 0.9999999900000001 + ], + "movement_text": "move backward 14 mm; move right 18 mm; move upward 20 mm; roll downward 3 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 75 mm; move right 422 mm; move upward 306 mm; roll downward 48 degrees; pitch downward 120 degrees; yaw counterclockwise 18 degrees; open gripper;", + "subtask_movement_text": "move backward 75 mm; move right 295 mm; move upward 218 mm; roll downward 39 degrees; pitch downward 86 degrees; yaw counterclockwise 18 degrees; open gripper;" + }, + { + "frame_index": 41, + "segment_id": 100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 18 mm; move upward 19 mm; roll downward 3 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 61 mm; move right 426 mm; move upward 301 mm; roll downward 47 degrees; pitch downward 119 degrees; yaw counterclockwise 15 degrees; open gripper;\nSubtask Movement: move backward 61 mm; move right 278 mm; move upward 197 mm; roll downward 36 degrees; pitch downward 79 degrees; yaw counterclockwise 15 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 184, + 95 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013214285485446453, + -0.018214285373687744, + 0.019285714253783226, + -0.05714285746216774, + -0.11571428924798965, + 0.04571428522467613, + 1.0 + ], + "delta_next_20": [ + -0.06071428582072258, + -0.42571425437927246, + 0.3007143437862396, + -0.8142856955528259, + -2.078571319580078, + 0.2557142972946167, + 1.0 + ], + "delta_full_state_norm": [ + -0.0028077624646708488, + -0.5692308930720575, + 0.8947358824636067, + -0.7282350932560282, + -0.9928650745544023, + 0.15753282763516108, + 0.9999999900000001 + ], + "movement_text": "move backward 13 mm; move right 18 mm; move upward 19 mm; roll downward 3 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 61 mm; move right 426 mm; move upward 301 mm; roll downward 47 degrees; pitch downward 119 degrees; yaw counterclockwise 15 degrees; open gripper;", + "subtask_movement_text": "move backward 61 mm; move right 278 mm; move upward 197 mm; roll downward 36 degrees; pitch downward 79 degrees; yaw counterclockwise 15 degrees; open gripper;" + }, + { + "frame_index": 42, + "segment_id": 100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 19 mm; move upward 17 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 47 mm; move right 427 mm; move upward 297 mm; roll downward 44 degrees; pitch downward 118 degrees; yaw counterclockwise 12 degrees; open gripper;\nSubtask Movement: move backward 48 mm; move right 260 mm; move upward 178 mm; roll downward 33 degrees; pitch downward 73 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 186, + 94 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011785714887082577, + -0.018928570672869682, + 0.016785714775323868, + -0.05428571254014969, + -0.11142857372760773, + 0.03999999910593033, + 1.0 + ], + "delta_next_20": [ + -0.047142863273620605, + -0.4274999797344208, + 0.29678574204444885, + -0.7628571391105652, + -2.062856912612915, + 0.21000000834465027, + 1.0 + ], + "delta_full_state_norm": [ + 0.03591812614197898, + -0.6307692910692004, + 0.6491220226062755, + -0.6418232917478345, + -0.9190552443471536, + 0.012841212389742118, + 0.9999999900000001 + ], + "movement_text": "move backward 12 mm; move right 19 mm; move upward 17 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 47 mm; move right 427 mm; move upward 297 mm; roll downward 44 degrees; pitch downward 118 degrees; yaw counterclockwise 12 degrees; open gripper;", + "subtask_movement_text": "move backward 48 mm; move right 260 mm; move upward 178 mm; roll downward 33 degrees; pitch downward 73 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 43, + "segment_id": 100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 21 mm; move upward 16 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 33 mm; move right 426 mm; move upward 296 mm; roll downward 41 degrees; pitch downward 117 degrees; yaw counterclockwise 10 degrees; open gripper;\nSubtask Movement: move backward 36 mm; move right 241 mm; move upward 161 mm; roll downward 29 degrees; pitch downward 66 degrees; yaw counterclockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 188, + 93 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.009642857126891613, + -0.02071428671479225, + 0.01607142947614193, + -0.05285714194178581, + -0.10857142508029938, + 0.0357142873108387, + 1.0 + ], + "delta_next_20": [ + -0.03285714611411095, + -0.42642852663993835, + 0.29571428894996643, + -0.7085714340209961, + -2.044285774230957, + 0.17000000178813934, + 1.0 + ], + "delta_full_state_norm": [ + 0.09400700954479513, + -0.7846155267730144, + 0.5789466602179842, + -0.59861744732778, + -0.8698486053316208, + -0.09567742829817905, + 0.9999999900000001 + ], + "movement_text": "move backward 10 mm; move right 21 mm; move upward 16 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 33 mm; move right 426 mm; move upward 296 mm; roll downward 41 degrees; pitch downward 117 degrees; yaw counterclockwise 10 degrees; open gripper;", + "subtask_movement_text": "move backward 36 mm; move right 241 mm; move upward 161 mm; roll downward 29 degrees; pitch downward 66 degrees; yaw counterclockwise 10 degrees; open gripper;" + }, + { + "frame_index": 44, + "segment_id": 100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 21 mm; move upward 16 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 21 mm; move right 423 mm; move upward 296 mm; roll downward 38 degrees; pitch downward 116 degrees; yaw counterclockwise 8 degrees; open gripper;\nSubtask Movement: move backward 26 mm; move right 220 mm; move upward 145 mm; roll downward 26 degrees; pitch downward 60 degrees; yaw counterclockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 190, + 92 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008571429178118706, + -0.021071428433060646, + 0.01607142947614193, + -0.05285714194178581, + -0.10857142508029938, + 0.03142857179045677, + 1.0 + ], + "delta_next_20": [ + -0.02071428671479225, + -0.4228571355342865, + 0.2964285910129547, + -0.6557143330574036, + -2.028571367263794, + 0.13428571820259094, + 1.0 + ], + "delta_full_state_norm": [ + 0.12305142599978236, + -0.8153846455346002, + 0.5789466602179842, + -0.59861744732778, + -0.8698486053316208, + -0.20419616331429102, + 0.9999999900000001 + ], + "movement_text": "move backward 9 mm; move right 21 mm; move upward 16 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 21 mm; move right 423 mm; move upward 296 mm; roll downward 38 degrees; pitch downward 116 degrees; yaw counterclockwise 8 degrees; open gripper;", + "subtask_movement_text": "move backward 26 mm; move right 220 mm; move upward 145 mm; roll downward 26 degrees; pitch downward 60 degrees; yaw counterclockwise 8 degrees; open gripper;" + }, + { + "frame_index": 45, + "segment_id": 100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 21 mm; move upward 15 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 9 mm; move right 418 mm; move upward 295 mm; roll downward 35 degrees; pitch downward 115 degrees; yaw counterclockwise 6 degrees; open gripper;\nSubtask Movement: move backward 18 mm; move right 199 mm; move upward 129 mm; roll downward 23 degrees; pitch downward 54 degrees; yaw counterclockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 92 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006428571883589029, + -0.02142857201397419, + 0.015357143245637417, + -0.05428571254014969, + -0.1071428582072258, + 0.027142856270074844, + 1.0 + ], + "delta_next_20": [ + -0.009285714477300644, + -0.4178571403026581, + 0.294642835855484, + -0.604285717010498, + -2.0071427822113037, + 0.10285713523626328, + 1.0 + ], + "delta_full_state_norm": [ + 0.18114029677938825, + -0.8461539247701573, + 0.508771206331381, + -0.6418232917478345, + -0.8452454141399048, + -0.3127148983304029, + 0.9999999900000001 + ], + "movement_text": "move backward 6 mm; move right 21 mm; move upward 15 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 9 mm; move right 418 mm; move upward 295 mm; roll downward 35 degrees; pitch downward 115 degrees; yaw counterclockwise 6 degrees; open gripper;", + "subtask_movement_text": "move backward 18 mm; move right 199 mm; move upward 129 mm; roll downward 23 degrees; pitch downward 54 degrees; yaw counterclockwise 6 degrees; open gripper;" + }, + { + "frame_index": 46, + "segment_id": 100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 23 mm; move upward 15 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 1 mm; move right 412 mm; move upward 292 mm; roll downward 32 degrees; pitch downward 113 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move backward 11 mm; move right 177 mm; move upward 114 mm; roll downward 20 degrees; pitch downward 48 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 194, + 91 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.005000000353902578, + -0.022857142612338066, + 0.014642857015132904, + -0.055714286863803864, + -0.10571428388357162, + 0.022857142612338066, + 1.0 + ], + "delta_next_20": [ + 0.0007142854738049209, + -0.41214290261268616, + 0.29249998927116394, + -0.5542857050895691, + -1.9799998998641968, + 0.07571428269147873, + 1.0 + ], + "delta_full_state_norm": [ + 0.2198662106324587, + -0.9692307207644429, + 0.43859575244477766, + -0.6850292488359736, + -0.8206420946321384, + -0.42123358618241946, + 0.9999999900000001 + ], + "movement_text": "move backward 5 mm; move right 23 mm; move upward 15 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 1 mm; move right 412 mm; move upward 292 mm; roll downward 32 degrees; pitch downward 113 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 11 mm; move right 177 mm; move upward 114 mm; roll downward 20 degrees; pitch downward 48 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 47, + "segment_id": 100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 23 mm; move upward 14 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 9 mm; move right 405 mm; move upward 291 mm; roll downward 29 degrees; pitch downward 112 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move backward 6 mm; move right 155 mm; move upward 99 mm; roll downward 17 degrees; pitch downward 42 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 196, + 90 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0035714288242161274, + -0.02321428619325161, + 0.013928571715950966, + -0.05714285746216774, + -0.10428571701049805, + 0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + 0.00928571354597807, + -0.40464290976524353, + 0.2914285659790039, + -0.5042857527732849, + -1.9528570175170898, + 0.052857138216495514, + 1.0 + ], + "delta_full_state_norm": [ + 0.25859212448552915, + -1.0, + 0.36842039005648664, + -0.7282350932560282, + -0.7960389034404224, + -0.49357939380512894, + 0.9999999900000001 + ], + "movement_text": "move backward 4 mm; move right 23 mm; move upward 14 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 9 mm; move right 405 mm; move upward 291 mm; roll downward 29 degrees; pitch downward 112 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move backward 6 mm; move right 155 mm; move upward 99 mm; roll downward 17 degrees; pitch downward 42 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 48, + "segment_id": 100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 2 mm; move right 23 mm; move upward 14 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 17 mm; move right 395 mm; move upward 290 mm; roll downward 26 degrees; pitch downward 110 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 3 mm; move right 131 mm; move upward 85 mm; roll downward 14 degrees; pitch downward 36 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 89 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0021428572945296764, + -0.02321428619325161, + 0.013571429066359997, + -0.05714285746216774, + -0.10428571701049805, + 0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + 0.01714285835623741, + -0.3953571915626526, + 0.29035714268684387, + -0.46000000834465027, + -1.9271427392959595, + 0.03285714238882065, + 1.0 + ], + "delta_full_state_norm": [ + 0.2973180383385996, + -1.0, + 0.333332708862341, + -0.7282350932560282, + -0.7960389034404224, + -0.6020980816571455, + 0.9999999900000001 + ], + "movement_text": "move backward 2 mm; move right 23 mm; move upward 14 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 17 mm; move right 395 mm; move upward 290 mm; roll downward 26 degrees; pitch downward 110 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 3 mm; move right 131 mm; move upward 85 mm; roll downward 14 degrees; pitch downward 36 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 49, + "segment_id": 100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 23 mm; move upward 14 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 26 mm; move right 385 mm; move upward 287 mm; roll downward 24 degrees; pitch downward 109 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 108 mm; move upward 71 mm; roll downward 11 degrees; pitch downward 30 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 88 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0003571428533177823, + -0.02321428619325161, + 0.013571429066359997, + -0.05428571254014969, + -0.1014285683631897, + 0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + 0.02607142925262451, + -0.38464289903640747, + 0.2874999940395355, + -0.4157143235206604, + -1.894285798072815, + 0.017142856493592262, + 1.0 + ], + "delta_full_state_norm": [ + 0.34572543144388845, + -1.0, + 0.333332708862341, + -0.6418232917478345, + -0.7468322644248897, + -0.7467896969025645, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 23 mm; move upward 14 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 26 mm; move right 385 mm; move upward 287 mm; roll downward 24 degrees; pitch downward 109 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 108 mm; move upward 71 mm; roll downward 11 degrees; pitch downward 30 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 50, + "segment_id": 100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 22 mm; move upward 14 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 36 mm; move right 372 mm; move upward 283 mm; roll downward 22 degrees; pitch downward 106 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 85 mm; move upward 58 mm; roll downward 7 degrees; pitch downward 24 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 87 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.022499999031424522, + 0.013571429066359997, + -0.05000000074505806, + -0.10428571701049805, + 0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.03607143089175224, + -0.3721429109573364, + 0.2832143008708954, + -0.37571433186531067, + -1.8585712909698486, + 0.0071428571827709675, + 1.0 + ], + "delta_full_state_norm": [ + 0.3554069091182055, + -0.9384614415288859, + 0.333332708862341, + -0.512205758487671, + -0.7960389034404224, + -0.8191354927342501, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 22 mm; move upward 14 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 36 mm; move right 372 mm; move upward 283 mm; roll downward 22 degrees; pitch downward 106 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 85 mm; move upward 58 mm; roll downward 7 degrees; pitch downward 24 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 51, + "segment_id": 100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 21 mm; move upward 14 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 47 mm; move right 358 mm; move upward 277 mm; roll downward 20 degrees; pitch downward 104 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 62 mm; move upward 44 mm; roll downward 5 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 86 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.02142857201397419, + 0.013571429066359997, + -0.04285714402794838, + -0.10428571701049805, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.04749999940395355, + -0.3575000464916229, + 0.27714285254478455, + -0.3428571820259094, + -1.8142855167388916, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3554069091182055, + -0.8461539247701573, + 0.333332708862341, + -0.29617642371931385, + -0.7960389034404224, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 21 mm; move upward 14 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 47 mm; move right 358 mm; move upward 277 mm; roll downward 20 degrees; pitch downward 104 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 62 mm; move upward 44 mm; roll downward 5 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 52, + "segment_id": 100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 21 mm; move upward 15 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 62 mm; move right 340 mm; move upward 267 mm; roll downward 18 degrees; pitch downward 101 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 41 mm; move upward 31 mm; roll downward 2 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 85 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.02071428671479225, + 0.015357143245637417, + -0.017142856493592262, + -0.10571428388357162, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.06178571656346321, + -0.3403571844100952, + 0.2671428918838501, + -0.3171428442001343, + -1.7614283561706543, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3554069091182055, + -0.7846155267730144, + 0.508771206331381, + 0.48152928284804797, + -0.8206420946321384, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 21 mm; move upward 15 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 62 mm; move right 340 mm; move upward 267 mm; roll downward 18 degrees; pitch downward 101 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 41 mm; move upward 31 mm; roll downward 2 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 53, + "segment_id": 100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 20 mm; move upward 15 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 80 mm; move right 321 mm; move upward 252 mm; roll downward 18 degrees; pitch downward 97 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 20 mm; move upward 15 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 84 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.020357143133878708, + 0.015357143245637417, + -0.019999999552965164, + -0.1014285683631897, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.07964285463094711, + -0.32107147574424744, + 0.25214290618896484, + -0.3228571116924286, + -1.6971427202224731, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3554069091182055, + -0.7538462475374573, + 0.508771206331381, + 0.3951175376738967, + -0.7468322644248897, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 20 mm; move upward 15 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 80 mm; move right 321 mm; move upward 252 mm; roll downward 18 degrees; pitch downward 97 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 20 mm; move upward 15 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 54, + "segment_id": 100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 20 mm; move upward 16 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 99 mm; move right 301 mm; move upward 237 mm; roll downward 19 degrees; pitch downward 93 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 83 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.020000001415610313, + 0.015714285895228386, + -0.02142857201397419, + -0.1014285683631897, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.09928571432828903, + -0.3007143437862396, + 0.23678576946258545, + -0.3271428048610687, + -1.6299997568130493, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3554069091182055, + -0.7230771287758715, + 0.5438588875255266, + 0.3519116369197999, + -0.7468322644248897, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 20 mm; move upward 16 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 99 mm; move right 301 mm; move upward 237 mm; roll downward 19 degrees; pitch downward 93 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 55, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is extended and positioned directly in front of the microwave control panel, maintaining a static pose consistent with pressing the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is extended and positioned directly in front of the microwave control panel, maintaining a static pose consistent with pressing the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 21 mm; move upward 15 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 121 mm; move right 281 mm; move upward 221 mm; roll downward 19 degrees; pitch downward 89 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 0 mm; move right 148 mm; move upward 103 mm; roll downward 10 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 82 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.02071428671479225, + 0.015000000596046448, + -0.022857142612338066, + -0.09857142716646194, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.12107142060995102, + -0.2807143032550812, + 0.22107146680355072, + -0.3271428346633911, + -1.5528569221496582, + 0.0028571428265422583, + 1.0 + ], + "delta_full_state_norm": [ + 0.3554069091182055, + -0.7846155267730144, + 0.47368352513723533, + 0.3087057924997454, + -0.6976257537254072, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 21 mm; move upward 15 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 121 mm; move right 281 mm; move upward 221 mm; roll downward 19 degrees; pitch downward 89 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 0 mm; move right 148 mm; move upward 103 mm; roll downward 10 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 56, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is extended and positioned directly in front of the microwave control panel, maintaining a static pose consistent with pressing the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is extended and positioned directly in front of the microwave control panel, maintaining a static pose consistent with pressing the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 21 mm; move upward 15 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 144 mm; move right 260 mm; move upward 206 mm; roll downward 18 degrees; pitch downward 85 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 0 mm; move right 127 mm; move upward 88 mm; roll downward 9 degrees; pitch downward 34 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 81 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.02071428671479225, + 0.015000000596046448, + -0.02428571507334709, + -0.09857142716646194, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1435714215040207, + -0.2600000202655792, + 0.20607145130634308, + -0.322857141494751, + -1.4757139682769775, + 0.008571428246796131, + 1.0 + ], + "delta_full_state_norm": [ + 0.3554069091182055, + -0.7846155267730144, + 0.47368352513723533, + 0.2654998917456486, + -0.6976257537254072, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 21 mm; move upward 15 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 144 mm; move right 260 mm; move upward 206 mm; roll downward 18 degrees; pitch downward 85 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 0 mm; move right 127 mm; move upward 88 mm; roll downward 9 degrees; pitch downward 34 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 57, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is extended and positioned directly in front of the microwave control panel, maintaining a static pose consistent with pressing the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is extended and positioned directly in front of the microwave control panel, maintaining a static pose consistent with pressing the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 21 mm; move upward 15 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 167 mm; move right 239 mm; move upward 191 mm; roll downward 18 degrees; pitch downward 80 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 0 mm; move right 106 mm; move upward 73 mm; roll downward 7 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 80 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.02142857201397419, + 0.015000000596046448, + -0.025714285671710968, + -0.09857142716646194, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.167142853140831, + -0.23928573727607727, + 0.19107143580913544, + -0.3142857253551483, + -1.3957139253616333, + 0.01428571343421936, + 1.0 + ], + "delta_full_state_norm": [ + 0.3554069091182055, + -0.8461539247701573, + 0.47368352513723533, + 0.22229404732559388, + -0.6976257537254072, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 21 mm; move upward 15 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 167 mm; move right 239 mm; move upward 191 mm; roll downward 18 degrees; pitch downward 80 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 0 mm; move right 106 mm; move upward 73 mm; roll downward 7 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 58, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is extended and positioned directly in front of the microwave control panel, maintaining a static pose consistent with pressing the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is extended and positioned directly in front of the microwave control panel, maintaining a static pose consistent with pressing the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 22 mm; move upward 14 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 192 mm; move right 218 mm; move upward 176 mm; roll downward 17 degrees; pitch downward 75 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 0 mm; move right 85 mm; move upward 58 mm; roll downward 6 degrees; pitch downward 23 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.022142857313156128, + 0.013571429066359997, + -0.03142857179045677, + -0.09857142716646194, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.19178572297096252, + -0.21785712242126465, + 0.176071435213089, + -0.30000001192092896, + -1.308571219444275, + 0.02142857015132904, + 1.0 + ], + "delta_full_state_norm": [ + 0.3554069091182055, + -0.9076923227673, + 0.333332708862341, + 0.0494705569772913, + -0.6976257537254072, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 22 mm; move upward 14 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 192 mm; move right 218 mm; move upward 176 mm; roll downward 17 degrees; pitch downward 75 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 0 mm; move right 85 mm; move upward 58 mm; roll downward 6 degrees; pitch downward 23 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 59, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is extended and positioned directly in front of the microwave control panel, maintaining a static pose consistent with pressing the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is extended and positioned directly in front of the microwave control panel, maintaining a static pose consistent with pressing the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 22 mm; move upward 14 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 216 mm; move right 196 mm; move upward 162 mm; roll downward 16 degrees; pitch downward 70 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move forward 0 mm; move right 63 mm; move upward 45 mm; roll downward 4 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.021785713732242584, + 0.01428571529686451, + -0.034285712987184525, + -0.09857142716646194, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21607144176959991, + -0.19607143104076385, + 0.16249999403953552, + -0.2785714268684387, + -1.222857117652893, + 0.02857142686843872, + 1.0 + ], + "delta_full_state_norm": [ + 0.3554069091182055, + -0.8769230435317431, + 0.4035081627489443, + -0.03694113186281767, + -0.6976257537254072, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 22 mm; move upward 14 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 216 mm; move right 196 mm; move upward 162 mm; roll downward 16 degrees; pitch downward 70 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 0 mm; move right 63 mm; move upward 45 mm; roll downward 4 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 60, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is extended and positioned directly in front of the microwave control panel, maintaining a static pose consistent with pressing the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is extended and positioned directly in front of the microwave control panel, maintaining a static pose consistent with pressing the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 21 mm; move upward 15 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 240 mm; move right 176 mm; move upward 148 mm; roll downward 15 degrees; pitch downward 65 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move forward 0 mm; move right 41 mm; move upward 30 mm; roll downward 2 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.021071428433060646, + 0.015000000596046448, + -0.02857142873108387, + -0.1014285683631897, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23964285850524902, + -0.176071435213089, + 0.14821426570415497, + -0.2571428716182709, + -1.1371428966522217, + 0.034285712987184525, + 1.0 + ], + "delta_full_state_norm": [ + 0.3554069091182055, + -0.8153846455346002, + 0.47368352513723533, + 0.1358823021514426, + -0.7468322644248897, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 21 mm; move upward 15 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 240 mm; move right 176 mm; move upward 148 mm; roll downward 15 degrees; pitch downward 65 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 0 mm; move right 41 mm; move upward 30 mm; roll downward 2 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 61, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is extended and positioned directly in front of the microwave control panel, maintaining a static pose consistent with pressing the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is extended and positioned directly in front of the microwave control panel, maintaining a static pose consistent with pressing the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 0 mm; move right 20 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 261 mm; move right 159 mm; move upward 133 mm; roll downward 14 degrees; pitch downward 60 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move forward 0 mm; move right 20 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0003571428533177823, + -0.020000001415610313, + 0.015357143245637417, + -0.0057142856530845165, + -0.10000000149011612, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2607142925262451, + -0.15857142210006714, + 0.13321428000926971, + -0.24285714328289032, + -1.0528573989868164, + 0.03999999910593033, + 1.0 + ], + "delta_full_state_norm": [ + 0.3650883867925223, + -0.7230771287758715, + 0.508771206331381, + 0.8271762212941214, + -0.7222290732331736, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 0 mm; move right 20 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 261 mm; move right 159 mm; move upward 133 mm; roll downward 14 degrees; pitch downward 60 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 0 mm; move right 20 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 62, + "segment_id": 10100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is extended and positioned directly in front of the microwave control panel, maintaining a static pose consistent with pressing the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is extended and positioned directly in front of the microwave control panel, maintaining a static pose consistent with pressing the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 18 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 279 mm; move right 146 mm; move upward 118 mm; roll downward 15 degrees; pitch downward 56 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 74 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.002500000176951289, + -0.01785714365541935, + 0.015714285895228386, + 0.0, + -0.09285714477300644, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2785714268684387, + -0.1460714340209961, + 0.11785715073347092, + -0.2557142674922943, + -0.9757143259048462, + 0.044285714626312256, + 1.0 + ], + "delta_full_state_norm": [ + 0.4231772583610789, + -0.5384617743104717, + 0.5438588875255266, + 0.9999996975589134, + -0.5992127323264425, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 3 mm; move right 18 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 279 mm; move right 146 mm; move upward 118 mm; roll downward 15 degrees; pitch downward 56 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 63, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 17 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 291 mm; move right 139 mm; move upward 102 mm; roll downward 16 degrees; pitch downward 52 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 189 mm; move right 115 mm; move upward 102 mm; roll downward 11 degrees; pitch downward 47 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.002500000176951289, + -0.01714285835623741, + 0.016785714775323868, + 0.0, + -0.09285714477300644, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2914285957813263, + -0.1389285773038864, + 0.10214286297559738, + -0.2814285457134247, + -0.9128571152687073, + 0.04571428522467613, + 1.0 + ], + "delta_full_state_norm": [ + 0.4231772583610789, + -0.4769233763133288, + 0.6491220226062755, + 0.9999996975589134, + -0.5992127323264425, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 3 mm; move right 17 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 291 mm; move right 139 mm; move upward 102 mm; roll downward 16 degrees; pitch downward 52 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 189 mm; move right 115 mm; move upward 102 mm; roll downward 11 degrees; pitch downward 47 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 64, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 16 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 302 mm; move right 134 mm; move upward 85 mm; roll downward 18 degrees; pitch downward 49 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 186 mm; move right 98 mm; move upward 85 mm; roll downward 11 degrees; pitch downward 41 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0028571428265422583, + -0.01607142947614193, + 0.01428571529686451, + -0.0014285714132711291, + -0.08714285492897034, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.30178573727607727, + -0.133928582072258, + 0.08535714447498322, + -0.31285712122917175, + -0.8514285683631897, + 0.04571428522467613, + 1.0 + ], + "delta_full_state_norm": [ + 0.43285873051274115, + -0.38461569908062887, + 0.4035081627489443, + 0.9567938284927155, + -0.5007995826114273, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 3 mm; move right 16 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 302 mm; move right 134 mm; move upward 85 mm; roll downward 18 degrees; pitch downward 49 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 186 mm; move right 98 mm; move upward 85 mm; roll downward 11 degrees; pitch downward 41 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 65, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 16 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 310 mm; move right 132 mm; move upward 71 mm; roll downward 20 degrees; pitch downward 46 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 184 mm; move right 82 mm; move upward 71 mm; roll downward 11 degrees; pitch downward 37 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0035714288242161274, + -0.015714285895228386, + 0.013214285485446453, + -0.004285714123398066, + -0.07999999821186066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.30964288115501404, + -0.13178573548793793, + 0.07107143104076385, + -0.34999996423721313, + -0.7971428036689758, + 0.04571428522467613, + 1.0 + ], + "delta_full_state_norm": [ + 0.4522216937508816, + -0.3538464198450719, + 0.29824493616988335, + 0.870382093881197, + -0.37778324170469624, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 16 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 310 mm; move right 132 mm; move upward 71 mm; roll downward 20 degrees; pitch downward 46 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 184 mm; move right 82 mm; move upward 71 mm; roll downward 11 degrees; pitch downward 37 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 66, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 15 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 316 mm; move right 131 mm; move upward 58 mm; roll downward 22 degrees; pitch downward 43 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 180 mm; move right 66 mm; move upward 58 mm; roll downward 11 degrees; pitch downward 32 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0035714288242161274, + -0.015357143245637417, + 0.013571429066359997, + -0.0057142856530845165, + -0.07857143133878708, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.31607145071029663, + -0.1307142823934555, + 0.057857152074575424, + -0.3885714113712311, + -0.7528570890426636, + 0.04571428522467613, + 1.0 + ], + "delta_full_state_norm": [ + 0.4522216937508816, + -0.3230772208465005, + 0.333332708862341, + 0.8271762212941214, + -0.3531800505129803, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 15 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 316 mm; move right 131 mm; move upward 58 mm; roll downward 22 degrees; pitch downward 43 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 180 mm; move right 66 mm; move upward 58 mm; roll downward 11 degrees; pitch downward 32 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 67, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 14 mm; move upward 13 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 322 mm; move right 131 mm; move upward 44 mm; roll downward 25 degrees; pitch downward 41 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 176 mm; move right 51 mm; move upward 44 mm; roll downward 11 degrees; pitch downward 27 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 228, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004285714589059353, + -0.013928571715950966, + 0.012857143767178059, + -0.012857142835855484, + -0.07857143133878708, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.32178574800491333, + -0.1307142972946167, + 0.044285714626312256, + -0.43714281916618347, + -0.715714156627655, + 0.04571428522467613, + 1.0 + ], + "delta_full_state_norm": [ + 0.47158465067741684, + -0.2000003446152291, + 0.26315734647404976, + 0.6111468724422537, + -0.3531800505129803, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 14 mm; move upward 13 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 322 mm; move right 131 mm; move upward 44 mm; roll downward 25 degrees; pitch downward 41 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 176 mm; move right 51 mm; move upward 44 mm; roll downward 11 degrees; pitch downward 27 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 68, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 13 mm; move upward 11 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 327 mm; move right 134 mm; move upward 31 mm; roll downward 28 degrees; pitch downward 39 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 172 mm; move right 37 mm; move upward 31 mm; roll downward 10 degrees; pitch downward 23 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 229, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006785714533179998, + -0.012500000186264515, + 0.010714286006987095, + -0.012857142835855484, + -0.0714285746216774, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.32678574323654175, + -0.13357143104076385, + 0.03142857179045677, + -0.48571425676345825, + -0.6800000071525574, + 0.04571428522467613, + 1.0 + ], + "delta_full_state_norm": [ + 0.5393549936086852, + -0.0769234683839578, + 0.05263107631255215, + 0.6111468724422537, + -0.2301637096062491, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move right 13 mm; move upward 11 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 327 mm; move right 134 mm; move upward 31 mm; roll downward 28 degrees; pitch downward 39 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 172 mm; move right 37 mm; move upward 31 mm; roll downward 10 degrees; pitch downward 23 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 69, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 11 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 330 mm; move right 138 mm; move upward 21 mm; roll downward 31 degrees; pitch downward 37 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 165 mm; move right 24 mm; move upward 21 mm; roll downward 9 degrees; pitch downward 19 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 229, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + -0.010714286006987095, + 0.009285714477300644, + -0.014285714365541935, + -0.0657142847776413, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3296428620815277, + -0.13821429014205933, + 0.02071428671479225, + -0.5385714173316956, + -0.6528571844100952, + 0.04571428522467613, + 1.0 + ], + "delta_full_state_norm": [ + 0.6168068086916159, + 0.07692260684588503, + -0.08771973996234228, + 0.5679409998551781, + -0.13175055989123396, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 11 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 330 mm; move right 138 mm; move upward 21 mm; roll downward 31 degrees; pitch downward 37 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 165 mm; move right 24 mm; move upward 21 mm; roll downward 9 degrees; pitch downward 19 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 70, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 8 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 330 mm; move right 143 mm; move upward 11 mm; roll downward 34 degrees; pitch downward 36 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 156 mm; move right 14 mm; move upward 11 mm; roll downward 9 degrees; pitch downward 15 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 230, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + -0.007857142947614193, + 0.007500000298023224, + -0.017142856493592262, + -0.05999999865889549, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3296428918838501, + -0.1428571492433548, + 0.011428571306169033, + -0.5914285182952881, + -0.6300000548362732, + 0.04571428522467613, + 1.0 + ], + "delta_full_state_norm": [ + 0.6652141946963488, + 0.3230763593084276, + -0.26315823743138234, + 0.48152928284804797, + -0.033337474334244055, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 8 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 330 mm; move right 143 mm; move upward 11 mm; roll downward 34 degrees; pitch downward 36 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 156 mm; move right 14 mm; move upward 11 mm; roll downward 9 degrees; pitch downward 15 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 71, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 4 mm; move upward 4 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 328 mm; move right 149 mm; move upward 4 mm; roll downward 37 degrees; pitch downward 35 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 144 mm; move right 6 mm; move upward 4 mm; roll downward 8 degrees; pitch downward 12 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 230, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.004285714589059353, + 0.0035714288242161274, + -0.017142856493592262, + -0.051428571343421936, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.32821428775787354, + -0.14892856776714325, + 0.0039285714738070965, + -0.6442856788635254, + -0.6128572225570679, + 0.04571428522467613, + 1.0 + ], + "delta_full_state_norm": [ + 0.7426660476489104, + 0.6307685097681133, + -0.6491229593127639, + 0.48152928284804797, + 0.11428212192222831, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 4 mm; move upward 4 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 328 mm; move right 149 mm; move upward 4 mm; roll downward 37 degrees; pitch downward 35 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 144 mm; move right 6 mm; move upward 4 mm; roll downward 8 degrees; pitch downward 12 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 72, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 1 mm; move upward 0 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 324 mm; move right 158 mm; move upward 0 mm; roll downward 40 degrees; pitch downward 34 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 130 mm; move right 1 mm; move upward 0 mm; roll downward 7 degrees; pitch downward 9 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 230, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01785714365541935, + -0.0014285714132711291, + 0.0003571428533177823, + -0.022857142612338066, + -0.041428569704294205, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.32428571581840515, + -0.1575000137090683, + 0.0003571428533177823, + -0.6914284825325012, + -0.6000000238418579, + 0.04571428522467613, + 1.0 + ], + "delta_full_state_norm": [ + 0.8394808196583763, + 0.8769222722602792, + -0.9649122987905987, + 0.3087057924997454, + 0.28650503768646707, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 18 mm; move right 1 mm; move upward 0 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 324 mm; move right 158 mm; move upward 0 mm; roll downward 40 degrees; pitch downward 34 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 130 mm; move right 1 mm; move upward 0 mm; roll downward 7 degrees; pitch downward 9 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 73, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 317 mm; move right 166 mm; move downward 0 mm; roll downward 42 degrees; pitch downward 34 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 112 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 230, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01964285783469677, + 0.0, + 0.0, + -0.02428571507334709, + -0.034285712987184525, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3174999952316284, + -0.1664285659790039, + 0.0, + -0.7285714149475098, + -0.5914285778999329, + 0.04571428522467613, + 1.0 + ], + "delta_full_state_norm": [ + 0.8878882056631092, + 0.9999991384619271, + -1.0, + 0.2654998917456486, + 0.40952137859319815, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 20 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 317 mm; move right 166 mm; move downward 0 mm; roll downward 42 degrees; pitch downward 34 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 112 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 74, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 310 mm; move right 175 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 34 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 93 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 229, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.021785713732242584, + 0.0, + 0.0, + -0.02142857201397419, + -0.02428571507334709, + 0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.3100000023841858, + -0.17499999701976776, + 0.0, + -0.764285683631897, + -0.5857142806053162, + 0.04714285582304001, + 1.0 + ], + "delta_full_state_norm": [ + 0.9459770385730841, + 0.9999991384619271, + -1.0, + 0.3519116369197999, + 0.5817442301994116, + -0.9276541982728024, + 0.9999999900000001 + ], + "movement_text": "move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 310 mm; move right 175 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 34 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 93 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 75, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 300 mm; move right 180 mm; move downward 0 mm; roll downward 46 degrees; pitch downward 34 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 71 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 3 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 228, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.022499999031424522, + 0.0, + 0.0, + -0.018571428954601288, + -0.02142857201397419, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.3003571033477783, + -0.17999999225139618, + 0.0, + -0.8028571009635925, + -0.587142825126648, + 0.05000000074505806, + 1.0 + ], + "delta_full_state_norm": [ + 0.9653399828764089, + 0.9999991384619271, + -1.0, + 0.43832338209395116, + 0.6309507729779065, + -0.8553083965456049, + 0.9999999900000001 + ], + "movement_text": "move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 300 mm; move right 180 mm; move downward 0 mm; roll downward 46 degrees; pitch downward 34 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 71 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 3 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 76, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 24 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 290 mm; move right 182 mm; move downward 0 mm; roll downward 48 degrees; pitch downward 34 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 48 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 227, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.023571429774165154, + 0.0, + 0.0, + -0.015714285895228386, + -0.018571428954601288, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.28999999165534973, + -0.1824999898672104, + 0.0, + -0.8399999737739563, + -0.5857142210006714, + 0.05285714194178581, + 1.0 + ], + "delta_full_state_norm": [ + 0.9943844750706583, + 0.9999991384619271, + -1.0, + 0.5247351272681025, + 0.6801573157564016, + -0.8553083965456049, + 0.9999999900000001 + ], + "movement_text": "move forward 24 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 290 mm; move right 182 mm; move downward 0 mm; roll downward 48 degrees; pitch downward 34 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 48 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 77, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 25 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 279 mm; move right 182 mm; move downward 0 mm; roll downward 50 degrees; pitch downward 33 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 25 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.024642856791615486, + 0.0, + 0.0, + -0.011428571306169033, + -0.011428571306169033, + 0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.2792856693267822, + -0.1824999898672104, + 0.0, + -0.8799999952316284, + -0.5799999833106995, + 0.05714285373687744, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.9999991384619271, + -1.0, + 0.6543527450293294, + 0.8031736727026391, + -0.8191354927342501, + 0.9999999900000001 + ], + "movement_text": "move forward 25 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 279 mm; move right 182 mm; move downward 0 mm; roll downward 50 degrees; pitch downward 33 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 25 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 78, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned near the stovetop and appears to be retracting or stabilizing after completing the interaction with the microwave located above.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 24 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 268 mm; move right 182 mm; move downward 0 mm; roll downward 53 degrees; pitch downward 33 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.02428571507334709, + -0.0003571428533177823, + 0.0, + -0.009999999776482582, + -0.012857142835855484, + 0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.2678571343421936, + -0.1824999898672104, + 0.0, + -0.9185714721679688, + -0.5728570818901062, + 0.06142856925725937, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.9692299219115152, + -1.0, + 0.697558617616405, + 0.7785704013133914, + -0.8191354927342501, + 0.9999999900000001 + ], + "movement_text": "move forward 24 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 268 mm; move right 182 mm; move downward 0 mm; roll downward 53 degrees; pitch downward 33 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 79, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 24 mm; move right 2 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 258 mm; move right 182 mm; move downward 0 mm; roll downward 55 degrees; pitch downward 32 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move forward 1087 mm; move right 182 mm; move downward 0 mm; roll downward 135 degrees; pitch downward 58 degrees; yaw counterclockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.023571429774165154, + -0.0017857144121080637, + 0.0, + -0.012857142835855484, + -0.012857142835855484, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.257500022649765, + -0.18214283883571625, + 0.0, + -0.9557143449783325, + -0.5628570914268494, + 0.0657142847776413, + 1.0 + ], + "delta_full_state_norm": [ + 0.9943844750706583, + 0.8461530431728381, + -1.0, + 0.6111468724422537, + 0.7785704013133914, + -0.8553083965456049, + 0.9999999900000001 + ], + "movement_text": "move forward 24 mm; move right 2 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 258 mm; move right 182 mm; move downward 0 mm; roll downward 55 degrees; pitch downward 32 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 1087 mm; move right 182 mm; move downward 0 mm; roll downward 135 degrees; pitch downward 58 degrees; yaw counterclockwise 8 degrees; open gripper;" + }, + { + "frame_index": 80, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 21 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 248 mm; move right 180 mm; move downward 0 mm; roll downward 57 degrees; pitch downward 32 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move forward 1063 mm; move right 180 mm; move downward 0 mm; roll downward 134 degrees; pitch downward 57 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.021071428433060646, + -0.0035714288242161274, + 0.0, + -0.014285714365541935, + -0.017142856493592262, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.24821428954601288, + -0.18035714328289032, + 0.0, + -0.9885714650154114, + -0.5528571009635925, + 0.07000000029802322, + 1.0 + ], + "delta_full_state_norm": [ + 0.9266140942697592, + 0.6923069478837489, + -1.0, + 0.5679409998551781, + 0.7047606031851554, + -0.8553083965456049, + 0.9999999900000001 + ], + "movement_text": "move forward 21 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 248 mm; move right 180 mm; move downward 0 mm; roll downward 57 degrees; pitch downward 32 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 1063 mm; move right 180 mm; move downward 0 mm; roll downward 134 degrees; pitch downward 57 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 81, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 8 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 241 mm; move right 177 mm; move downward 0 mm; roll downward 58 degrees; pitch downward 31 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move forward 1042 mm; move right 177 mm; move downward 0 mm; roll downward 133 degrees; pitch downward 56 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018214285373687744, + -0.007500000298023224, + 0.0, + -0.018571428954601288, + -0.022857142612338066, + 0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.24142856895923615, + -0.1767856925725937, + 0.0, + -1.018571376800537, + -0.5357142686843872, + 0.07285714149475098, + 1.0 + ], + "delta_full_state_norm": [ + 0.849162266563618, + 0.35384555830699904, + -1.0, + 0.43832338209395116, + 0.6063475176281654, + -0.8914813003569596, + 0.9999999900000001 + ], + "movement_text": "move forward 18 mm; move right 8 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 241 mm; move right 177 mm; move downward 0 mm; roll downward 58 degrees; pitch downward 31 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 1042 mm; move right 177 mm; move downward 0 mm; roll downward 133 degrees; pitch downward 56 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 82, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 11 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 238 mm; move right 169 mm; move downward 0 mm; roll downward 60 degrees; pitch downward 29 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move forward 1024 mm; move right 169 mm; move downward 0 mm; roll downward 132 degrees; pitch downward 55 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + -0.010714286006987095, + 0.0, + -0.025714285671710968, + -0.029999999329447746, + 0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.2378571480512619, + -0.16928571462631226, + 0.0, + -1.044285774230957, + -0.5128571391105652, + 0.07571429014205933, + 1.0 + ], + "delta_full_state_norm": [ + 0.7717104641038979, + 0.07692260684588503, + -1.0, + 0.22229404732559388, + 0.48333117672143433, + -0.9638270991364012, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 11 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 238 mm; move right 169 mm; move downward 0 mm; roll downward 60 degrees; pitch downward 29 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 1024 mm; move right 169 mm; move downward 0 mm; roll downward 132 degrees; pitch downward 55 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 83, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 12 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 237 mm; move right 159 mm; move downward 0 mm; roll downward 61 degrees; pitch downward 28 degrees; yaw counterclockwise 5 degrees; open gripper;\nSubtask Movement: move forward 1009 mm; move right 159 mm; move downward 0 mm; roll downward 131 degrees; pitch downward 53 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + -0.012142857536673546, + 0.0, + -0.03142857179045677, + -0.03142857179045677, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23678572475910187, + -0.15857142210006714, + 0.0, + -1.0585713386535645, + -0.48571428656578064, + 0.08142857253551483, + 1.0 + ], + "delta_full_state_norm": [ + 0.70394013379584, + -0.04615426938538636, + -1.0, + 0.0494705569772913, + 0.4587278892926805, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 12 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 237 mm; move right 159 mm; move downward 0 mm; roll downward 61 degrees; pitch downward 28 degrees; yaw counterclockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 1009 mm; move right 159 mm; move downward 0 mm; roll downward 131 degrees; pitch downward 53 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 84, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 14 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 238 mm; move right 146 mm; move downward 0 mm; roll downward 61 degrees; pitch downward 26 degrees; yaw counterclockwise 5 degrees; open gripper;\nSubtask Movement: move forward 996 mm; move right 146 mm; move downward 0 mm; roll downward 129 degrees; pitch downward 51 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + -0.013928571715950966, + 0.0, + -0.03857142850756645, + -0.03285714238882065, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2378571778535843, + -0.14642857015132904, + 0.0, + -1.058571457862854, + -0.45428574085235596, + 0.08857142925262451, + 1.0 + ], + "delta_full_state_norm": [ + 0.6458512503930238, + -0.2000003446152291, + -1.0, + -0.16655877779106576, + 0.4341246339429392, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 14 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 238 mm; move right 146 mm; move downward 0 mm; roll downward 61 degrees; pitch downward 26 degrees; yaw counterclockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 996 mm; move right 146 mm; move downward 0 mm; roll downward 129 degrees; pitch downward 51 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 85, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 15 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 240 mm; move right 132 mm; move downward 0 mm; roll downward 60 degrees; pitch downward 24 degrees; yaw counterclockwise 5 degrees; open gripper;\nSubtask Movement: move forward 985 mm; move right 132 mm; move downward 0 mm; roll downward 127 degrees; pitch downward 49 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + -0.014642857015132904, + 0.0, + -0.04285714402794838, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.24000003933906555, + -0.13249999284744263, + 0.0, + -1.0485714673995972, + -0.4214285910129547, + 0.09571428596973419, + 1.0 + ], + "delta_full_state_norm": [ + 0.6264883060896989, + -0.261538742612372, + -1.0, + -0.29617642371931385, + 0.38491805908543175, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 15 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 240 mm; move right 132 mm; move downward 0 mm; roll downward 60 degrees; pitch downward 24 degrees; yaw counterclockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 985 mm; move right 132 mm; move downward 0 mm; roll downward 127 degrees; pitch downward 49 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 86, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 15 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 243 mm; move right 118 mm; move downward 0 mm; roll downward 59 degrees; pitch downward 22 degrees; yaw counterclockwise 6 degrees; open gripper;\nSubtask Movement: move forward 975 mm; move right 118 mm; move downward 0 mm; roll downward 124 degrees; pitch downward 47 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + -0.015357143245637417, + 0.0, + -0.05428571254014969, + -0.041428569704294205, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.24250002205371857, + -0.11785715073347092, + 0.0, + -1.0328572988510132, + -0.3857142925262451, + 0.10285714268684387, + 1.0 + ], + "delta_full_state_norm": [ + 0.6071253365399534, + -0.3230772208465005, + -1.0, + -0.6418232917478345, + 0.28650503768646707, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 15 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 243 mm; move right 118 mm; move downward 0 mm; roll downward 59 degrees; pitch downward 22 degrees; yaw counterclockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 975 mm; move right 118 mm; move downward 0 mm; roll downward 124 degrees; pitch downward 47 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 87, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 17 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 245 mm; move right 102 mm; move downward 0 mm; roll downward 58 degrees; pitch downward 20 degrees; yaw counterclockwise 6 degrees; open gripper;\nSubtask Movement: move forward 966 mm; move right 102 mm; move downward 0 mm; roll downward 121 degrees; pitch downward 45 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + -0.016785714775323868, + 0.0, + -0.06142857298254967, + -0.04285714402794838, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.24535715579986572, + -0.10249999910593033, + 0.0, + -1.0071430206298828, + -0.3442857265472412, + 0.10857142508029938, + 1.0 + ], + "delta_full_state_norm": [ + 0.6071253365399534, + -0.44615409707777176, + -1.0, + -0.8578527391842763, + 0.26190171817870067, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 17 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 245 mm; move right 102 mm; move downward 0 mm; roll downward 58 degrees; pitch downward 20 degrees; yaw counterclockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 966 mm; move right 102 mm; move downward 0 mm; roll downward 121 degrees; pitch downward 45 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 88, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 17 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 248 mm; move right 86 mm; move downward 0 mm; roll downward 56 degrees; pitch downward 17 degrees; yaw counterclockwise 6 degrees; open gripper;\nSubtask Movement: move forward 956 mm; move right 86 mm; move downward 0 mm; roll downward 118 degrees; pitch downward 43 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + -0.01714285835623741, + 0.0, + -0.0657142847776413, + -0.044285714626312256, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.24785716831684113, + -0.08571428060531616, + 0.0, + -0.971428632736206, + -0.30142858624458313, + 0.1128571406006813, + 1.0 + ], + "delta_full_state_norm": [ + 0.6168068086916159, + -0.4769233763133288, + -1.0, + -0.9874702724444397, + 0.2372984628289594, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 17 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 248 mm; move right 86 mm; move downward 0 mm; roll downward 56 degrees; pitch downward 17 degrees; yaw counterclockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 956 mm; move right 86 mm; move downward 0 mm; roll downward 118 degrees; pitch downward 43 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 89, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 15 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 250 mm; move right 69 mm; move downward 0 mm; roll downward 53 degrees; pitch downward 15 degrees; yaw counterclockwise 7 degrees; open gripper;\nSubtask Movement: move forward 947 mm; move right 69 mm; move downward 0 mm; roll downward 114 degrees; pitch downward 40 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + -0.015357143245637417, + 0.0, + -0.06714285910129547, + -0.04285714402794838, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2500000298023224, + -0.06857142597436905, + 0.0, + -0.9285714626312256, + -0.2571428418159485, + 0.11571428179740906, + 1.0 + ], + "delta_full_state_norm": [ + 0.6168068086916159, + -0.3230772208465005, + -1.0, + -1.0, + 0.26190171817870067, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 15 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 250 mm; move right 69 mm; move downward 0 mm; roll downward 53 degrees; pitch downward 15 degrees; yaw counterclockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 947 mm; move right 69 mm; move downward 0 mm; roll downward 114 degrees; pitch downward 40 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 90, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 14 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 252 mm; move right 53 mm; move downward 0 mm; roll downward 51 degrees; pitch downward 12 degrees; yaw counterclockwise 7 degrees; open gripper;\nSubtask Movement: move forward 937 mm; move right 53 mm; move downward 0 mm; roll downward 110 degrees; pitch downward 38 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + -0.013928571715950966, + 0.0, + -0.07000000029802322, + -0.04285714402794838, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2517857253551483, + -0.05321428179740906, + 0.0, + -0.8871428370475769, + -0.2142857313156128, + 0.11714285612106323, + 1.0 + ], + "delta_full_state_norm": [ + 0.6264883060896989, + -0.2000003446152291, + -1.0, + -1.0, + 0.26190171817870067, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 14 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 252 mm; move right 53 mm; move downward 0 mm; roll downward 51 degrees; pitch downward 12 degrees; yaw counterclockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 937 mm; move right 53 mm; move downward 0 mm; roll downward 110 degrees; pitch downward 38 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 91, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 13 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 253 mm; move right 39 mm; move downward 0 mm; roll downward 48 degrees; pitch downward 10 degrees; yaw counterclockwise 7 degrees; open gripper;\nSubtask Movement: move forward 927 mm; move right 39 mm; move downward 0 mm; roll downward 106 degrees; pitch downward 35 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + -0.012857143767178059, + 0.0, + -0.06428571790456772, + -0.03857142850756645, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2532143294811249, + -0.03928571566939354, + 0.0, + -0.8428571820259094, + -0.17142856121063232, + 0.11857143044471741, + 1.0 + ], + "delta_full_state_norm": [ + 0.6361697782413613, + -0.10769274761951486, + -1.0, + -0.9442645406924699, + 0.3357115483859494, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 13 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 253 mm; move right 39 mm; move downward 0 mm; roll downward 48 degrees; pitch downward 10 degrees; yaw counterclockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 927 mm; move right 39 mm; move downward 0 mm; roll downward 106 degrees; pitch downward 35 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 92, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 10 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 254 mm; move right 26 mm; move downward 0 mm; roll downward 46 degrees; pitch downward 8 degrees; yaw counterclockwise 7 degrees; open gripper;\nSubtask Movement: move forward 917 mm; move right 26 mm; move downward 0 mm; roll downward 103 degrees; pitch downward 33 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + -0.010357143357396126, + 0.0, + -0.05999999865889549, + -0.03285714238882065, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2542857527732849, + -0.026428570970892906, + 0.0, + -0.8042857646942139, + -0.13285714387893677, + 0.11857143044471741, + 1.0 + ], + "delta_full_state_norm": [ + 0.6555327225446863, + 0.10769180584445648, + -1.0, + -0.8146467820961372, + 0.4341246339429392, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 10 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 254 mm; move right 26 mm; move downward 0 mm; roll downward 46 degrees; pitch downward 8 degrees; yaw counterclockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 917 mm; move right 26 mm; move downward 0 mm; roll downward 103 degrees; pitch downward 33 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 93, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 9 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 255 mm; move right 16 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 6 degrees; yaw counterclockwise 7 degrees; open gripper;\nSubtask Movement: move forward 906 mm; move right 16 mm; move downward 0 mm; roll downward 99 degrees; pitch downward 31 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + -0.008571429178118706, + 0.0, + -0.05999999865889549, + -0.02857142873108387, + 0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.2546428442001343, + -0.01607142947614193, + 0.0, + -0.7685714364051819, + -0.09999999403953552, + 0.11857143044471741, + 1.0 + ], + "delta_full_state_norm": [ + 0.6845771642460943, + 0.2615378810742992, + -1.0, + -0.8146467820961372, + 0.5079344320711754, + -0.9638270991364012, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move right 9 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 255 mm; move right 16 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 6 degrees; yaw counterclockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 906 mm; move right 16 mm; move downward 0 mm; roll downward 99 degrees; pitch downward 31 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 94, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 5 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 254 mm; move right 8 mm; move downward 0 mm; roll downward 42 degrees; pitch downward 4 degrees; yaw counterclockwise 7 degrees; open gripper;\nSubtask Movement: move forward 894 mm; move right 8 mm; move downward 0 mm; roll downward 96 degrees; pitch downward 29 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + -0.005000000353902578, + 0.0, + -0.05999999865889549, + -0.025714285671710968, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.2542857229709625, + -0.007500000298023224, + 0.0, + -0.7328571677207947, + -0.0714285671710968, + 0.11714285612106323, + 1.0 + ], + "delta_full_state_norm": [ + 0.6845771642460943, + 0.5692300716524776, + -1.0, + -0.8146467820961372, + 0.5571409748496705, + -0.8553083965456049, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move right 5 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 254 mm; move right 8 mm; move downward 0 mm; roll downward 42 degrees; pitch downward 4 degrees; yaw counterclockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 894 mm; move right 8 mm; move downward 0 mm; roll downward 96 degrees; pitch downward 29 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 95, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 3 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 254 mm; move right 3 mm; move downward 0 mm; roll downward 40 degrees; pitch downward 3 degrees; yaw counterclockwise 6 degrees; open gripper;\nSubtask Movement: move forward 881 mm; move right 3 mm; move downward 0 mm; roll downward 92 degrees; pitch downward 28 degrees; yaw counterclockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + -0.002500000176951289, + 0.0, + -0.055714286863803864, + -0.019999999552965164, + 0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + 0.2542857229709625, + -0.002500000176951289, + 0.0, + -0.7000000476837158, + -0.04714285209774971, + 0.11142857372760773, + 1.0 + ], + "delta_full_state_norm": [ + 0.6845771642460943, + 0.7846146050572025, + -1.0, + -0.6850292488359736, + 0.6555540604066603, + -0.7829626007139192, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move right 3 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 254 mm; move right 3 mm; move downward 0 mm; roll downward 40 degrees; pitch downward 3 degrees; yaw counterclockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 881 mm; move right 3 mm; move downward 0 mm; roll downward 92 degrees; pitch downward 28 degrees; yaw counterclockwise 6 degrees; open gripper;" + }, + { + "frame_index": 96, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 254 mm; move right 0 mm; move downward 0 mm; roll downward 38 degrees; pitch downward 2 degrees; yaw counterclockwise 6 degrees; open gripper;\nSubtask Movement: move forward 869 mm; move right 0 mm; move downward 0 mm; roll downward 89 degrees; pitch downward 27 degrees; yaw counterclockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + 0.0, + -0.055714286863803864, + -0.012857142835855484, + 0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + 0.25428569316864014, + 0.0, + 0.0, + -0.6714286208152771, + -0.02857142686843872, + 0.10285714268684387, + 1.0 + ], + "delta_full_state_norm": [ + 0.70394013379584, + 0.9999991384619271, + -1.0, + -0.6850292488359736, + 0.7785704013133914, + -0.7467896969025645, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 254 mm; move right 0 mm; move downward 0 mm; roll downward 38 degrees; pitch downward 2 degrees; yaw counterclockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 869 mm; move right 0 mm; move downward 0 mm; roll downward 89 degrees; pitch downward 27 degrees; yaw counterclockwise 6 degrees; open gripper;" + }, + { + "frame_index": 97, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 253 mm; move right 0 mm; move downward 0 mm; roll downward 37 degrees; pitch downward 1 degrees; yaw counterclockwise 5 degrees; open gripper;\nSubtask Movement: move forward 856 mm; move right 0 mm; move downward 0 mm; roll downward 86 degrees; pitch downward 26 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + 0.0, + -0.05000000074505806, + -0.004285714123398066, + 0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + 0.2532142996788025, + 0.0, + 0.0, + -0.6428572535514832, + -0.018571428954601288, + 0.09285714477300644, + 1.0 + ], + "delta_full_state_norm": [ + 0.7136215807010817, + 0.9999991384619271, + -1.0, + -0.512205758487671, + 0.9261900216291232, + -0.7106167930912097, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 253 mm; move right 0 mm; move downward 0 mm; roll downward 37 degrees; pitch downward 1 degrees; yaw counterclockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 856 mm; move right 0 mm; move downward 0 mm; roll downward 86 degrees; pitch downward 26 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 98, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 252 mm; move right 0 mm; move downward 0 mm; roll downward 35 degrees; pitch downward 1 degrees; yaw counterclockwise 5 degrees; open gripper;\nSubtask Movement: move forward 843 mm; move right 0 mm; move downward 0 mm; roll downward 83 degrees; pitch downward 26 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + 0.0, + 0.0, + -0.04714285582304001, + -0.0028571428265422583, + 0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + 0.2517857253551483, + 0.0, + 0.0, + -0.617142915725708, + -0.018571428954601288, + 0.08142857253551483, + 1.0 + ], + "delta_full_state_norm": [ + 0.7329845502508272, + 0.9999991384619271, + -1.0, + -0.4257939569794774, + 0.9507932890084942, + -0.7106167930912097, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 252 mm; move right 0 mm; move downward 0 mm; roll downward 35 degrees; pitch downward 1 degrees; yaw counterclockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 843 mm; move right 0 mm; move downward 0 mm; roll downward 83 degrees; pitch downward 26 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 99, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 250 mm; move right 0 mm; move downward 0 mm; roll downward 34 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move forward 829 mm; move right 0 mm; move downward 0 mm; roll downward 80 degrees; pitch downward 26 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + 0.0, + 0.0, + -0.04571428522467613, + -0.0028571428265422583, + 0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + 0.2499999850988388, + 0.0, + 0.0, + -0.5928571224212646, + -0.02142857201397419, + 0.07000000029802322, + 1.0 + ], + "delta_full_state_norm": [ + 0.7426660476489104, + 0.9999991384619271, + -1.0, + -0.38258811255942293, + 0.9507932890084942, + -0.7467896969025645, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 250 mm; move right 0 mm; move downward 0 mm; roll downward 34 degrees; pitch downward 1 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 829 mm; move right 0 mm; move downward 0 mm; roll downward 80 degrees; pitch downward 26 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 100, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 248 mm; move right 0 mm; move downward 0 mm; roll downward 33 degrees; pitch downward 1 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 815 mm; move right 0 mm; move downward 0 mm; roll downward 78 degrees; pitch downward 25 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + 0.0, + 0.0, + -0.044285714626312256, + 0.0, + 0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + 0.24821427464485168, + 0.0, + 0.0, + -0.5685713291168213, + -0.025714285671710968, + 0.05999999865889549, + 1.0 + ], + "delta_full_state_norm": [ + 0.7426660476489104, + 0.9999991384619271, + -1.0, + -0.33938226813936834, + 0.9999998277771125, + -0.7829626007139192, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 248 mm; move right 0 mm; move downward 0 mm; roll downward 33 degrees; pitch downward 1 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 815 mm; move right 0 mm; move downward 0 mm; roll downward 78 degrees; pitch downward 25 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 101, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 247 mm; move right 0 mm; move downward 0 mm; roll downward 31 degrees; pitch downward 2 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 801 mm; move right 0 mm; move downward 0 mm; roll downward 75 degrees; pitch downward 25 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + 0.0, + 0.0, + -0.044285714626312256, + 0.0, + 0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.24714283645153046, + 0.0, + 0.0, + -0.5485714077949524, + -0.0357142835855484, + 0.051428571343421936, + 1.0 + ], + "delta_full_state_norm": [ + 0.7523474945541522, + 0.9999991384619271, + -1.0, + -0.33938226813936834, + 0.9999998277771125, + -0.8191354927342501, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 247 mm; move right 0 mm; move downward 0 mm; roll downward 31 degrees; pitch downward 2 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 801 mm; move right 0 mm; move downward 0 mm; roll downward 75 degrees; pitch downward 25 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 102, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 246 mm; move right 0 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 3 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 786 mm; move right 0 mm; move downward 0 mm; roll downward 73 degrees; pitch downward 25 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + 0.0, + 0.0, + -0.03999999910593033, + -0.0028571428265422583, + 0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.24607141315937042, + 0.0, + 0.0, + -0.5271427631378174, + -0.045714281499385834, + 0.04428571090102196, + 1.0 + ], + "delta_full_state_norm": [ + 0.7426660476489104, + 0.9999991384619271, + -1.0, + -0.20976462221112024, + 0.9507932890084942, + -0.8191354927342501, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 246 mm; move right 0 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 3 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 786 mm; move right 0 mm; move downward 0 mm; roll downward 73 degrees; pitch downward 25 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 103, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 246 mm; move right 0 mm; move downward 0 mm; roll downward 29 degrees; pitch downward 3 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move forward 772 mm; move right 0 mm; move downward 0 mm; roll downward 70 degrees; pitch downward 25 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + 0.0, + 0.0, + -0.03142857179045677, + 0.0, + 0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.24571429193019867, + 0.0, + 0.0, + -0.5085713267326355, + -0.052857138216495514, + 0.03714285418391228, + 1.0 + ], + "delta_full_state_norm": [ + 0.7329845502508272, + 0.9999991384619271, + -1.0, + 0.0494705569772913, + 0.9999998277771125, + -0.8191354927342501, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 246 mm; move right 0 mm; move downward 0 mm; roll downward 29 degrees; pitch downward 3 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 772 mm; move right 0 mm; move downward 0 mm; roll downward 70 degrees; pitch downward 25 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 104, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 247 mm; move right 0 mm; move downward 0 mm; roll downward 29 degrees; pitch downward 3 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move forward 758 mm; move right 0 mm; move downward 0 mm; roll downward 69 degrees; pitch downward 25 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + 0.0, + -0.02857142873108387, + 0.0, + 0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.2467857450246811, + 0.0, + 0.0, + -0.49857139587402344, + -0.059999994933605194, + 0.029999997466802597, + 1.0 + ], + "delta_full_state_norm": [ + 0.70394013379584, + 0.9999991384619271, + -1.0, + 0.1358823021514426, + 0.9999998277771125, + -0.8191354927342501, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 247 mm; move right 0 mm; move downward 0 mm; roll downward 29 degrees; pitch downward 3 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 758 mm; move right 0 mm; move downward 0 mm; roll downward 69 degrees; pitch downward 25 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 105, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 249 mm; move right 0 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 745 mm; move right 0 mm; move downward 0 mm; roll downward 67 degrees; pitch downward 25 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + 0.0, + -0.027142856270074844, + 0.0, + 0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.24892862141132355, + 0.0, + 0.0, + -0.4899999797344208, + -0.0657142773270607, + 0.022857140749692917, + 1.0 + ], + "delta_full_state_norm": [ + 0.6942586363977568, + 0.9999991384619271, + -1.0, + 0.1790882029055394, + 0.9999998277771125, + -0.8191354927342501, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 249 mm; move right 0 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 745 mm; move right 0 mm; move downward 0 mm; roll downward 67 degrees; pitch downward 25 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 106, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 251 mm; move right 0 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 733 mm; move right 0 mm; move downward 0 mm; roll downward 65 degrees; pitch downward 25 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + 0.0, + 0.0, + -0.02857142873108387, + 0.0, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.25142860412597656, + 0.0, + 0.0, + -0.4828571379184723, + -0.0714285597205162, + 0.015714285895228386, + 1.0 + ], + "delta_full_state_norm": [ + 0.6845771642460943, + 0.9999991384619271, + -1.0, + 0.1358823021514426, + 0.9999998277771125, + -0.8553083965456049, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 251 mm; move right 0 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 733 mm; move right 0 mm; move downward 0 mm; roll downward 65 degrees; pitch downward 25 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 107, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 254 mm; move right 0 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 720 mm; move right 0 mm; move downward 0 mm; roll downward 64 degrees; pitch downward 25 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + 0.0, + 0.0, + -0.025714285671710968, + 0.0, + 0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.2542857527732849, + 0.0, + 0.0, + -0.4757143259048462, + -0.07857141643762589, + 0.009999999776482582, + 1.0 + ], + "delta_full_state_norm": [ + 0.6748956920944318, + 0.9999991384619271, + -1.0, + 0.22229404732559388, + 0.9999998277771125, + -0.8914813003569596, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 254 mm; move right 0 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 720 mm; move right 0 mm; move downward 0 mm; roll downward 64 degrees; pitch downward 25 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 108, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 258 mm; move right 0 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 709 mm; move right 0 mm; move downward 0 mm; roll downward 62 degrees; pitch downward 25 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + 0.0, + 0.0, + -0.022857142612338066, + 0.0, + 0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.257500022649765, + 0.0, + 0.0, + -0.47428572177886963, + -0.08857141435146332, + 0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + 0.6748956920944318, + 0.9999991384619271, + -1.0, + 0.3087057924997454, + 0.9999998277771125, + -0.9276541982728024, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 258 mm; move right 0 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 709 mm; move right 0 mm; move downward 0 mm; roll downward 62 degrees; pitch downward 25 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 109, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 261 mm; move right 0 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 697 mm; move right 0 mm; move downward 0 mm; roll downward 61 degrees; pitch downward 25 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + 0.0, + -0.025714285671710968, + 0.0, + 0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.2607143223285675, + 0.0, + 0.0, + -0.4757142961025238, + -0.09857141226530075, + 0.0028571428265422583, + 1.0 + ], + "delta_full_state_norm": [ + 0.6652141946963488, + 0.9999991384619271, + -1.0, + 0.22229404732559388, + 0.9999998277771125, + -0.9638270991364012, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 261 mm; move right 0 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 697 mm; move right 0 mm; move downward 0 mm; roll downward 61 degrees; pitch downward 25 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 110, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 264 mm; move right 0 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 685 mm; move right 0 mm; move downward 0 mm; roll downward 59 degrees; pitch downward 25 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + 0.0, + -0.025714285671710968, + 0.0, + 0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.26392862200737, + 0.0, + 0.0, + -0.47285714745521545, + -0.10999998450279236, + 0.0014285714132711291, + 1.0 + ], + "delta_full_state_norm": [ + 0.6652141946963488, + 0.9999991384619271, + -1.0, + 0.22229404732559388, + 0.9999998277771125, + -0.9638270991364012, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 264 mm; move right 0 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 685 mm; move right 0 mm; move downward 0 mm; roll downward 59 degrees; pitch downward 25 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 111, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 267 mm; move right 0 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 674 mm; move right 0 mm; move downward 0 mm; roll downward 58 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + 0.0, + -0.025714285671710968, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2671428620815277, + 0.0, + 0.0, + -0.47285714745521545, + -0.12142855674028397, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6652141946963488, + 0.9999991384619271, + -1.0, + 0.22229404732559388, + 0.9999998277771125, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 267 mm; move right 0 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 674 mm; move right 0 mm; move downward 0 mm; roll downward 58 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 112, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 270 mm; move right 0 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 662 mm; move right 0 mm; move downward 0 mm; roll downward 56 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + 0.0, + -0.02428571507334709, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2703571617603302, + 0.0, + 0.0, + -0.4699999988079071, + -0.13285712897777557, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6652141946963488, + 0.9999991384619271, + -1.0, + 0.2654998917456486, + 0.9999998277771125, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 270 mm; move right 0 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 662 mm; move right 0 mm; move downward 0 mm; roll downward 56 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 113, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 274 mm; move right 0 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 651 mm; move right 0 mm; move downward 0 mm; roll downward 55 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + 0.0, + 0.0, + -0.02428571507334709, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2735714316368103, + 0.0, + 0.0, + -0.46714285016059875, + -0.1428571343421936, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6748956920944318, + 0.9999991384619271, + -1.0, + 0.2654998917456486, + 0.9999998277771125, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 274 mm; move right 0 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 651 mm; move right 0 mm; move downward 0 mm; roll downward 55 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 114, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 276 mm; move right 0 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 639 mm; move right 0 mm; move downward 0 mm; roll downward 54 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + 0.0, + 0.0, + -0.027142856270074844, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2760713994503021, + 0.0, + 0.0, + -0.4642857313156128, + -0.15285713970661163, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6845771642460943, + 0.9999991384619271, + -1.0, + 0.1790882029055394, + 0.9753965583928033, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 276 mm; move right 0 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 639 mm; move right 0 mm; move downward 0 mm; roll downward 54 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 115, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 279 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 627 mm; move right 0 mm; move downward 0 mm; roll downward 52 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + 0.0, + 0.0, + -0.027142856270074844, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.27892857789993286, + 0.0, + 0.0, + -0.4599999785423279, + -0.1614285707473755, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6845771642460943, + 0.9999991384619271, + -1.0, + 0.1790882029055394, + 0.9753965583928033, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 279 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 627 mm; move right 0 mm; move downward 0 mm; roll downward 52 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 116, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 282 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 615 mm; move right 0 mm; move downward 0 mm; roll downward 51 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + 0.0, + 0.0, + -0.027142856270074844, + -0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28214284777641296, + 0.0, + 0.0, + -0.45571422576904297, + -0.16857142746448517, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6748956920944318, + 0.9999991384619271, + -1.0, + 0.1790882029055394, + 0.9507932890084942, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 282 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 615 mm; move right 0 mm; move downward 0 mm; roll downward 51 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 117, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 286 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 603 mm; move right 0 mm; move downward 0 mm; roll downward 49 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + 0.0, + 0.0, + -0.02428571507334709, + -0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2857142686843872, + 0.0, + 0.0, + -0.44999995827674866, + -0.17571429908275604, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6748956920944318, + 0.9999991384619271, + -1.0, + 0.2654998917456486, + 0.9261900216291232, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 286 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 603 mm; move right 0 mm; move downward 0 mm; roll downward 49 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 118, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 289 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 591 mm; move right 0 mm; move downward 0 mm; roll downward 48 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + 0.0, + 0.0, + -0.022857142612338066, + -0.0057142856530845165, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28928568959236145, + 0.0, + 0.0, + -0.4457142949104309, + -0.18142859637737274, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6845771642460943, + 0.9999991384619271, + -1.0, + 0.3087057924997454, + 0.9015867502398758, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 289 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 591 mm; move right 0 mm; move downward 0 mm; roll downward 48 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 119, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 292 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 579 mm; move right 0 mm; move downward 0 mm; roll downward 46 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + 0.0, + -0.02142857201397419, + -0.0071428571827709675, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2921428382396698, + 0.0, + 0.0, + -0.4457142949104309, + -0.18571431934833527, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6942586363977568, + 0.9999991384619271, + -1.0, + 0.3519116369197999, + 0.8769834788506283, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 292 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 579 mm; move right 0 mm; move downward 0 mm; roll downward 46 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 120, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 295 mm; move right 0 mm; move downward 0 mm; roll downward 25 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 567 mm; move right 0 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + 0.0, + -0.02428571507334709, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2946428656578064, + 0.0, + 0.0, + -0.44428572058677673, + -0.1900000125169754, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7136215807010817, + 0.9999991384619271, + -1.0, + 0.2654998917456486, + 0.8277769440918865, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 295 mm; move right 0 mm; move downward 0 mm; roll downward 25 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 567 mm; move right 0 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 121, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 296 mm; move right 0 mm; move downward 0 mm; roll downward 25 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 554 mm; move right 0 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 23 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013571429066359997, + 0.0, + 0.0, + -0.022857142612338066, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2964285910129547, + 0.0, + 0.0, + -0.4400000274181366, + -0.19142857193946838, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7233030780991647, + 0.9999991384619271, + -1.0, + 0.3087057924997454, + 0.8277769440918865, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 296 mm; move right 0 mm; move downward 0 mm; roll downward 25 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 554 mm; move right 0 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 23 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 122, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 298 mm; move right 0 mm; move downward 0 mm; roll downward 25 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 540 mm; move right 0 mm; move downward 0 mm; roll downward 42 degrees; pitch downward 23 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + 0.0, + 0.0, + -0.02142857201397419, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.29821428656578064, + 0.0, + 0.0, + -0.4400000274181366, + -0.19571428000926971, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7329845502508272, + 0.9999991384619271, + -1.0, + 0.3519116369197999, + 0.8277769440918865, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 298 mm; move right 0 mm; move downward 0 mm; roll downward 25 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 540 mm; move right 0 mm; move downward 0 mm; roll downward 42 degrees; pitch downward 23 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 123, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 301 mm; move right 0 mm; move downward 0 mm; roll downward 25 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 526 mm; move right 0 mm; move downward 0 mm; roll downward 41 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + 0.0, + -0.02142857201397419, + -0.0071428571827709675, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.30071431398391724, + 0.0, + 0.0, + -0.43714287877082825, + -0.1971428394317627, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7620289919522354, + 0.9999991384619271, + -1.0, + 0.3519116369197999, + 0.8769834788506283, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 301 mm; move right 0 mm; move downward 0 mm; roll downward 25 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 526 mm; move right 0 mm; move downward 0 mm; roll downward 41 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 124, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 303 mm; move right 0 mm; move downward 0 mm; roll downward 25 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 511 mm; move right 0 mm; move downward 0 mm; roll downward 40 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + 0.0, + -0.019999999552965164, + -0.0057142856530845165, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3028571605682373, + 0.0, + 0.0, + -0.43714287877082825, + -0.20428569614887238, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7620289919522354, + 0.9999991384619271, + -1.0, + 0.3951175376738967, + 0.9015867502398758, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 303 mm; move right 0 mm; move downward 0 mm; roll downward 25 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 511 mm; move right 0 mm; move downward 0 mm; roll downward 40 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 125, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 306 mm; move right 0 mm; move downward 0 mm; roll downward 25 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 496 mm; move right 0 mm; move downward 0 mm; roll downward 39 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + 0.0, + -0.019999999552965164, + -0.0057142856530845165, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.30571433901786804, + 0.0, + 0.0, + -0.44142860174179077, + -0.2142857015132904, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7620289919522354, + 0.9999991384619271, + -1.0, + 0.3951175376738967, + 0.9015867502398758, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 306 mm; move right 0 mm; move downward 0 mm; roll downward 25 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 496 mm; move right 0 mm; move downward 0 mm; roll downward 39 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 126, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 310 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 481 mm; move right 0 mm; move downward 0 mm; roll downward 38 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + 0.0, + -0.02142857201397419, + -0.0071428571827709675, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.30964288115501404, + 0.0, + 0.0, + -0.4471428692340851, + -0.22571426630020142, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7620289919522354, + 0.9999991384619271, + -1.0, + 0.3519116369197999, + 0.8769834788506283, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 310 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 481 mm; move right 0 mm; move downward 0 mm; roll downward 38 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 127, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 315 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 466 mm; move right 0 mm; move downward 0 mm; roll downward 36 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + 0.0, + -0.02428571507334709, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3149999976158142, + 0.0, + 0.0, + -0.4514285624027252, + -0.23428569734096527, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7620289919522354, + 0.9999991384619271, + -1.0, + 0.2654998917456486, + 0.8277769440918865, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 315 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 466 mm; move right 0 mm; move downward 0 mm; roll downward 36 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 128, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 320 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 451 mm; move right 0 mm; move downward 0 mm; roll downward 35 degrees; pitch downward 20 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + 0.0, + -0.02428571507334709, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.32035714387893677, + 0.0, + 0.0, + -0.45571428537368774, + -0.24285712838172913, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7620289919522354, + 0.9999991384619271, + -1.0, + 0.2654998917456486, + 0.8277769440918865, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 320 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 451 mm; move right 0 mm; move downward 0 mm; roll downward 35 degrees; pitch downward 20 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 129, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 326 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 436 mm; move right 0 mm; move downward 0 mm; roll downward 34 degrees; pitch downward 20 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + 0.0, + 0.0, + -0.022857142612338066, + -0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.32571426033973694, + 0.0, + 0.0, + -0.4542856812477112, + -0.2514285743236542, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7523474945541522, + 0.9999991384619271, + -1.0, + 0.3087057924997454, + 0.8031736727026391, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 326 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 436 mm; move right 0 mm; move downward 0 mm; roll downward 34 degrees; pitch downward 20 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 130, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 332 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 421 mm; move right 0 mm; move downward 0 mm; roll downward 32 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + 0.0, + 0.0, + -0.025714285671710968, + -0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.33214282989501953, + 0.0, + 0.0, + -0.4542856514453888, + -0.2571428716182709, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7523474945541522, + 0.9999991384619271, + -1.0, + 0.22229404732559388, + 0.8031736727026391, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 332 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 421 mm; move right 0 mm; move downward 0 mm; roll downward 32 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 131, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 340 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 407 mm; move right 0 mm; move downward 0 mm; roll downward 31 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + 0.0, + 0.0, + -0.022857142612338066, + -0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.33964285254478455, + 0.0, + 0.0, + -0.45714280009269714, + -0.26428574323654175, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7523474945541522, + 0.9999991384619271, + -1.0, + 0.3087057924997454, + 0.8031736727026391, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 340 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 407 mm; move right 0 mm; move downward 0 mm; roll downward 31 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 132, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 347 mm; move right 0 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 16 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 392 mm; move right 0 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + 0.0, + 0.0, + -0.02142857201397419, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3471428155899048, + 0.0, + 0.0, + -0.46285709738731384, + -0.2714286148548126, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7523474945541522, + 0.9999991384619271, + -1.0, + 0.3519116369197999, + 0.8277769440918865, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 347 mm; move right 0 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 16 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 392 mm; move right 0 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 133, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 355 mm; move right 0 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 16 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 377 mm; move right 0 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + 0.0, + 0.0, + -0.02142857201397419, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.35499998927116394, + 0.0, + 0.0, + -0.467142790555954, + -0.2800000309944153, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7426660476489104, + 0.9999991384619271, + -1.0, + 0.3519116369197999, + 0.8277769440918865, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 355 mm; move right 0 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 16 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 377 mm; move right 0 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 134, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 363 mm; move right 0 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 363 mm; move right 0 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + 0.0, + -0.022857142612338066, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.36321425437927246, + 0.0, + 0.0, + -0.4728570878505707, + -0.28857147693634033, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7620289919522354, + 0.9999991384619271, + -1.0, + 0.3087057924997454, + 0.8277769440918865, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 363 mm; move right 0 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 363 mm; move right 0 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 135, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 370 mm; move right 0 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 348 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 16 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + 0.0, + 0.0, + -0.022857142612338066, + -0.008571428246796131, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.37035712599754333, + 0.0, + 0.0, + -0.478571355342865, + -0.2971429228782654, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7717104641038979, + 0.9999991384619271, + -1.0, + 0.3087057924997454, + 0.852380215481134, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 370 mm; move right 0 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 348 mm; move right 0 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 16 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 136, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 377 mm; move right 0 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 333 mm; move right 0 mm; move downward 0 mm; roll downward 24 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + 0.0, + 0.0, + -0.02142857201397419, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3774999976158142, + 0.0, + 0.0, + -0.4842856526374817, + -0.3071429133415222, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7717104641038979, + 0.9999991384619271, + -1.0, + 0.3519116369197999, + 0.8277769440918865, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 377 mm; move right 0 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 333 mm; move right 0 mm; move downward 0 mm; roll downward 24 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 137, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 385 mm; move right 0 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 317 mm; move right 0 mm; move downward 0 mm; roll downward 23 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + 0.0, + 0.0, + -0.019999999552965164, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3846428394317627, + 0.0, + 0.0, + -0.49142852425575256, + -0.31571435928344727, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7717104641038979, + 0.9999991384619271, + -1.0, + 0.3951175376738967, + 0.8277769440918865, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 385 mm; move right 0 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 317 mm; move right 0 mm; move downward 0 mm; roll downward 23 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 138, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 391 mm; move right 0 mm; move downward 0 mm; roll downward 29 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 302 mm; move right 0 mm; move downward 0 mm; roll downward 22 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + 0.0, + -0.022857142612338066, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.39142856001853943, + 0.0, + 0.0, + -0.5028570890426636, + -0.32285720109939575, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7620289919522354, + 0.9999991384619271, + -1.0, + 0.3087057924997454, + 0.8277769440918865, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 391 mm; move right 0 mm; move downward 0 mm; roll downward 29 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 302 mm; move right 0 mm; move downward 0 mm; roll downward 22 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 139, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 398 mm; move right 0 mm; move downward 0 mm; roll downward 29 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 287 mm; move right 0 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + 0.0, + -0.019999999552965164, + -0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.397857129573822, + 0.0, + 0.0, + -0.5128571391105652, + -0.3271429240703583, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7620289919522354, + 0.9999991384619271, + -1.0, + 0.3951175376738967, + 0.8031736727026391, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 398 mm; move right 0 mm; move downward 0 mm; roll downward 29 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 287 mm; move right 0 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 140, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 402 mm; move right 0 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 272 mm; move right 0 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + 0.0, + -0.019999999552965164, + -0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.40214285254478455, + 0.0, + 0.0, + -0.5199999809265137, + -0.3300000727176666, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7620289919522354, + 0.9999991384619271, + -1.0, + 0.3951175376738967, + 0.8031736727026391, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 402 mm; move right 0 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 272 mm; move right 0 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 141, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 401 mm; move right 1 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 257 mm; move right 0 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 199, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + 0.0, + 0.0, + -0.022857142612338066, + -0.014285714365541935, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.40142855048179626, + -0.0007142857066355646, + 0.0, + -0.5257142782211304, + -0.33000004291534424, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7717104641038979, + 0.9999991384619271, + -1.0, + 0.3087057924997454, + 0.7539671299241439, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 401 mm; move right 1 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 257 mm; move right 0 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 142, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 389 mm; move right 1 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 242 mm; move right 0 mm; move downward 0 mm; roll downward 17 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 199, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.016428573057055473, + 0.0, + 0.0, + -0.018571428954601288, + -0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.389285683631897, + -0.0007142857066355646, + 0.0, + -0.5242857336997986, + -0.3257143199443817, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8007549310517266, + 0.9999991384619271, + -1.0, + 0.43832338209395116, + 0.8031736727026391, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 389 mm; move right 1 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 242 mm; move right 0 mm; move downward 0 mm; roll downward 17 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 143, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 17 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 373 mm; move right 1 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 225 mm; move right 0 mm; move downward 0 mm; roll downward 16 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01714285835623741, + 0.0, + 0.0, + -0.02142857201397419, + -0.014285714365541935, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.37285712361335754, + -0.0007142857066355646, + 0.0, + -0.5271428823471069, + -0.33000004291534424, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8201178753550513, + 0.9999991384619271, + -1.0, + 0.3519116369197999, + 0.7539671299241439, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 17 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 373 mm; move right 1 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 225 mm; move right 0 mm; move downward 0 mm; roll downward 16 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 144, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 345 mm; move right 1 mm; move downward 0 mm; roll downward 31 degrees; pitch downward 20 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 208 mm; move right 0 mm; move downward 0 mm; roll downward 15 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 45 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01785714365541935, + 0.0, + 0.0, + -0.02428571507334709, + -0.015714285895228386, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.34464287757873535, + -0.0010714286472648382, + 0.0, + -0.5428571701049805, + -0.3500000238418579, + 0.008571428246796131, + 1.0 + ], + "delta_full_state_norm": [ + 0.8394808196583763, + 0.9999991384619271, + -1.0, + 0.2654998917456486, + 0.7293638585348965, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 18 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 345 mm; move right 1 mm; move downward 0 mm; roll downward 31 degrees; pitch downward 20 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 208 mm; move right 0 mm; move downward 0 mm; roll downward 15 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 145, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 291 mm; move right 7 mm; move downward 0 mm; roll downward 32 degrees; pitch downward 22 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move forward 190 mm; move right 0 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 45 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018928570672869682, + 0.0, + 0.0, + -0.025714285671710968, + -0.017142856493592262, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.29107141494750977, + -0.006785714533179998, + 0.0, + -0.5671428442001343, + -0.3914285898208618, + 0.06428571790456772, + 1.0 + ], + "delta_full_state_norm": [ + 0.868525210866943, + 0.9999991384619271, + -1.0, + 0.22229404732559388, + 0.7047606031851554, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 19 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 291 mm; move right 7 mm; move downward 0 mm; roll downward 32 degrees; pitch downward 22 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 190 mm; move right 0 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 146, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 231 mm; move right 13 mm; move downward 0 mm; roll downward 34 degrees; pitch downward 24 degrees; yaw counterclockwise 7 degrees; open gripper;\nSubtask Movement: move forward 171 mm; move right 0 mm; move downward 0 mm; roll downward 12 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 45 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.020357143133878708, + 0.0, + 0.0, + -0.025714285671710968, + -0.015714285895228386, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23142854869365692, + -0.013214287348091602, + 0.0, + -0.5857142806053162, + -0.4214285910129547, + 0.12428571283817291, + 1.0 + ], + "delta_full_state_norm": [ + 0.9072511499664342, + 0.9999991384619271, + -1.0, + 0.22229404732559388, + 0.7293638585348965, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 20 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 231 mm; move right 13 mm; move downward 0 mm; roll downward 34 degrees; pitch downward 24 degrees; yaw counterclockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 171 mm; move right 0 mm; move downward 0 mm; roll downward 12 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 147, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 165 mm; move right 18 mm; move downward 0 mm; roll downward 34 degrees; pitch downward 25 degrees; yaw counterclockwise 11 degrees; open gripper;\nSubtask Movement: move forward 151 mm; move right 0 mm; move downward 0 mm; roll downward 11 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 196, + 44 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.020357143133878708, + 0.0, + 0.0, + -0.02857142873108387, + -0.018571428954601288, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.16499999165534973, + -0.018214287236332893, + 0.0, + -0.5942857265472412, + -0.44142860174179077, + 0.18714284896850586, + 1.0 + ], + "delta_full_state_norm": [ + 0.9072511499664342, + 0.9999991384619271, + -1.0, + 0.1358823021514426, + 0.6801573157564016, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 20 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 165 mm; move right 18 mm; move downward 0 mm; roll downward 34 degrees; pitch downward 25 degrees; yaw counterclockwise 11 degrees; open gripper;", + "subtask_movement_text": "move forward 151 mm; move right 0 mm; move downward 0 mm; roll downward 11 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 148, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 95 mm; move right 19 mm; move downward 0 mm; roll downward 33 degrees; pitch downward 26 degrees; yaw counterclockwise 14 degrees; open gripper;\nSubtask Movement: move forward 131 mm; move right 0 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 196, + 44 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.020357143133878708, + 0.0, + 0.0, + -0.022857142612338066, + -0.018571428954601288, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.09464285522699356, + -0.018571430817246437, + 0.0, + -0.5757142901420593, + -0.46000003814697266, + 0.24142855405807495, + 1.0 + ], + "delta_full_state_norm": [ + 0.9072511499664342, + 0.9999991384619271, + -1.0, + 0.3087057924997454, + 0.6801573157564016, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 20 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 95 mm; move right 19 mm; move downward 0 mm; roll downward 33 degrees; pitch downward 26 degrees; yaw counterclockwise 14 degrees; open gripper;", + "subtask_movement_text": "move forward 131 mm; move right 0 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 149, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 21 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 24 mm; move right 19 mm; move downward 0 mm; roll downward 32 degrees; pitch downward 27 degrees; yaw counterclockwise 17 degrees; open gripper;\nSubtask Movement: move forward 110 mm; move right 0 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 195, + 44 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.021071428433060646, + 0.0, + 0.0, + -0.022857142612338066, + -0.017142856493592262, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.02428572252392769, + -0.018571430817246437, + 0.0, + -0.5528572201728821, + -0.47857147455215454, + 0.28857141733169556, + 1.0 + ], + "delta_full_state_norm": [ + 0.9266140942697592, + 0.9999991384619271, + -1.0, + 0.3087057924997454, + 0.7047606031851554, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 21 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 24 mm; move right 19 mm; move downward 0 mm; roll downward 32 degrees; pitch downward 27 degrees; yaw counterclockwise 17 degrees; open gripper;", + "subtask_movement_text": "move forward 110 mm; move right 0 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 150, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 47 mm; move right 19 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 28 degrees; yaw counterclockwise 19 degrees; open gripper;\nSubtask Movement: move forward 89 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 194, + 43 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.022142857313156128, + 0.0, + 0.0, + -0.02857142873108387, + -0.018571428954601288, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.046785712242126465, + -0.018571430817246437, + 0.0, + -0.5299999713897705, + -0.49571430683135986, + 0.33571428060531616, + 1.0 + ], + "delta_full_state_norm": [ + 0.9556585359711671, + 0.9999991384619271, + -1.0, + 0.1358823021514426, + 0.6801573157564016, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 47 mm; move right 19 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 28 degrees; yaw counterclockwise 19 degrees; open gripper;", + "subtask_movement_text": "move forward 89 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 151, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 119 mm; move right 19 mm; move downward 0 mm; roll downward 29 degrees; pitch downward 30 degrees; yaw counterclockwise 23 degrees; open gripper;\nSubtask Movement: move forward 67 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 194, + 43 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.022142857313156128, + 0.0, + 0.0, + -0.02857142873108387, + -0.018571428954601288, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.11892857402563095, + -0.018571430817246437, + 0.0, + -0.5014286041259766, + -0.5171429514884949, + 0.39571428298950195, + 1.0 + ], + "delta_full_state_norm": [ + 0.9556585359711671, + 0.9999991384619271, + -1.0, + 0.1358823021514426, + 0.6801573157564016, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 119 mm; move right 19 mm; move downward 0 mm; roll downward 29 degrees; pitch downward 30 degrees; yaw counterclockwise 23 degrees; open gripper;", + "subtask_movement_text": "move forward 67 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 152, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 191 mm; move right 19 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 30 degrees; yaw counterclockwise 26 degrees; open gripper;\nSubtask Movement: move forward 45 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 195, + 42 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.022499999031424522, + 0.0, + 0.0, + -0.025714285671710968, + -0.018571428954601288, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.19107143580913544, + -0.018571430817246437, + 0.0, + -0.47285714745521545, + -0.5300000309944153, + 0.46000000834465027, + 1.0 + ], + "delta_full_state_norm": [ + 0.9653399828764089, + 0.9999991384619271, + -1.0, + 0.22229404732559388, + 0.6801573157564016, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 191 mm; move right 19 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 30 degrees; yaw counterclockwise 26 degrees; open gripper;", + "subtask_movement_text": "move forward 45 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 153, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 214 mm; move right 19 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 29 degrees; yaw counterclockwise 26 degrees; open gripper;\nSubtask Movement: move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 196, + 41 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.022499999031424522, + 0.0, + 0.0, + -0.027142856270074844, + -0.018571428954601288, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2135714292526245, + -0.018571430817246437, + 0.0, + -0.4471428692340851, + -0.5114285945892334, + 0.46000000834465027, + 1.0 + ], + "delta_full_state_norm": [ + 0.9653399828764089, + 0.9999991384619271, + -1.0, + 0.1790882029055394, + 0.6801573157564016, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 214 mm; move right 19 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 29 degrees; yaw counterclockwise 26 degrees; open gripper;", + "subtask_movement_text": "move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 154, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector makes direct physical contact with the microwave control panel, positioning specifically over the buttons to execute a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 236 mm; move right 19 mm; move downward 0 mm; roll downward 24 degrees; pitch downward 28 degrees; yaw counterclockwise 26 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 196, + 41 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.022142857313156128, + 0.0, + 0.0, + -0.02857142873108387, + -0.018571428954601288, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.23607145249843597, + -0.018571430817246437, + 0.0, + -0.41999998688697815, + -0.4928571879863739, + 0.46000000834465027, + 1.0 + ], + "delta_full_state_norm": [ + 0.9556585359711671, + 0.9999991384619271, + -1.0, + 0.1358823021514426, + 0.6801573157564016, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 236 mm; move right 19 mm; move downward 0 mm; roll downward 24 degrees; pitch downward 28 degrees; yaw counterclockwise 26 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 155, + "segment_id": 30255, + "subtask": "move away from the microwave", + "reason": "The robot's arm is visibly retracting from the microwave door handle area, indicating the completion of the interaction and a return to a neutral pose.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is visibly retracting from the microwave door handle area, indicating the completion of the interaction and a return to a neutral pose.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 258 mm; move right 19 mm; move downward 0 mm; roll downward 22 degrees; pitch downward 27 degrees; yaw counterclockwise 26 degrees; open gripper;\nSubtask Movement: move forward 114 mm; move right 1 mm; move downward 0 mm; roll downward 15 degrees; pitch downward 9 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 196, + 40 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.022499999031424522, + 0.0, + 0.0, + -0.02857142873108387, + -0.018571428954601288, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2582142949104309, + -0.018571430817246437, + 0.0, + -0.39142856001853943, + -0.474285751581192, + 0.46000000834465027, + 1.0 + ], + "delta_full_state_norm": [ + 0.9653399828764089, + 0.9999991384619271, + -1.0, + 0.1358823021514426, + 0.6801573157564016, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 258 mm; move right 19 mm; move downward 0 mm; roll downward 22 degrees; pitch downward 27 degrees; yaw counterclockwise 26 degrees; open gripper;", + "subtask_movement_text": "move forward 114 mm; move right 1 mm; move downward 0 mm; roll downward 15 degrees; pitch downward 9 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 156, + "segment_id": 30255, + "subtask": "move away from the microwave", + "reason": "The robot's arm is visibly retracting from the microwave door handle area, indicating the completion of the interaction and a return to a neutral pose.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is visibly retracting from the microwave door handle area, indicating the completion of the interaction and a return to a neutral pose.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 281 mm; move right 19 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 26 degrees; yaw counterclockwise 26 degrees; open gripper;\nSubtask Movement: move forward 92 mm; move right 1 mm; move downward 0 mm; roll downward 13 degrees; pitch downward 8 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 39 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.022499999031424522, + 0.0, + 0.0, + -0.02857142873108387, + -0.018571428954601288, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2807143032550812, + -0.018571430817246437, + 0.0, + -0.3628571331501007, + -0.45571431517601013, + 0.46000000834465027, + 1.0 + ], + "delta_full_state_norm": [ + 0.9653399828764089, + 0.9999991384619271, + -1.0, + 0.1358823021514426, + 0.6801573157564016, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 281 mm; move right 19 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 26 degrees; yaw counterclockwise 26 degrees; open gripper;", + "subtask_movement_text": "move forward 92 mm; move right 1 mm; move downward 0 mm; roll downward 13 degrees; pitch downward 8 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 157, + "segment_id": 30255, + "subtask": "move away from the microwave", + "reason": "The robot's arm is visibly retracting from the microwave door handle area, indicating the completion of the interaction and a return to a neutral pose.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is visibly retracting from the microwave door handle area, indicating the completion of the interaction and a return to a neutral pose.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 303 mm; move right 19 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 25 degrees; yaw counterclockwise 26 degrees; open gripper;\nSubtask Movement: move forward 69 mm; move right 1 mm; move downward 0 mm; roll downward 11 degrees; pitch downward 7 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 39 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.022142857313156128, + 0.0, + 0.0, + -0.03142857179045677, + -0.017142856493592262, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.30321428179740906, + -0.018571430817246437, + 0.0, + -0.334285706281662, + -0.43714287877082825, + 0.46000000834465027, + 1.0 + ], + "delta_full_state_norm": [ + 0.9556585359711671, + 0.9999991384619271, + -1.0, + 0.0494705569772913, + 0.7047606031851554, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 303 mm; move right 19 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 25 degrees; yaw counterclockwise 26 degrees; open gripper;", + "subtask_movement_text": "move forward 69 mm; move right 1 mm; move downward 0 mm; roll downward 11 degrees; pitch downward 7 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 158, + "segment_id": 30255, + "subtask": "move away from the microwave", + "reason": "The robot's arm is visibly retracting from the microwave door handle area, indicating the completion of the interaction and a return to a neutral pose.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is visibly retracting from the microwave door handle area, indicating the completion of the interaction and a return to a neutral pose.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 21 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 325 mm; move right 19 mm; move downward 0 mm; roll downward 17 degrees; pitch downward 24 degrees; yaw counterclockwise 26 degrees; open gripper;\nSubtask Movement: move forward 47 mm; move right 1 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 38 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.02142857201397419, + 0.0, + 0.0, + -0.03285714238882065, + -0.014285714365541935, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3253571689128876, + -0.018571430817246437, + 0.0, + -0.3028571307659149, + -0.41999998688697815, + 0.46000000834465027, + 1.0 + ], + "delta_full_state_norm": [ + 0.9362955916678422, + 0.9999991384619271, + -1.0, + 0.006264712557236818, + 0.7539671299241439, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 21 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 325 mm; move right 19 mm; move downward 0 mm; roll downward 17 degrees; pitch downward 24 degrees; yaw counterclockwise 26 degrees; open gripper;", + "subtask_movement_text": "move forward 47 mm; move right 1 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 6 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 159, + "segment_id": 30255, + "subtask": "move away from the microwave", + "reason": "The robot's arm is visibly retracting from the microwave door handle area, indicating the completion of the interaction and a return to a neutral pose.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is visibly retracting from the microwave door handle area, indicating the completion of the interaction and a return to a neutral pose.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 347 mm; move right 19 mm; move downward 0 mm; roll downward 15 degrees; pitch downward 23 degrees; yaw counterclockwise 26 degrees; open gripper;\nSubtask Movement: move forward 26 mm; move right 1 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 37 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.019285714253783226, + 0.0, + 0.0, + -0.027142856270074844, + -0.014285714365541935, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3467857241630554, + -0.018571430817246437, + 0.0, + -0.27000001072883606, + -0.4057143032550812, + 0.46000000834465027, + 1.0 + ], + "delta_full_state_norm": [ + 0.8782067082650262, + 0.9999991384619271, + -1.0, + 0.1790882029055394, + 0.7539671299241439, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 19 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 347 mm; move right 19 mm; move downward 0 mm; roll downward 15 degrees; pitch downward 23 degrees; yaw counterclockwise 26 degrees; open gripper;", + "subtask_movement_text": "move forward 26 mm; move right 1 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 160, + "segment_id": 30255, + "subtask": "move away from the microwave", + "reason": "The robot's arm is visibly retracting from the microwave door handle area, indicating the completion of the interaction and a return to a neutral pose.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is visibly retracting from the microwave door handle area, indicating the completion of the interaction and a return to a neutral pose.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 366 mm; move right 19 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 22 degrees; yaw counterclockwise 26 degrees; open gripper;\nSubtask Movement: move forward 6 mm; move right 1 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 37 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.0007142857066355646, + 0.0, + -0.025714285671710968, + -0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3660714328289032, + -0.018571430817246437, + 0.0, + -0.24285714328289032, + -0.39142856001853943, + 0.46000000834465027, + 1.0 + ], + "delta_full_state_norm": [ + 0.7426660476489104, + 0.9384607053611032, + -1.0, + 0.22229404732559388, + 0.8031736727026391, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 366 mm; move right 19 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 22 degrees; yaw counterclockwise 26 degrees; open gripper;", + "subtask_movement_text": "move forward 6 mm; move right 1 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 161, + "segment_id": 30255, + "subtask": "move away from the microwave", + "reason": "The robot's arm is visibly retracting from the microwave door handle area, indicating the completion of the interaction and a return to a neutral pose.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is visibly retracting from the microwave door handle area, indicating the completion of the interaction and a return to a neutral pose.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 380 mm; move right 18 mm; move downward 0 mm; roll downward 12 degrees; pitch downward 22 degrees; yaw counterclockwise 26 degrees; open gripper;\nSubtask Movement: move backward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 199, + 37 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0032142859417945147, + 0.0, + 0.0, + -0.02142857201397419, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.38035714626312256, + -0.01785714365541935, + 0.0, + -0.21714285016059875, + -0.3800000250339508, + 0.46000000834465027, + 1.0 + ], + "delta_full_state_norm": [ + 0.4425402152876141, + 0.9999991384619271, + -1.0, + 0.3519116369197999, + 0.8277769440918865, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 3 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 380 mm; move right 18 mm; move downward 0 mm; roll downward 12 degrees; pitch downward 22 degrees; yaw counterclockwise 26 degrees; open gripper;", + "subtask_movement_text": "move backward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 162, + "segment_id": 30255, + "subtask": "move away from the microwave", + "reason": "The robot's arm is visibly retracting from the microwave door handle area, indicating the completion of the interaction and a return to a neutral pose.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is visibly retracting from the microwave door handle area, indicating the completion of the interaction and a return to a neutral pose.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 384 mm; move right 18 mm; move downward 0 mm; roll downward 11 degrees; pitch downward 21 degrees; yaw counterclockwise 26 degrees; open gripper;\nSubtask Movement: move backward 11 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 3 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 199, + 36 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.02142857201397419, + -0.015714285895228386, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.38357144594192505, + -0.01785714365541935, + 0.0, + -0.1957142949104309, + -0.3699999749660492, + 0.46000000834465027, + 1.0 + ], + "delta_full_state_norm": [ + 0.3554069091182055, + 0.9999991384619271, + -1.0, + 0.3519116369197999, + 0.7293638585348965, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 384 mm; move right 18 mm; move downward 0 mm; roll downward 11 degrees; pitch downward 21 degrees; yaw counterclockwise 26 degrees; open gripper;", + "subtask_movement_text": "move backward 11 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 3 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 163, + "segment_id": 30255, + "subtask": "move away from the microwave", + "reason": "The robot's arm is visibly retracting from the microwave door handle area, indicating the completion of the interaction and a return to a neutral pose.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is visibly retracting from the microwave door handle area, indicating the completion of the interaction and a return to a neutral pose.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 384 mm; move right 18 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 20 degrees; yaw counterclockwise 26 degrees; open gripper;\nSubtask Movement: move backward 11 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 199, + 36 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011071428656578064, + -0.0003571428533177823, + 0.0, + -0.037142857909202576, + -0.034285712987184525, + 0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + -0.38357144594192505, + -0.01785714365541935, + 0.0, + -0.17428570985794067, + -0.35428571701049805, + 0.46000000834465027, + 1.0 + ], + "delta_full_state_norm": [ + 0.05528109569172468, + 0.9692299219115152, + -1.0, + -0.12335293337101128, + 0.40952137859319815, + -0.7829626007139192, + 0.9999999900000001 + ], + "movement_text": "move backward 11 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 384 mm; move right 18 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 20 degrees; yaw counterclockwise 26 degrees; open gripper;", + "subtask_movement_text": "move backward 11 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 164, + "segment_id": 30255, + "subtask": "move away from the microwave", + "reason": "The robot's arm is visibly retracting from the microwave door handle area, indicating the completion of the interaction and a return to a neutral pose.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is visibly retracting from the microwave door handle area, indicating the completion of the interaction and a return to a neutral pose.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 36 mm; move right 6 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 3 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 373 mm; move right 18 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 18 degrees; yaw counterclockwise 26 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 199, + 36 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0357142873108387, + -0.0057142856530845165, + 0.0, + -0.04857143014669418, + -0.05714285746216774, + 0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + -0.3725000023841858, + -0.017500001937150955, + 0.0, + -0.1371428668498993, + -0.3199999928474426, + 0.4514285922050476, + 1.0 + ], + "delta_full_state_norm": [ + -0.6127409119621363, + 0.5076916736553347, + -1.0, + -0.46899991406761654, + 0.015869036365238287, + 0.4107431778966919, + 0.9999999900000001 + ], + "movement_text": "move backward 36 mm; move right 6 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 3 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 373 mm; move right 18 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 18 degrees; yaw counterclockwise 26 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 165, + "segment_id": 30265, + "subtask": "move away from the microwave", + "reason": "The robot arm is seen retracting and moving laterally to the right, creating distance between the end-effector and the microwave appliance.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is seen retracting and moving laterally to the right, creating distance between the end-effector and the microwave appliance.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 41 mm; move right 6 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 3 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 337 mm; move right 12 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 15 degrees; yaw counterclockwise 23 degrees; open gripper;\nSubtask Movement: move backward 287 mm; move right 12 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 13 degrees; yaw counterclockwise 19 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 36 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.040714286267757416, + -0.006428571883589029, + 0.0, + -0.044285714626312256, + -0.04714285582304001, + 0.05999999865889549, + 1.0 + ], + "delta_next_20": [ + -0.3367857038974762, + -0.011785714887082577, + 0.0, + -0.08857142180204391, + -0.2628571391105652, + 0.39571431279182434, + 1.0 + ], + "delta_full_state_norm": [ + -0.7482815725782521, + 0.44615319542120613, + -1.0, + -0.33938226813936834, + 0.18809195212947705, + 0.5192618185846132, + 0.9999999900000001 + ], + "movement_text": "move backward 41 mm; move right 6 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 3 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 337 mm; move right 12 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 15 degrees; yaw counterclockwise 23 degrees; open gripper;", + "subtask_movement_text": "move backward 287 mm; move right 12 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 13 degrees; yaw counterclockwise 19 degrees; open gripper;" + }, + { + "frame_index": 166, + "segment_id": 30265, + "subtask": "move away from the microwave", + "reason": "The robot arm is seen retracting and moving laterally to the right, creating distance between the end-effector and the microwave appliance.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is seen retracting and moving laterally to the right, creating distance between the end-effector and the microwave appliance.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 46 mm; move right 5 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 296 mm; move right 5 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 12 degrees; yaw counterclockwise 19 degrees; open gripper;\nSubtask Movement: move backward 246 mm; move right 5 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 11 degrees; yaw counterclockwise 16 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 36 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.046071428805589676, + -0.005000000353902578, + 0.0, + -0.034285712987184525, + -0.0357142873108387, + 0.06285714358091354, + 1.0 + ], + "delta_next_20": [ + -0.29607143998146057, + -0.0053571430034935474, + 0.0, + -0.044285714626312256, + -0.21571427583694458, + 0.33571431040763855, + 1.0 + ], + "delta_full_state_norm": [ + -0.8935037305924509, + 0.5692300716524776, + -1.0, + -0.03694113186281767, + 0.38491805908543175, + 0.591607673371418, + 0.9999999900000001 + ], + "movement_text": "move backward 46 mm; move right 5 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 296 mm; move right 5 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 12 degrees; yaw counterclockwise 19 degrees; open gripper;", + "subtask_movement_text": "move backward 246 mm; move right 5 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 11 degrees; yaw counterclockwise 16 degrees; open gripper;" + }, + { + "frame_index": 167, + "segment_id": 30265, + "subtask": "move away from the microwave", + "reason": "The robot arm is seen retracting and moving laterally to the right, creating distance between the end-effector and the microwave appliance.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is seen retracting and moving laterally to the right, creating distance between the end-effector and the microwave appliance.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 50 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 250 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 10 degrees; yaw counterclockwise 16 degrees; open gripper;\nSubtask Movement: move backward 200 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 9 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 37 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.05000000074505806, + -0.0003571428533177823, + 0.0, + -0.009999999776482582, + -0.037142857909202576, + 0.05428571254014969, + 1.0 + ], + "delta_next_20": [ + -0.25, + -0.0003571428533177823, + 0.0, + -0.009999999776482582, + -0.18000000715255737, + 0.2728571593761444, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.9692299219115152, + -1.0, + 0.697558617616405, + 0.36031480373569047, + 0.3745702033391942, + 0.9999999900000001 + ], + "movement_text": "move backward 50 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 250 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 10 degrees; yaw counterclockwise 16 degrees; open gripper;", + "subtask_movement_text": "move backward 200 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 9 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 168, + "segment_id": 30265, + "subtask": "move away from the microwave", + "reason": "The robot arm is seen retracting and moving laterally to the right, creating distance between the end-effector and the microwave appliance.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is seen retracting and moving laterally to the right, creating distance between the end-effector and the microwave appliance.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 50 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 200 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw counterclockwise 13 degrees; open gripper;\nSubtask Movement: move backward 150 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 37 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.05000000074505806, + 0.0, + 0.0, + 0.0, + -0.037142857909202576, + 0.04714285582304001, + 1.0 + ], + "delta_next_20": [ + -0.20000000298023224, + 0.0, + 0.0, + 0.0, + -0.1428571343421936, + 0.21857142448425293, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.9999991384619271, + -1.0, + 0.9999996975589134, + 0.36031480373569047, + 0.19370570786446817, + 0.9999999900000001 + ], + "movement_text": "move backward 50 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 200 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 8 degrees; yaw counterclockwise 13 degrees; open gripper;", + "subtask_movement_text": "move backward 150 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 9 degrees; open gripper;" + }, + { + "frame_index": 169, + "segment_id": 30265, + "subtask": "move away from the microwave", + "reason": "The robot arm is seen retracting and moving laterally to the right, creating distance between the end-effector and the microwave appliance.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is seen retracting and moving laterally to the right, creating distance between the end-effector and the microwave appliance.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 50 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 150 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 10 degrees; open gripper;\nSubtask Movement: move backward 100 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 38 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.05000000074505806, + 0.0, + 0.0, + 0.0, + -0.034285712987184525, + 0.04714285582304001, + 1.0 + ], + "delta_next_20": [ + -0.15000000596046448, + 0.0, + 0.0, + 0.0, + -0.10571429133415222, + 0.17142856121063232, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.9999991384619271, + -1.0, + 0.9999996975589134, + 0.40952137859319815, + 0.19370570786446817, + 0.9999999900000001 + ], + "movement_text": "move backward 50 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 150 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 10 degrees; open gripper;", + "subtask_movement_text": "move backward 100 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 6 degrees; open gripper;" + }, + { + "frame_index": 170, + "segment_id": 30265, + "subtask": "move away from the microwave", + "reason": "The robot arm is seen retracting and moving laterally to the right, creating distance between the end-effector and the microwave appliance.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is seen retracting and moving laterally to the right, creating distance between the end-effector and the microwave appliance.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 50 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 100 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 7 degrees; open gripper;\nSubtask Movement: move backward 50 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 39 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.05000000074505806, + 0.0, + 0.0, + 0.0, + -0.03999999910593033, + 0.05999999865889549, + 1.0 + ], + "delta_next_20": [ + -0.10000000149011612, + 0.0, + 0.0, + 0.0, + -0.0714285671710968, + 0.12428571283817291, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.9999991384619271, + -1.0, + 0.9999996975589134, + 0.31110829303620813, + 0.5192618185846132, + 0.9999999900000001 + ], + "movement_text": "move backward 50 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 100 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 7 degrees; open gripper;", + "subtask_movement_text": "move backward 50 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 171, + "segment_id": 30265, + "subtask": "move away from the microwave", + "reason": "The robot arm is seen retracting and moving laterally to the right, creating distance between the end-effector and the microwave appliance.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is seen retracting and moving laterally to the right, creating distance between the end-effector and the microwave appliance.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 50 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 40 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.05000000074505806, + 0.0, + 0.0, + 0.0, + -0.03142857179045677, + 0.06428571790456772, + 1.0 + ], + "delta_full_state_norm": [ + 0.3554069091182055, + 0.9999991384619271, + -1.0, + 0.9999996975589134, + 0.9999998277771125, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 50 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + } + ], + "all_object_names": [ + "obj_container", + "obj" + ], + "obj_cat": "obj_container", + "distr_cats": [ + "obj" + ], + "grounding_camera": "robot0_agentview_left", + "grounding_method": "self_render_selfconsistent" +} \ No newline at end of file diff --git a/grounding_cot/TurnOffMicrowave/extras/episode_000039/cot_annotations.json b/grounding_cot/TurnOffMicrowave/extras/episode_000039/cot_annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..8eab6cfb996a42bea5f5aa269eb9e1b5a505ec3c --- /dev/null +++ b/grounding_cot/TurnOffMicrowave/extras/episode_000039/cot_annotations.json @@ -0,0 +1,10181 @@ +{ + "sample_key": "TurnOffMicrowave|39", + "subtask_list": [ + "approach the microwave", + "reach for the stop button", + "press the stop button", + "move away from the microwave" + ], + "segment_labels_raw": { + "1": [ + "reach for the stop button", + "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button." + ], + "2": [ + "press the stop button", + "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface." + ], + "3": [ + "press the stop button", + "The robot's end-effector is making physical contact with the microwave's control panel, specifically interacting with the buttons." + ], + "4": [ + "move away from the microwave", + "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction." + ], + "5": [ + "press the stop button", + "The robot's end-effector is positioned directly against the microwave control panel, maintaining contact and applying pressure to the stop button area." + ], + "6": [ + "move away from the microwave", + "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame." + ], + "7": [ + "press the stop button", + "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button." + ], + "8": [ + "move away from the microwave", + "The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction." + ], + "9": [ + "move away from the microwave", + "The robot's arm is fully retracted and positioned low near the stovetop, having completely cleared the interaction zone of the microwave above." + ] + }, + "instruction": "press the stop button on the microwave", + "suite": "TurnOffMicrowave", + "num_frames": 210, + "segment_count": 9, + "movement_statistics": { + "mean": [ + 0.0017721089187987325, + -0.0048027212609581295, + 0.003692176991968327, + -0.026605442244493002, + -0.024700680098474204, + 0.012374149676456692, + 0.9238095238095239 + ], + "std": [ + 0.01244862397318289, + 0.006421856315374477, + 0.005275166331008065, + 0.0355341419994647, + 0.04465560670918091, + 0.027255583253966705, + 0.3828524046141288 + ], + "Q1": [ + -0.03035714291036129, + -0.020000001415610313, + 0.0, + -0.12260000258684159, + -0.11142857372760773, + 0.0, + -1.0 + ], + "Q99": [ + 0.015682143056765196, + 0.0, + 0.017825000733137128, + 0.0012999999860767227, + 0.06987142860889434, + 0.10000000149011612, + 1.0 + ] + }, + "frames": [ + { + "frame_index": 0, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 6 mm; move right 0 mm; move upward 89 mm; roll downward 12 degrees; pitch downward 2 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move backward 67 mm; move right 4 mm; move upward 262 mm; roll downward 18 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.0014285714132711291, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.00607142923399806, + 0.0, + 0.08892857283353806, + -0.21285712718963623, + -0.034285712987184525, + 0.0014285714132711291, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + 0.9999990000005705, + -1.0, + 0.9559551069820593, + 0.22921749746812603, + -1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 6 mm; move right 0 mm; move upward 89 mm; roll downward 12 degrees; pitch downward 2 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 67 mm; move right 4 mm; move upward 262 mm; roll downward 18 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 1, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 9 mm; move right 0 mm; move upward 102 mm; roll downward 14 degrees; pitch downward 3 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move backward 67 mm; move right 4 mm; move upward 262 mm; roll downward 18 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.008928571827709675, + 0.0, + 0.10214286297559738, + -0.2385714203119278, + -0.05714285373687744, + 0.0071428571827709675, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.22921749746812603, + -1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 9 mm; move right 0 mm; move upward 102 mm; roll downward 14 degrees; pitch downward 3 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 67 mm; move right 4 mm; move upward 262 mm; roll downward 18 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 2, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 12 mm; move right 0 mm; move upward 115 mm; roll downward 15 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 67 mm; move right 4 mm; move upward 262 mm; roll downward 18 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.011785714887082577, + 0.0, + 0.11535715311765671, + -0.261428564786911, + -0.08285713940858841, + 0.017142856493592262, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.22921749746812603, + -1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 12 mm; move right 0 mm; move upward 115 mm; roll downward 15 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 67 mm; move right 4 mm; move upward 262 mm; roll downward 18 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 3, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 14 mm; move right 0 mm; move upward 129 mm; roll downward 16 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 67 mm; move right 4 mm; move upward 262 mm; roll downward 18 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.004285714123398066, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.01428571529686451, + 0.0, + 0.12928572297096252, + -0.2742857038974762, + -0.10857142508029938, + 0.029999999329447746, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + 0.9999990000005705, + -1.0, + 0.909834971062857, + 0.22921749746812603, + -1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 14 mm; move right 0 mm; move upward 129 mm; roll downward 16 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 67 mm; move right 4 mm; move upward 262 mm; roll downward 18 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 4, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 18 mm; move right 0 mm; move upward 144 mm; roll downward 16 degrees; pitch downward 8 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move backward 67 mm; move right 4 mm; move upward 262 mm; roll downward 17 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.0057142856530845165, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.017500001937150955, + 0.0, + 0.14428572356700897, + -0.2799999713897705, + -0.13571427762508392, + 0.044285714626312256, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + 0.9999990000005705, + -1.0, + 0.8867749002844831, + 0.22921749746812603, + -1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 18 mm; move right 0 mm; move upward 144 mm; roll downward 16 degrees; pitch downward 8 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move backward 67 mm; move right 4 mm; move upward 262 mm; roll downward 17 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 5, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 23 mm; move right 0 mm; move upward 160 mm; roll downward 16 degrees; pitch downward 10 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move backward 67 mm; move right 4 mm; move upward 262 mm; roll downward 17 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.0014285714132711291, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.02250000089406967, + 0.0, + 0.16035714745521545, + -0.2799999713897705, + -0.17142856121063232, + 0.058571428060531616, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + 0.9999990000005705, + -1.0, + 0.9559551069820593, + 0.22921749746812603, + -1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 23 mm; move right 0 mm; move upward 160 mm; roll downward 16 degrees; pitch downward 10 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move backward 67 mm; move right 4 mm; move upward 262 mm; roll downward 17 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 6, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 29 mm; move right 0 mm; move upward 175 mm; roll downward 16 degrees; pitch downward 12 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move backward 67 mm; move right 4 mm; move upward 262 mm; roll downward 17 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0007142857066355646, + 0.0, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.02857143059372902, + 0.0, + 0.1753571480512619, + -0.2785714268684387, + -0.20999999344348907, + 0.07571428269147873, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + 0.9999990000005705, + -0.9198557894489579, + 0.9790151758812515, + 0.22921749746812603, + -1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 29 mm; move right 0 mm; move upward 175 mm; roll downward 16 degrees; pitch downward 12 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 67 mm; move right 4 mm; move upward 262 mm; roll downward 17 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 7, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 35 mm; move right 0 mm; move upward 191 mm; roll downward 16 degrees; pitch downward 14 degrees; yaw counterclockwise 5 degrees; open gripper;\nSubtask Movement: move backward 67 mm; move right 4 mm; move upward 261 mm; roll downward 17 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0028571428265422583, + -0.0028571428265422583, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.03464285656809807, + 0.0, + 0.1907142847776413, + -0.2785714268684387, + -0.2514285743236542, + 0.09571428596973419, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + 0.9999990000005705, + -0.6794231577958312, + 0.9328950380828673, + 0.22921749746812603, + -1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 35 mm; move right 0 mm; move upward 191 mm; roll downward 16 degrees; pitch downward 14 degrees; yaw counterclockwise 5 degrees; open gripper;", + "subtask_movement_text": "move backward 67 mm; move right 4 mm; move upward 261 mm; roll downward 17 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 8, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 42 mm; move right 0 mm; move upward 205 mm; roll downward 16 degrees; pitch downward 17 degrees; yaw counterclockwise 7 degrees; open gripper;\nSubtask Movement: move backward 67 mm; move right 4 mm; move upward 259 mm; roll downward 17 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0028571428265422583, + -0.004285714123398066, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.04178571328520775, + 0.0, + 0.20499999821186066, + -0.27571427822113037, + -0.2971428632736206, + 0.11857143044471741, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + 0.9999990000005705, + -0.6794231577958312, + 0.909834971062857, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 42 mm; move right 0 mm; move upward 205 mm; roll downward 16 degrees; pitch downward 17 degrees; yaw counterclockwise 7 degrees; open gripper;", + "subtask_movement_text": "move backward 67 mm; move right 4 mm; move upward 259 mm; roll downward 17 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 9, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 4 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 49 mm; move right 1 mm; move upward 219 mm; roll downward 16 degrees; pitch downward 20 degrees; yaw counterclockwise 8 degrees; open gripper;\nSubtask Movement: move backward 67 mm; move right 4 mm; move upward 256 mm; roll downward 17 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0039285714738070965, + -0.009999999776482582, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.04928571730852127, + -0.0010714286472648382, + 0.21892857551574707, + -0.27142855525016785, + -0.34285715222358704, + 0.14571428298950195, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + 0.9999990000005705, + -0.559206832172753, + 0.8175946954660889, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 4 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 49 mm; move right 1 mm; move upward 219 mm; roll downward 16 degrees; pitch downward 20 degrees; yaw counterclockwise 8 degrees; open gripper;", + "subtask_movement_text": "move backward 67 mm; move right 4 mm; move upward 256 mm; roll downward 17 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 10, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 5 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 58 mm; move right 3 mm; move upward 232 mm; roll downward 15 degrees; pitch downward 23 degrees; yaw counterclockwise 10 degrees; open gripper;\nSubtask Movement: move backward 67 mm; move right 4 mm; move upward 252 mm; roll downward 16 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.005000000353902578, + -0.012857142835855484, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.05750000476837158, + -0.002500000176951289, + 0.23249998688697815, + -0.26999998092651367, + -0.39428573846817017, + 0.1785714328289032, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + 0.9999990000005705, + -0.43899048042563527, + 0.7714745539093413, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 5 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 58 mm; move right 3 mm; move upward 232 mm; roll downward 15 degrees; pitch downward 23 degrees; yaw counterclockwise 10 degrees; open gripper;", + "subtask_movement_text": "move backward 67 mm; move right 4 mm; move upward 252 mm; roll downward 16 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 11, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 5 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 67 mm; move right 4 mm; move upward 247 mm; roll downward 15 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;\nSubtask Movement: move backward 67 mm; move right 4 mm; move upward 247 mm; roll downward 15 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0053571430034935474, + -0.012857142835855484, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.06714286655187607, + -0.004285714589059353, + 0.24678568542003632, + -0.2671428322792053, + -0.4514285922050476, + 0.2142857164144516, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + 0.9999990000005705, + -0.3989183980086488, + 0.7714745539093413, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 5 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 67 mm; move right 4 mm; move upward 247 mm; roll downward 15 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;", + "subtask_movement_text": "move backward 67 mm; move right 4 mm; move upward 247 mm; roll downward 15 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 12, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 5 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 77 mm; move right 7 mm; move upward 260 mm; roll downward 16 degrees; pitch downward 29 degrees; yaw counterclockwise 15 degrees; open gripper;\nSubtask Movement: move backward 67 mm; move right 4 mm; move upward 241 mm; roll downward 15 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.004642857238650322, + -0.012857142835855484, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.07678572088479996, + -0.007142857648432255, + 0.25999999046325684, + -0.272857129573822, + -0.5142857432365417, + 0.2542857229709625, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + 0.9999990000005705, + -0.4790626150907009, + 0.7714745539093413, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 5 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 77 mm; move right 7 mm; move upward 260 mm; roll downward 16 degrees; pitch downward 29 degrees; yaw counterclockwise 15 degrees; open gripper;", + "subtask_movement_text": "move backward 67 mm; move right 4 mm; move upward 241 mm; roll downward 15 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 13, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 86 mm; move right 11 mm; move upward 273 mm; roll downward 16 degrees; pitch downward 33 degrees; yaw counterclockwise 17 degrees; open gripper;\nSubtask Movement: move backward 67 mm; move right 4 mm; move upward 237 mm; roll downward 14 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.006428571883589029, + -0.015714285895228386, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.08642857521772385, + -0.01071428693830967, + 0.27321428060531616, + -0.28428569436073303, + -0.5757142901420593, + 0.2971428632736206, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + 0.9999990000005705, + -0.27870204626153106, + 0.7253544123525935, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 86 mm; move right 11 mm; move upward 273 mm; roll downward 16 degrees; pitch downward 33 degrees; yaw counterclockwise 17 degrees; open gripper;", + "subtask_movement_text": "move backward 67 mm; move right 4 mm; move upward 237 mm; roll downward 14 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 14, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 7 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 97 mm; move right 17 mm; move upward 283 mm; roll downward 17 degrees; pitch downward 36 degrees; yaw counterclockwise 20 degrees; open gripper;\nSubtask Movement: move backward 67 mm; move right 4 mm; move upward 230 mm; roll downward 13 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.007142857648432255, + -0.018571428954601288, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.09678571671247482, + -0.01714286021888256, + 0.283214271068573, + -0.2914285361766815, + -0.6357142925262451, + 0.34714287519454956, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + 0.9999990000005705, + -0.19855782917947895, + 0.6792342707958459, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 7 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 97 mm; move right 17 mm; move upward 283 mm; roll downward 17 degrees; pitch downward 36 degrees; yaw counterclockwise 20 degrees; open gripper;", + "subtask_movement_text": "move backward 67 mm; move right 4 mm; move upward 230 mm; roll downward 13 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 15, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 109 mm; move right 28 mm; move upward 290 mm; roll downward 17 degrees; pitch downward 40 degrees; yaw counterclockwise 24 degrees; open gripper;\nSubtask Movement: move backward 67 mm; move right 4 mm; move upward 223 mm; roll downward 12 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.008214286528527737, + -0.019999999552965164, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.10928571224212646, + -0.028214288875460625, + 0.2900000214576721, + -0.3042857050895691, + -0.6957142949104309, + 0.4171428680419922, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + 0.9999990000005705, + -0.07834147743236108, + 0.6561742150509262, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 109 mm; move right 28 mm; move upward 290 mm; roll downward 17 degrees; pitch downward 40 degrees; yaw counterclockwise 24 degrees; open gripper;", + "subtask_movement_text": "move backward 67 mm; move right 4 mm; move upward 223 mm; roll downward 12 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 16, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 123 mm; move right 40 mm; move upward 296 mm; roll downward 19 degrees; pitch downward 44 degrees; yaw counterclockwise 29 degrees; open gripper;\nSubtask Movement: move backward 67 mm; move right 4 mm; move upward 215 mm; roll downward 11 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0003571428533177823, + 0.0, + 0.009285714477300644, + -0.019999999552965164, + -0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.12321428209543228, + -0.04000000283122063, + 0.29571428894996643, + -0.33714285492897034, + -0.7657142877578735, + 0.5099999904632568, + 1.0 + ], + "delta_full_state_norm": [ + 0.30323452723796884, + 0.9999990000005705, + 0.04187476981859817, + 0.6561742150509262, + 0.19769910108501665, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 123 mm; move right 40 mm; move upward 296 mm; roll downward 19 degrees; pitch downward 44 degrees; yaw counterclockwise 29 degrees; open gripper;", + "subtask_movement_text": "move backward 67 mm; move right 4 mm; move upward 215 mm; roll downward 11 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 17, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move right 0 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 137 mm; move right 52 mm; move upward 300 mm; roll downward 21 degrees; pitch downward 48 degrees; yaw counterclockwise 35 degrees; open gripper;\nSubtask Movement: move backward 67 mm; move right 4 mm; move upward 206 mm; roll downward 10 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0014285714132711291, + 0.0, + 0.009642857126891613, + -0.019999999552965164, + -0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.13678570091724396, + -0.05178571864962578, + 0.3003571629524231, + -0.368571400642395, + -0.8357142806053162, + 0.6071428656578064, + 1.0 + ], + "delta_full_state_norm": [ + 0.25669043756646803, + 0.9999990000005705, + 0.08194685223558462, + 0.6561742150509262, + 0.18193990417769035, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 1 mm; move right 0 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 137 mm; move right 52 mm; move upward 300 mm; roll downward 21 degrees; pitch downward 48 degrees; yaw counterclockwise 35 degrees; open gripper;", + "subtask_movement_text": "move backward 67 mm; move right 4 mm; move upward 206 mm; roll downward 10 degrees; pitch downward 26 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 18, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 2 mm; move right 0 mm; move upward 11 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 149 mm; move right 64 mm; move upward 304 mm; roll downward 23 degrees; pitch downward 52 degrees; yaw counterclockwise 40 degrees; open gripper;\nSubtask Movement: move backward 65 mm; move right 4 mm; move upward 196 mm; roll downward 8 degrees; pitch downward 25 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0017857144121080637, + 0.0, + 0.010714286006987095, + -0.022857142612338066, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.1492857187986374, + -0.06392857432365417, + 0.3042857348918915, + -0.40142855048179626, + -0.9057142734527588, + 0.7057142853736877, + 1.0 + ], + "delta_full_state_norm": [ + 0.24117573468778186, + 0.9999990000005705, + 0.20216320398270238, + 0.6100540734941786, + 0.11890311141147136, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 2 mm; move right 0 mm; move upward 11 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 149 mm; move right 64 mm; move upward 304 mm; roll downward 23 degrees; pitch downward 52 degrees; yaw counterclockwise 40 degrees; open gripper;", + "subtask_movement_text": "move backward 65 mm; move right 4 mm; move upward 196 mm; roll downward 8 degrees; pitch downward 25 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 19, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 0 mm; move upward 12 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 162 mm; move right 77 mm; move upward 306 mm; roll downward 26 degrees; pitch downward 56 degrees; yaw counterclockwise 46 degrees; open gripper;\nSubtask Movement: move backward 64 mm; move right 4 mm; move upward 185 mm; roll downward 7 degrees; pitch downward 25 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.002500000176951289, + 0.0, + 0.012142857536673546, + -0.027142856270074844, + -0.017142856493592262, + 0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + -0.16178570687770844, + -0.0771428570151329, + 0.3060714602470398, + -0.4457142949104309, + -0.9700000286102295, + 0.8057143092155457, + 1.0 + ], + "delta_full_state_norm": [ + 0.21014633904484037, + 0.9999990000005705, + 0.3624516381468066, + 0.5408738761925111, + 0.04010712430638308, + -0.9714285750174674, + 0.9999999900000001 + ], + "movement_text": "move backward 3 mm; move right 0 mm; move upward 12 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 162 mm; move right 77 mm; move upward 306 mm; roll downward 26 degrees; pitch downward 56 degrees; yaw counterclockwise 46 degrees; open gripper;", + "subtask_movement_text": "move backward 64 mm; move right 4 mm; move upward 185 mm; roll downward 7 degrees; pitch downward 25 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 20, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 0 mm; move upward 13 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 173 mm; move right 90 mm; move upward 306 mm; roll downward 28 degrees; pitch downward 59 degrees; yaw counterclockwise 52 degrees; open gripper;\nSubtask Movement: move backward 61 mm; move right 4 mm; move upward 173 mm; roll downward 6 degrees; pitch downward 24 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0028571428265422583, + 0.0, + 0.013214285485446453, + -0.027142856270074844, + -0.022857142612338066, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + -0.17321428656578064, + -0.09000000357627869, + 0.3060714304447174, + -0.4885714054107666, + -1.028571367263794, + 0.9057143330574036, + 1.0 + ], + "delta_full_state_norm": [ + 0.19463165133780058, + 0.9999990000005705, + 0.48266788539776573, + 0.5408738761925111, + -0.022929673596750022, + -0.8857143000698693, + 0.9999999900000001 + ], + "movement_text": "move backward 3 mm; move right 0 mm; move upward 13 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 173 mm; move right 90 mm; move upward 306 mm; roll downward 28 degrees; pitch downward 59 degrees; yaw counterclockwise 52 degrees; open gripper;", + "subtask_movement_text": "move backward 61 mm; move right 4 mm; move upward 173 mm; roll downward 6 degrees; pitch downward 24 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 21, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 0 mm; move upward 13 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 184 mm; move right 103 mm; move upward 305 mm; roll downward 30 degrees; pitch downward 62 degrees; yaw counterclockwise 57 degrees; open gripper;\nSubtask Movement: move backward 58 mm; move right 4 mm; move upward 160 mm; roll downward 4 degrees; pitch downward 23 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0028571428265422583, + 0.0, + 0.013214285485446453, + -0.022857142612338066, + -0.025714285671710968, + 0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + -0.18392856419086456, + -0.10321428626775742, + 0.3046428859233856, + -0.5300000309944153, + -1.0814284086227417, + 1.0014286041259766, + 1.0 + ], + "delta_full_state_norm": [ + 0.19463165133780058, + 0.9999990000005705, + 0.48266788539776573, + 0.6100540734941786, + -0.05444807254831652, + -0.8000000274505774, + 0.9999999900000001 + ], + "movement_text": "move backward 3 mm; move right 0 mm; move upward 13 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 184 mm; move right 103 mm; move upward 305 mm; roll downward 30 degrees; pitch downward 62 degrees; yaw counterclockwise 57 degrees; open gripper;", + "subtask_movement_text": "move backward 58 mm; move right 4 mm; move upward 160 mm; roll downward 4 degrees; pitch downward 23 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 22, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 0 mm; move upward 14 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 194 mm; move right 116 mm; move upward 303 mm; roll downward 33 degrees; pitch downward 65 degrees; yaw counterclockwise 63 degrees; open gripper;\nSubtask Movement: move backward 55 mm; move right 4 mm; move upward 147 mm; roll downward 3 degrees; pitch downward 21 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 98 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.002500000176951289, + 0.0, + 0.013928571715950966, + -0.012857142835855484, + -0.025714285671710968, + 0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + -0.19357143342494965, + -0.1160714253783226, + 0.3028571605682373, + -0.5757143497467041, + -1.1314284801483154, + 1.0914286375045776, + 1.0 + ], + "delta_full_state_norm": [ + 0.21014633904484037, + 0.9999990000005705, + 0.5628121547278973, + 0.7714745539093413, + -0.05444807254831652, + -0.7428571728288997, + 0.9999999900000001 + ], + "movement_text": "move backward 3 mm; move right 0 mm; move upward 14 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 194 mm; move right 116 mm; move upward 303 mm; roll downward 33 degrees; pitch downward 65 degrees; yaw counterclockwise 63 degrees; open gripper;", + "subtask_movement_text": "move backward 55 mm; move right 4 mm; move upward 147 mm; roll downward 3 degrees; pitch downward 21 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 23, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 0 mm; move upward 15 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 203 mm; move right 129 mm; move upward 298 mm; roll downward 35 degrees; pitch downward 67 degrees; yaw counterclockwise 68 degrees; open gripper;\nSubtask Movement: move backward 53 mm; move right 4 mm; move upward 133 mm; roll downward 2 degrees; pitch downward 20 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 97 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0032142859417945147, + 0.0, + 0.015000000596046448, + -0.009999999776482582, + -0.027142856270074844, + 0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + -0.20321428775787354, + -0.12892857193946838, + 0.29821428656578064, + -0.6171428561210632, + -1.174285650253296, + 1.1785714626312256, + 1.0 + ], + "delta_full_state_norm": [ + 0.17911694340189865, + 0.9999990000005705, + 0.683028506475015, + 0.8175946954660889, + -0.0702072617502717, + -0.7142857455180609, + 0.9999999900000001 + ], + "movement_text": "move backward 3 mm; move right 0 mm; move upward 15 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 203 mm; move right 129 mm; move upward 298 mm; roll downward 35 degrees; pitch downward 67 degrees; yaw counterclockwise 68 degrees; open gripper;", + "subtask_movement_text": "move backward 53 mm; move right 4 mm; move upward 133 mm; roll downward 2 degrees; pitch downward 20 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 24, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 213 mm; move right 141 mm; move upward 291 mm; roll downward 37 degrees; pitch downward 70 degrees; yaw counterclockwise 72 degrees; open gripper;\nSubtask Movement: move backward 50 mm; move right 4 mm; move upward 118 mm; roll downward 1 degrees; pitch downward 18 degrees; yaw counterclockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 97 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.005000000353902578, + 0.0, + 0.01607142947614193, + -0.0057142856530845165, + -0.0357142873108387, + 0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + -0.21250000596046448, + -0.14107142388820648, + 0.290714293718338, + -0.641428530216217, + -1.217142939567566, + 1.2614285945892334, + 1.0 + ], + "delta_full_state_norm": [ + 0.10154345429454481, + 0.9999990000005705, + 0.8032448582221328, + 0.8867749002844831, + -0.16476247915262732, + -0.7142857455180609, + 0.9999999900000001 + ], + "movement_text": "move backward 5 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 213 mm; move right 141 mm; move upward 291 mm; roll downward 37 degrees; pitch downward 70 degrees; yaw counterclockwise 72 degrees; open gripper;", + "subtask_movement_text": "move backward 50 mm; move right 4 mm; move upward 118 mm; roll downward 1 degrees; pitch downward 18 degrees; yaw counterclockwise 10 degrees; open gripper;" + }, + { + "frame_index": 25, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 220 mm; move right 153 mm; move upward 280 mm; roll downward 37 degrees; pitch downward 72 degrees; yaw counterclockwise 77 degrees; open gripper;\nSubtask Movement: move backward 45 mm; move right 4 mm; move upward 102 mm; roll downward 1 degrees; pitch downward 16 degrees; yaw counterclockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 96 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006071428768336773, + 0.0, + 0.015000000596046448, + 0.0, + -0.03857142850756645, + 0.017142856493592262, + 1.0 + ], + "delta_next_20": [ + -0.22035716474056244, + -0.15285713970661163, + 0.28035715222358704, + -0.6542856693267822, + -1.2514287233352661, + 1.340000033378601, + 1.0 + ], + "delta_full_state_norm": [ + 0.05499937094456375, + 0.9999990000005705, + 0.683028506475015, + 0.9790151758812515, + -0.1962808575565378, + -0.6571429095228325, + 0.9999999900000001 + ], + "movement_text": "move backward 6 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 220 mm; move right 153 mm; move upward 280 mm; roll downward 37 degrees; pitch downward 72 degrees; yaw counterclockwise 77 degrees; open gripper;", + "subtask_movement_text": "move backward 45 mm; move right 4 mm; move upward 102 mm; roll downward 1 degrees; pitch downward 16 degrees; yaw counterclockwise 9 degrees; open gripper;" + }, + { + "frame_index": 26, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 227 mm; move right 165 mm; move upward 270 mm; roll downward 38 degrees; pitch downward 74 degrees; yaw counterclockwise 81 degrees; open gripper;\nSubtask Movement: move backward 39 mm; move right 4 mm; move upward 87 mm; roll downward 1 degrees; pitch downward 14 degrees; yaw counterclockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 95 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006071428768336773, + 0.0, + 0.01607142947614193, + 0.0, + -0.041428569704294205, + 0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + -0.22678570449352264, + -0.16535714268684387, + 0.2703571319580078, + -0.668571412563324, + -1.2828572988510132, + 1.4114285707473755, + 1.0 + ], + "delta_full_state_norm": [ + 0.05499937094456375, + 0.9999990000005705, + 0.8032448582221328, + 0.9790151758812515, + -0.22779923596044827, + -0.6000000549011548, + 0.9999999900000001 + ], + "movement_text": "move backward 6 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 227 mm; move right 165 mm; move upward 270 mm; roll downward 38 degrees; pitch downward 74 degrees; yaw counterclockwise 81 degrees; open gripper;", + "subtask_movement_text": "move backward 39 mm; move right 4 mm; move upward 87 mm; roll downward 1 degrees; pitch downward 14 degrees; yaw counterclockwise 8 degrees; open gripper;" + }, + { + "frame_index": 27, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 233 mm; move right 179 mm; move upward 260 mm; roll downward 39 degrees; pitch downward 75 degrees; yaw counterclockwise 84 degrees; open gripper;\nSubtask Movement: move backward 33 mm; move right 4 mm; move upward 71 mm; roll downward 1 degrees; pitch downward 11 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 95 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007142857648432255, + 0.0, + 0.01714285835623741, + 0.0, + -0.04571428522467613, + 0.022857142612338066, + 1.0 + ], + "delta_next_20": [ + -0.23250000178813934, + -0.17892856895923615, + 0.2600000500679016, + -0.6814285516738892, + -1.3128572702407837, + 1.4742857217788696, + 1.0 + ], + "delta_full_state_norm": [ + 0.008455267365720331, + 0.9999990000005705, + 0.9234612099692507, + 0.9790151758812515, + -0.2750768446616261, + -0.5428572002794771, + 0.9999999900000001 + ], + "movement_text": "move backward 7 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 233 mm; move right 179 mm; move upward 260 mm; roll downward 39 degrees; pitch downward 75 degrees; yaw counterclockwise 84 degrees; open gripper;", + "subtask_movement_text": "move backward 33 mm; move right 4 mm; move upward 71 mm; roll downward 1 degrees; pitch downward 11 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 28, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 1 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 236 mm; move right 193 mm; move upward 249 mm; roll downward 40 degrees; pitch downward 77 degrees; yaw counterclockwise 88 degrees; open gripper;\nSubtask Movement: move backward 25 mm; move right 4 mm; move upward 54 mm; roll downward 1 degrees; pitch downward 9 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 94 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007500000298023224, + -0.0010714286472648382, + 0.016785714775323868, + 0.0, + -0.04571428522467613, + 0.027142856270074844, + 1.0 + ], + "delta_next_20": [ + -0.23607145249843597, + -0.1932142823934555, + 0.2485714703798294, + -0.6971428394317627, + -1.3400001525878906, + 1.5299999713897705, + 1.0 + ], + "delta_full_state_norm": [ + -0.007059420341319456, + 0.8928561964291115, + 0.8833890230561057, + 0.9790151758812515, + -0.2750768446616261, + -0.45714293697341, + 0.9999999900000001 + ], + "movement_text": "move backward 8 mm; move right 1 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 236 mm; move right 193 mm; move upward 249 mm; roll downward 40 degrees; pitch downward 77 degrees; yaw counterclockwise 88 degrees; open gripper;", + "subtask_movement_text": "move backward 25 mm; move right 4 mm; move upward 54 mm; roll downward 1 degrees; pitch downward 9 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 29, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 1 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 239 mm; move right 207 mm; move upward 238 mm; roll downward 41 degrees; pitch downward 78 degrees; yaw counterclockwise 91 degrees; open gripper;\nSubtask Movement: move backward 18 mm; move right 3 mm; move upward 37 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 93 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008214286528527737, + -0.0014285714132711291, + 0.017500000074505806, + -0.008571428246796131, + -0.051428571343421936, + 0.03285714238882065, + 1.0 + ], + "delta_next_20": [ + -0.23892858624458313, + -0.20678570866584778, + 0.23750005662441254, + -0.7128571271896362, + -1.367142915725708, + 1.5799999237060547, + 1.0 + ], + "delta_full_state_norm": [ + -0.0380888362131232, + 0.8571419402134839, + 0.9635331878900784, + 0.8406547662444626, + -0.3381136425647592, + -0.34285722773005456, + 0.9999999900000001 + ], + "movement_text": "move backward 8 mm; move right 1 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 239 mm; move right 207 mm; move upward 238 mm; roll downward 41 degrees; pitch downward 78 degrees; yaw counterclockwise 91 degrees; open gripper;", + "subtask_movement_text": "move backward 18 mm; move right 3 mm; move upward 37 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 30, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 2 mm; move upward 19 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 240 mm; move right 220 mm; move upward 226 mm; roll downward 41 degrees; pitch downward 80 degrees; yaw counterclockwise 93 degrees; open gripper;\nSubtask Movement: move backward 10 mm; move right 2 mm; move upward 19 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 155, + 92 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.009642857126891613, + -0.0017857144121080637, + 0.019285714253783226, + -0.009999999776482582, + -0.05714285746216774, + 0.0357142873108387, + 1.0 + ], + "delta_next_20": [ + -0.2403571605682373, + -0.22035716474056244, + 0.22642861306667328, + -0.7214285731315613, + -1.3885715007781982, + 1.6242856979370117, + 1.0 + ], + "delta_full_state_norm": [ + -0.1001475870412819, + 0.8214276607148054, + 1.0, + 0.8175946954660889, + -0.40115044046789217, + -0.28571433585547823, + 0.9999999900000001 + ], + "movement_text": "move backward 10 mm; move right 2 mm; move upward 19 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 240 mm; move right 220 mm; move upward 226 mm; roll downward 41 degrees; pitch downward 80 degrees; yaw counterclockwise 93 degrees; open gripper;", + "subtask_movement_text": "move backward 10 mm; move right 2 mm; move upward 19 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 31, + "segment_id": 30100, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is extended and hovering in close proximity to the microwave's control panel, indicating it has arrived at the target location but has not yet established physical contact with the button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 3 mm; move upward 19 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 240 mm; move right 234 mm; move upward 214 mm; roll downward 42 degrees; pitch downward 81 degrees; yaw counterclockwise 95 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 155, + 92 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.009642857126891613, + -0.0028571428265422583, + 0.018571428954601288, + -0.018571428954601288, + -0.06285714358091354, + 0.03999999910593033, + 1.0 + ], + "delta_next_20": [ + -0.23964284360408783, + -0.23428571224212646, + 0.2135714292526245, + -0.7300000190734863, + -1.4071427583694458, + 1.664285659790039, + 1.0 + ], + "delta_full_state_norm": [ + -0.1001475870412819, + 0.7142848804263973, + 1.0, + 0.6792342707958459, + -0.46418723837102516, + -0.20000010980230976, + 0.9999999900000001 + ], + "movement_text": "move backward 10 mm; move right 3 mm; move upward 19 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 240 mm; move right 234 mm; move upward 214 mm; roll downward 42 degrees; pitch downward 81 degrees; yaw counterclockwise 95 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 32, + "segment_id": 40100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 4 mm; move upward 18 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 239 mm; move right 248 mm; move upward 201 mm; roll downward 42 degrees; pitch downward 81 degrees; yaw counterclockwise 97 degrees; open gripper;\nSubtask Movement: move backward 102 mm; move right 83 mm; move upward 114 mm; roll downward 21 degrees; pitch downward 31 degrees; yaw counterclockwise 37 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 156, + 91 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.009642857126891613, + -0.0035714288242161274, + 0.01785714365541935, + -0.02428571507334709, + -0.06142857298254967, + 0.04285714402794838, + 1.0 + ], + "delta_next_20": [ + -0.23892855644226074, + -0.24785713851451874, + 0.2014285773038864, + -0.7300000190734863, + -1.4214284420013428, + 1.6985714435577393, + 1.0 + ], + "delta_full_state_norm": [ + -0.1001475870412819, + 0.6428563214290401, + 1.0, + 0.5869939876823507, + -0.44842804916907, + -0.14285721792773332, + 0.9999999900000001 + ], + "movement_text": "move backward 10 mm; move right 4 mm; move upward 18 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 239 mm; move right 248 mm; move upward 201 mm; roll downward 42 degrees; pitch downward 81 degrees; yaw counterclockwise 97 degrees; open gripper;", + "subtask_movement_text": "move backward 102 mm; move right 83 mm; move upward 114 mm; roll downward 21 degrees; pitch downward 31 degrees; yaw counterclockwise 37 degrees; open gripper;" + }, + { + "frame_index": 33, + "segment_id": 40100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 6 mm; move upward 16 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 238 mm; move right 261 mm; move upward 189 mm; roll downward 41 degrees; pitch downward 82 degrees; yaw counterclockwise 99 degrees; open gripper;\nSubtask Movement: move backward 93 mm; move right 79 mm; move upward 96 mm; roll downward 20 degrees; pitch downward 28 degrees; yaw counterclockwise 35 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 156, + 90 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.010357143357396126, + -0.006428571883589029, + 0.016428573057055473, + -0.022857142612338066, + -0.05999999865889549, + 0.05000000074505806, + 1.0 + ], + "delta_next_20": [ + -0.2378571331501007, + -0.2607142925262451, + 0.18928572535514832, + -0.7200000286102295, + -1.4357141256332397, + 1.7285714149475098, + 1.0 + ], + "delta_full_state_norm": [ + -0.13117700291308565, + 0.35714217857181585, + 0.8433170451352778, + 0.6100540734941786, + -0.43266881887180264, + -9.999998851206726e-08, + 0.9999999900000001 + ], + "movement_text": "move backward 10 mm; move right 6 mm; move upward 16 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 238 mm; move right 261 mm; move upward 189 mm; roll downward 41 degrees; pitch downward 82 degrees; yaw counterclockwise 99 degrees; open gripper;", + "subtask_movement_text": "move backward 93 mm; move right 79 mm; move upward 96 mm; roll downward 20 degrees; pitch downward 28 degrees; yaw counterclockwise 35 degrees; open gripper;" + }, + { + "frame_index": 34, + "segment_id": 40100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 11 mm; move upward 14 mm; roll downward 2 degrees; pitch downward 3 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 235 mm; move right 270 mm; move upward 179 mm; roll downward 40 degrees; pitch downward 83 degrees; yaw counterclockwise 100 degrees; open gripper;\nSubtask Movement: move backward 83 mm; move right 73 mm; move upward 80 mm; roll downward 19 degrees; pitch downward 24 degrees; yaw counterclockwise 32 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 89 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012500000186264515, + -0.011071428656578064, + 0.013928571715950966, + -0.03142857179045677, + -0.05999999865889549, + 0.07000000029802322, + 1.0 + ], + "delta_next_20": [ + -0.23499999940395355, + -0.27000001072883606, + 0.17892858386039734, + -0.6985714435577393, + -1.4514284133911133, + 1.7485713958740234, + 1.0 + ], + "delta_full_state_norm": [ + -0.224265169613048, + -0.10714323372202061, + 0.5628121547278973, + 0.4716936488239356, + -0.43266881887180264, + 0.39999984509885667, + 0.9999999900000001 + ], + "movement_text": "move backward 13 mm; move right 11 mm; move upward 14 mm; roll downward 2 degrees; pitch downward 3 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 235 mm; move right 270 mm; move upward 179 mm; roll downward 40 degrees; pitch downward 83 degrees; yaw counterclockwise 100 degrees; open gripper;", + "subtask_movement_text": "move backward 83 mm; move right 73 mm; move upward 80 mm; roll downward 19 degrees; pitch downward 24 degrees; yaw counterclockwise 32 degrees; open gripper;" + }, + { + "frame_index": 35, + "segment_id": 40100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 12 mm; move upward 14 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move backward 230 mm; move right 275 mm; move upward 172 mm; roll downward 38 degrees; pitch downward 84 degrees; yaw counterclockwise 100 degrees; open gripper;\nSubtask Movement: move backward 70 mm; move right 62 mm; move upward 66 mm; roll downward 17 degrees; pitch downward 21 degrees; yaw counterclockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 88 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013928571715950966, + -0.011785714887082577, + 0.013928571715950966, + -0.05285714194178581, + -0.07000000029802322, + 0.09285714477300644, + 1.0 + ], + "delta_next_20": [ + -0.23000001907348633, + -0.27535712718963623, + 0.1721428483724594, + -0.6671428680419922, + -1.4685713052749634, + 1.7442855834960938, + 1.0 + ], + "delta_full_state_norm": [ + -0.2863239608989311, + -0.17857181600242888, + 0.5628121547278973, + 0.12579263224869064, + -0.5429832254761136, + 0.8571426820722783, + 0.9999999900000001 + ], + "movement_text": "move backward 14 mm; move right 12 mm; move upward 14 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move backward 230 mm; move right 275 mm; move upward 172 mm; roll downward 38 degrees; pitch downward 84 degrees; yaw counterclockwise 100 degrees; open gripper;", + "subtask_movement_text": "move backward 70 mm; move right 62 mm; move upward 66 mm; roll downward 17 degrees; pitch downward 21 degrees; yaw counterclockwise 28 degrees; open gripper;" + }, + { + "frame_index": 36, + "segment_id": 40100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 12 mm; move upward 14 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move backward 224 mm; move right 280 mm; move upward 166 mm; roll downward 35 degrees; pitch downward 85 degrees; yaw counterclockwise 98 degrees; open gripper;\nSubtask Movement: move backward 56 mm; move right 50 mm; move upward 52 mm; roll downward 14 degrees; pitch downward 17 degrees; yaw counterclockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 158, + 88 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013928571715950966, + -0.011785714887082577, + 0.013928571715950966, + -0.051428571343421936, + -0.07285714149475098, + 0.09714286029338837, + 1.0 + ], + "delta_next_20": [ + -0.22357141971588135, + -0.28035715222358704, + 0.165714293718338, + -0.6142857074737549, + -1.4814283847808838, + 1.7100000381469727, + 1.0 + ], + "delta_full_state_norm": [ + -0.2863239608989311, + -0.17857181600242888, + 0.5628121547278973, + 0.1488526879936103, + -0.5745016038800239, + 0.9428569826312441, + 0.9999999900000001 + ], + "movement_text": "move backward 14 mm; move right 12 mm; move upward 14 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move backward 224 mm; move right 280 mm; move upward 166 mm; roll downward 35 degrees; pitch downward 85 degrees; yaw counterclockwise 98 degrees; open gripper;", + "subtask_movement_text": "move backward 56 mm; move right 50 mm; move upward 52 mm; roll downward 14 degrees; pitch downward 17 degrees; yaw counterclockwise 23 degrees; open gripper;" + }, + { + "frame_index": 37, + "segment_id": 40100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 12 mm; move upward 14 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move backward 217 mm; move right 285 mm; move upward 159 mm; roll downward 32 degrees; pitch downward 85 degrees; yaw counterclockwise 96 degrees; open gripper;\nSubtask Movement: move backward 42 mm; move right 38 mm; move upward 38 mm; roll downward 11 degrees; pitch downward 13 degrees; yaw counterclockwise 17 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 160, + 87 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013928571715950966, + -0.012142857536673546, + 0.013571429066359997, + -0.05285714194178581, + -0.07428571581840515, + 0.09857142716646194, + 1.0 + ], + "delta_next_20": [ + -0.2167857140302658, + -0.28535714745521545, + 0.15892857313156128, + -0.5628571510314941, + -1.4914283752441406, + 1.6685713529586792, + 1.0 + ], + "delta_full_state_norm": [ + -0.2863239608989311, + -0.21428606057653077, + 0.5227400723109108, + 0.12579263224869064, + -0.5902608341772912, + 0.9714283168098361, + 0.9999999900000001 + ], + "movement_text": "move backward 14 mm; move right 12 mm; move upward 14 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move backward 217 mm; move right 285 mm; move upward 159 mm; roll downward 32 degrees; pitch downward 85 degrees; yaw counterclockwise 96 degrees; open gripper;", + "subtask_movement_text": "move backward 42 mm; move right 38 mm; move upward 38 mm; roll downward 11 degrees; pitch downward 13 degrees; yaw counterclockwise 17 degrees; open gripper;" + }, + { + "frame_index": 38, + "segment_id": 40100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 13 mm; move upward 13 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move backward 210 mm; move right 289 mm; move upward 152 mm; roll downward 29 degrees; pitch downward 86 degrees; yaw counterclockwise 93 degrees; open gripper;\nSubtask Movement: move backward 28 mm; move right 26 mm; move upward 25 mm; roll downward 8 degrees; pitch downward 9 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 161, + 87 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01428571529686451, + -0.013214285485446453, + 0.012500000186264515, + -0.06714285910129547, + -0.07428571581840515, + 0.10000000149011612, + 1.0 + ], + "delta_next_20": [ + -0.21000002324581146, + -0.2892857491970062, + 0.1524999886751175, + -0.5099999904632568, + -1.501428484916687, + 1.6214284896850586, + 1.0 + ], + "delta_full_state_norm": [ + -0.30183868906369526, + -0.32142879429883675, + 0.40252372056379304, + -0.10480810560195575, + -0.5902608341772912, + 0.999999800000023, + 0.9999999900000001 + ], + "movement_text": "move backward 14 mm; move right 13 mm; move upward 13 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move backward 210 mm; move right 289 mm; move upward 152 mm; roll downward 29 degrees; pitch downward 86 degrees; yaw counterclockwise 93 degrees; open gripper;", + "subtask_movement_text": "move backward 28 mm; move right 26 mm; move upward 25 mm; roll downward 8 degrees; pitch downward 9 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 39, + "segment_id": 40100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 13 mm; move upward 12 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move backward 202 mm; move right 292 mm; move upward 147 mm; roll downward 25 degrees; pitch downward 87 degrees; yaw counterclockwise 90 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 13 mm; move upward 12 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw counterclockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 162, + 86 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013928571715950966, + -0.012857143767178059, + 0.012142857536673546, + -0.07000000029802322, + -0.07571428269147873, + 0.1014285683631897, + 1.0 + ], + "delta_next_20": [ + -0.2021428793668747, + -0.2921428978443146, + 0.14749999344348907, + -0.44285717606544495, + -1.515714168548584, + 1.5685713291168213, + 1.0 + ], + "delta_full_state_norm": [ + -0.2863239608989311, + -0.28571464285693904, + 0.3624516381468066, + -0.15092821709179527, + -0.6060199822839344, + 1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 14 mm; move right 13 mm; move upward 12 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move backward 202 mm; move right 292 mm; move upward 147 mm; roll downward 25 degrees; pitch downward 87 degrees; yaw counterclockwise 90 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 13 mm; move upward 12 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw counterclockwise 6 degrees; open gripper;" + }, + { + "frame_index": 40, + "segment_id": 40100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel, maintaining a static pose consistent with applying pressure to the interface.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 13 mm; move upward 12 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move backward 193 mm; move right 295 mm; move upward 143 mm; roll downward 22 degrees; pitch downward 88 degrees; yaw counterclockwise 86 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 163, + 86 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013571429066359997, + -0.013214285485446453, + 0.011785714887082577, + -0.06857142597436905, + -0.07571428269147873, + 0.1014285683631897, + 1.0 + ], + "delta_next_20": [ + -0.192500039935112, + -0.29535719752311707, + 0.14321428537368774, + -0.37714287638664246, + -1.5314284563064575, + 1.5071427822113037, + 1.0 + ], + "delta_full_state_norm": [ + -0.2708092731918914, + -0.32142879429883675, + 0.32237955572982013, + -0.12786810121305914, + -0.6060199822839344, + 1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 14 mm; move right 13 mm; move upward 12 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move backward 193 mm; move right 295 mm; move upward 143 mm; roll downward 22 degrees; pitch downward 88 degrees; yaw counterclockwise 86 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 41, + "segment_id": 40200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is making physical contact with the microwave's control panel, specifically interacting with the buttons.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is making physical contact with the microwave's control panel, specifically interacting with the buttons.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 13 mm; move upward 11 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move backward 182 mm; move right 299 mm; move upward 139 mm; roll downward 18 degrees; pitch downward 89 degrees; yaw counterclockwise 83 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 164, + 85 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012500000186264515, + -0.012857143767178059, + 0.011428571306169033, + -0.06857142597436905, + -0.07571428269147873, + 0.10000000149011612, + 1.0 + ], + "delta_next_20": [ + -0.18214288353919983, + -0.2989285886287689, + 0.1389285773038864, + -0.31857144832611084, + -1.5485713481903076, + 1.4428571462631226, + 1.0 + ], + "delta_full_state_norm": [ + -0.224265169613048, + -0.28571464285693904, + 0.28230736881667506, + -0.12786810121305914, + -0.6060199822839344, + 0.999999800000023, + 0.9999999900000001 + ], + "movement_text": "move backward 13 mm; move right 13 mm; move upward 11 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move backward 182 mm; move right 299 mm; move upward 139 mm; roll downward 18 degrees; pitch downward 89 degrees; yaw counterclockwise 83 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 42, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 13 mm; move upward 9 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move backward 172 mm; move right 303 mm; move upward 135 mm; roll downward 15 degrees; pitch downward 90 degrees; yaw counterclockwise 79 degrees; open gripper;\nSubtask Movement: move backward 173 mm; move right 480 mm; move upward 228 mm; roll downward 32 degrees; pitch downward 148 degrees; yaw counterclockwise 82 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 165, + 85 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012142857536673546, + -0.012857143767178059, + 0.009285714477300644, + -0.05428571254014969, + -0.06857142597436905, + 0.10000000149011612, + 1.0 + ], + "delta_next_20": [ + -0.17178574204444885, + -0.30250003933906555, + 0.13535715639591217, + -0.2614285945892334, + -1.5671428442001343, + 1.3785713911056519, + 1.0 + ], + "delta_full_state_norm": [ + -0.20875048190600842, + -0.28571464285693904, + 0.04187476981859817, + 0.10273257650377077, + -0.5272239951788461, + 0.999999800000023, + 0.9999999900000001 + ], + "movement_text": "move backward 12 mm; move right 13 mm; move upward 9 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move backward 172 mm; move right 303 mm; move upward 135 mm; roll downward 15 degrees; pitch downward 90 degrees; yaw counterclockwise 79 degrees; open gripper;", + "subtask_movement_text": "move backward 173 mm; move right 480 mm; move upward 228 mm; roll downward 32 degrees; pitch downward 148 degrees; yaw counterclockwise 82 degrees; open gripper;" + }, + { + "frame_index": 43, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 12 mm; move upward 8 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw counterclockwise 6 degrees; open gripper;\nNext 20 Movement: move backward 160 mm; move right 306 mm; move upward 134 mm; roll downward 12 degrees; pitch downward 91 degrees; yaw counterclockwise 75 degrees; open gripper;\nSubtask Movement: move backward 160 mm; move right 467 mm; move upward 219 mm; roll downward 28 degrees; pitch downward 144 degrees; yaw counterclockwise 76 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 167, + 84 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012500000186264515, + -0.012142857536673546, + 0.007500000298023224, + -0.034285712987184525, + -0.07000000029802322, + 0.09714286029338837, + 1.0 + ], + "delta_next_20": [ + -0.16035717725753784, + -0.30571433901786804, + 0.13357144594192505, + -0.21714286506175995, + -1.591428518295288, + 1.3085713386535645, + 1.0 + ], + "delta_full_state_norm": [ + -0.224265169613048, + -0.21428606057653077, + -0.1584857467624925, + 0.4255735373340961, + -0.5429832254761136, + 0.9428569826312441, + 0.9999999900000001 + ], + "movement_text": "move backward 13 mm; move right 12 mm; move upward 8 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw counterclockwise 6 degrees; open gripper;", + "next_20_movement_text": "move backward 160 mm; move right 306 mm; move upward 134 mm; roll downward 12 degrees; pitch downward 91 degrees; yaw counterclockwise 75 degrees; open gripper;", + "subtask_movement_text": "move backward 160 mm; move right 467 mm; move upward 219 mm; roll downward 28 degrees; pitch downward 144 degrees; yaw counterclockwise 76 degrees; open gripper;" + }, + { + "frame_index": 44, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 12 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move backward 148 mm; move right 309 mm; move upward 133 mm; roll downward 11 degrees; pitch downward 92 degrees; yaw counterclockwise 70 degrees; open gripper;\nSubtask Movement: move backward 148 mm; move right 455 mm; move upward 211 mm; roll downward 26 degrees; pitch downward 140 degrees; yaw counterclockwise 71 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 168, + 84 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012857143767178059, + -0.011785714887082577, + 0.0057142856530845165, + -0.018571428954601288, + -0.07000000029802322, + 0.09285714477300644, + 1.0 + ], + "delta_next_20": [ + -0.1478571742773056, + -0.30892860889434814, + 0.13285717368125916, + -0.19142857193946838, + -1.6142855882644653, + 1.2300000190734863, + 1.0 + ], + "delta_full_state_norm": [ + -0.23977989777781217, + -0.17857181600242888, + -0.35884631559166247, + 0.6792342707958459, + -0.5429832254761136, + 0.8571426820722783, + 0.9999999900000001 + ], + "movement_text": "move backward 13 mm; move right 12 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move backward 148 mm; move right 309 mm; move upward 133 mm; roll downward 11 degrees; pitch downward 92 degrees; yaw counterclockwise 70 degrees; open gripper;", + "subtask_movement_text": "move backward 148 mm; move right 455 mm; move upward 211 mm; roll downward 26 degrees; pitch downward 140 degrees; yaw counterclockwise 71 degrees; open gripper;" + }, + { + "frame_index": 45, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 13 mm; move upward 5 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move backward 135 mm; move right 312 mm; move upward 135 mm; roll downward 10 degrees; pitch downward 94 degrees; yaw counterclockwise 65 degrees; open gripper;\nSubtask Movement: move backward 135 mm; move right 443 mm; move upward 206 mm; roll downward 25 degrees; pitch downward 136 degrees; yaw counterclockwise 65 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 169, + 84 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012500000186264515, + -0.012500000186264515, + 0.005000000353902578, + -0.014285714365541935, + -0.07000000029802322, + 0.08857142925262451, + 1.0 + ], + "delta_next_20": [ + -0.13500002026557922, + -0.31214290857315063, + 0.13535715639591217, + -0.1728571504354477, + -1.6385712623596191, + 1.1428571939468384, + 1.0 + ], + "delta_full_state_norm": [ + -0.224265169613048, + -0.25000030515063276, + -0.43899048042563527, + 0.7484144831309674, + -0.5429832254761136, + 0.7714283815133123, + 0.9999999900000001 + ], + "movement_text": "move backward 13 mm; move right 13 mm; move upward 5 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move backward 135 mm; move right 312 mm; move upward 135 mm; roll downward 10 degrees; pitch downward 94 degrees; yaw counterclockwise 65 degrees; open gripper;", + "subtask_movement_text": "move backward 135 mm; move right 443 mm; move upward 206 mm; roll downward 25 degrees; pitch downward 136 degrees; yaw counterclockwise 65 degrees; open gripper;" + }, + { + "frame_index": 46, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 14 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move backward 123 mm; move right 315 mm; move upward 140 mm; roll downward 9 degrees; pitch downward 96 degrees; yaw counterclockwise 60 degrees; open gripper;\nSubtask Movement: move backward 123 mm; move right 431 mm; move upward 201 mm; roll downward 25 degrees; pitch downward 132 degrees; yaw counterclockwise 60 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 170, + 84 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011785714887082577, + -0.013571429066359997, + 0.0057142856530845165, + -0.012857142835855484, + -0.0714285746216774, + 0.08285713940858841, + 1.0 + ], + "delta_next_20": [ + -0.12250001728534698, + -0.3150000274181366, + 0.14000001549720764, + -0.15857143700122833, + -1.6671427488327026, + 1.0542857646942139, + 1.0 + ], + "delta_full_state_norm": [ + -0.19323579419896875, + -0.357143132005143, + -0.35884631559166247, + 0.7714745539093413, + -0.5587424557733809, + 0.6571425977641596, + 0.9999999900000001 + ], + "movement_text": "move backward 12 mm; move right 14 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move backward 123 mm; move right 315 mm; move upward 140 mm; roll downward 9 degrees; pitch downward 96 degrees; yaw counterclockwise 60 degrees; open gripper;", + "subtask_movement_text": "move backward 123 mm; move right 431 mm; move upward 201 mm; roll downward 25 degrees; pitch downward 132 degrees; yaw counterclockwise 60 degrees; open gripper;" + }, + { + "frame_index": 47, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 14 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move backward 111 mm; move right 318 mm; move upward 144 mm; roll downward 9 degrees; pitch downward 97 degrees; yaw counterclockwise 56 degrees; open gripper;\nSubtask Movement: move backward 111 mm; move right 417 mm; move upward 195 mm; roll downward 24 degrees; pitch downward 128 degrees; yaw counterclockwise 56 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 171, + 84 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.010714286006987095, + -0.01428571529686451, + 0.0057142856530845165, + -0.015714285895228386, + -0.07285714149475098, + 0.07857143133878708, + 1.0 + ], + "delta_next_20": [ + -0.11071430891752243, + -0.31785714626312256, + 0.1435714215040207, + -0.15142858028411865, + -1.6971428394317627, + 0.9714285731315613, + 1.0 + ], + "delta_full_state_norm": [ + -0.14669169062012533, + -0.4285717142855513, + -0.35884631559166247, + 0.7253544123525935, + -0.5745016038800239, + 0.5714284462167885, + 0.9999999900000001 + ], + "movement_text": "move backward 11 mm; move right 14 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move backward 111 mm; move right 318 mm; move upward 144 mm; roll downward 9 degrees; pitch downward 97 degrees; yaw counterclockwise 56 degrees; open gripper;", + "subtask_movement_text": "move backward 111 mm; move right 417 mm; move upward 195 mm; roll downward 24 degrees; pitch downward 128 degrees; yaw counterclockwise 56 degrees; open gripper;" + }, + { + "frame_index": 48, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 15 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 100 mm; move right 321 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 99 degrees; yaw counterclockwise 51 degrees; open gripper;\nSubtask Movement: move backward 100 mm; move right 403 mm; move upward 189 mm; roll downward 23 degrees; pitch downward 124 degrees; yaw counterclockwise 51 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 172, + 83 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.010357143357396126, + -0.014642857015132904, + 0.0057142856530845165, + -0.015714285895228386, + -0.07285714149475098, + 0.0771428570151329, + 1.0 + ], + "delta_next_20": [ + -0.10000001639127731, + -0.3214285671710968, + 0.14750002324581146, + -0.15142856538295746, + -1.7271428108215332, + 0.8928571343421936, + 1.0 + ], + "delta_full_state_norm": [ + -0.13117700291308565, + -0.4642858657274489, + -0.35884631559166247, + 0.7253544123525935, + -0.5745016038800239, + 0.5428569630266016, + 0.9999999900000001 + ], + "movement_text": "move backward 10 mm; move right 15 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 100 mm; move right 321 mm; move upward 148 mm; roll downward 9 degrees; pitch downward 99 degrees; yaw counterclockwise 51 degrees; open gripper;", + "subtask_movement_text": "move backward 100 mm; move right 403 mm; move upward 189 mm; roll downward 23 degrees; pitch downward 124 degrees; yaw counterclockwise 51 degrees; open gripper;" + }, + { + "frame_index": 49, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 15 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 90 mm; move right 326 mm; move upward 152 mm; roll downward 9 degrees; pitch downward 101 degrees; yaw counterclockwise 47 degrees; open gripper;\nSubtask Movement: move backward 90 mm; move right 388 mm; move upward 184 mm; roll downward 22 degrees; pitch downward 119 degrees; yaw counterclockwise 47 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 174, + 83 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.009642857126891613, + -0.015000000596046448, + 0.006428571883589029, + -0.017142856493592262, + -0.07285714149475098, + 0.0771428570151329, + 1.0 + ], + "delta_next_20": [ + -0.08964286744594574, + -0.32607147097587585, + 0.1517857164144516, + -0.16571427881717682, + -1.7599999904632568, + 0.8157142996788025, + 1.0 + ], + "delta_full_state_norm": [ + -0.1001475870412819, + -0.5000002034337552, + -0.27870204626153106, + 0.7022943566076738, + -0.5745016038800239, + 0.5428569630266016, + 0.9999999900000001 + ], + "movement_text": "move backward 10 mm; move right 15 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 90 mm; move right 326 mm; move upward 152 mm; roll downward 9 degrees; pitch downward 101 degrees; yaw counterclockwise 47 degrees; open gripper;", + "subtask_movement_text": "move backward 90 mm; move right 388 mm; move upward 184 mm; roll downward 22 degrees; pitch downward 119 degrees; yaw counterclockwise 47 degrees; open gripper;" + }, + { + "frame_index": 50, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 16 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 80 mm; move right 331 mm; move upward 156 mm; roll downward 12 degrees; pitch downward 103 degrees; yaw counterclockwise 42 degrees; open gripper;\nSubtask Movement: move backward 80 mm; move right 373 mm; move upward 177 mm; roll downward 21 degrees; pitch downward 115 degrees; yaw counterclockwise 42 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 175, + 83 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008928571827709675, + -0.015714285895228386, + 0.006428571883589029, + -0.018571428954601288, + -0.07571428269147873, + 0.07571428269147873, + 1.0 + ], + "delta_next_20": [ + -0.08000000566244125, + -0.3310714662075043, + 0.15571428835391998, + -0.2085714340209961, + -1.7942856550216675, + 0.7385714054107666, + 1.0 + ], + "delta_full_state_norm": [ + -0.06911821162720255, + -0.5714286925819592, + -0.27870204626153106, + 0.6792342707958459, + -0.6060199822839344, + 0.5142854798364147, + 0.9999999900000001 + ], + "movement_text": "move backward 9 mm; move right 16 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 80 mm; move right 331 mm; move upward 156 mm; roll downward 12 degrees; pitch downward 103 degrees; yaw counterclockwise 42 degrees; open gripper;", + "subtask_movement_text": "move backward 80 mm; move right 373 mm; move upward 177 mm; roll downward 21 degrees; pitch downward 115 degrees; yaw counterclockwise 42 degrees; open gripper;" + }, + { + "frame_index": 51, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 16 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 71 mm; move right 336 mm; move upward 160 mm; roll downward 15 degrees; pitch downward 105 degrees; yaw counterclockwise 38 degrees; open gripper;\nSubtask Movement: move backward 71 mm; move right 358 mm; move upward 171 mm; roll downward 20 degrees; pitch downward 111 degrees; yaw counterclockwise 38 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 176, + 83 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008928571827709675, + -0.016428573057055473, + 0.006428571883589029, + -0.018571428954601288, + -0.0771428570151329, + 0.07428571581840515, + 1.0 + ], + "delta_next_20": [ + -0.07107143104076385, + -0.33642858266830444, + 0.15964286029338837, + -0.261428564786911, + -1.8271427154541016, + 0.6628571152687073, + 1.0 + ], + "delta_full_state_norm": [ + -0.06911821162720255, + -0.6428573679945717, + -0.27870204626153106, + 0.6792342707958459, + -0.6217792125812017, + 0.48571414565782267, + 0.9999999900000001 + ], + "movement_text": "move backward 9 mm; move right 16 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 71 mm; move right 336 mm; move upward 160 mm; roll downward 15 degrees; pitch downward 105 degrees; yaw counterclockwise 38 degrees; open gripper;", + "subtask_movement_text": "move backward 71 mm; move right 358 mm; move upward 171 mm; roll downward 20 degrees; pitch downward 111 degrees; yaw counterclockwise 38 degrees; open gripper;" + }, + { + "frame_index": 52, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 16 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 62 mm; move right 341 mm; move upward 164 mm; roll downward 19 degrees; pitch downward 106 degrees; yaw counterclockwise 34 degrees; open gripper;\nSubtask Movement: move backward 62 mm; move right 341 mm; move upward 164 mm; roll downward 19 degrees; pitch downward 106 degrees; yaw counterclockwise 34 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 178, + 83 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008571429178118706, + -0.016428573057055473, + 0.0057142856530845165, + -0.014285714365541935, + -0.07571428269147873, + 0.07285714149475098, + 1.0 + ], + "delta_next_20": [ + -0.062142860144376755, + -0.3410714566707611, + 0.16428573429584503, + -0.33000001311302185, + -1.8585714101791382, + 0.5885713696479797, + 1.0 + ], + "delta_full_state_norm": [ + -0.05360352392016288, + -0.6428573679945717, + -0.35884631559166247, + 0.7484144831309674, + -0.6060199822839344, + 0.4571426624676356, + 0.9999999900000001 + ], + "movement_text": "move backward 9 mm; move right 16 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 62 mm; move right 341 mm; move upward 164 mm; roll downward 19 degrees; pitch downward 106 degrees; yaw counterclockwise 34 degrees; open gripper;", + "subtask_movement_text": "move backward 62 mm; move right 341 mm; move upward 164 mm; roll downward 19 degrees; pitch downward 106 degrees; yaw counterclockwise 34 degrees; open gripper;" + }, + { + "frame_index": 53, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 16 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 54 mm; move right 345 mm; move upward 170 mm; roll downward 23 degrees; pitch downward 109 degrees; yaw counterclockwise 30 degrees; open gripper;\nSubtask Movement: move backward 54 mm; move right 325 mm; move upward 159 mm; roll downward 18 degrees; pitch downward 102 degrees; yaw counterclockwise 30 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 179, + 82 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007500000298023224, + -0.015714285895228386, + 0.006071428768336773, + -0.0014285714132711291, + -0.07571428269147873, + 0.07000000029802322, + 1.0 + ], + "delta_next_20": [ + -0.0535714328289032, + -0.34464287757873535, + 0.17000000178813934, + -0.40714287757873535, + -1.8942856788635254, + 0.5157142877578735, + 1.0 + ], + "delta_full_state_norm": [ + -0.007059420341319456, + -0.5714286925819592, + -0.3187741809265967, + 0.9559551069820593, + -0.6060199822839344, + 0.39999984509885667, + 0.9999999900000001 + ], + "movement_text": "move backward 8 mm; move right 16 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 54 mm; move right 345 mm; move upward 170 mm; roll downward 23 degrees; pitch downward 109 degrees; yaw counterclockwise 30 degrees; open gripper;", + "subtask_movement_text": "move backward 54 mm; move right 325 mm; move upward 159 mm; roll downward 18 degrees; pitch downward 102 degrees; yaw counterclockwise 30 degrees; open gripper;" + }, + { + "frame_index": 54, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 16 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 46 mm; move right 349 mm; move upward 175 mm; roll downward 29 degrees; pitch downward 111 degrees; yaw counterclockwise 26 degrees; open gripper;\nSubtask Movement: move backward 46 mm; move right 309 mm; move upward 153 mm; roll downward 18 degrees; pitch downward 98 degrees; yaw counterclockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 180, + 82 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007500000298023224, + -0.016428573057055473, + 0.007142857648432255, + 0.0, + -0.0771428570151329, + 0.0657142847776413, + 1.0 + ], + "delta_next_20": [ + -0.046071432530879974, + -0.3485714793205261, + 0.1753571480512619, + -0.4985714554786682, + -1.9314284324645996, + 0.4457142949104309, + 1.0 + ], + "delta_full_state_norm": [ + -0.007059420341319456, + -0.6428573679945717, + -0.19855782917947895, + 0.9790151758812515, + -0.6217792125812017, + 0.3142855445398909, + 0.9999999900000001 + ], + "movement_text": "move backward 8 mm; move right 16 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 46 mm; move right 349 mm; move upward 175 mm; roll downward 29 degrees; pitch downward 111 degrees; yaw counterclockwise 26 degrees; open gripper;", + "subtask_movement_text": "move backward 46 mm; move right 309 mm; move upward 153 mm; roll downward 18 degrees; pitch downward 98 degrees; yaw counterclockwise 26 degrees; open gripper;" + }, + { + "frame_index": 55, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 17 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 39 mm; move right 351 mm; move upward 179 mm; roll downward 34 degrees; pitch downward 113 degrees; yaw counterclockwise 22 degrees; open gripper;\nSubtask Movement: move backward 39 mm; move right 292 mm; move upward 145 mm; roll downward 18 degrees; pitch downward 93 degrees; yaw counterclockwise 22 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 181, + 82 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007500000298023224, + -0.016785714775323868, + 0.007500000298023224, + 0.0, + -0.08285713940858841, + 0.058571428060531616, + 1.0 + ], + "delta_next_20": [ + -0.03857143223285675, + -0.35107144713401794, + 0.17892856895923615, + -0.5942857265472412, + -1.9671427011489868, + 0.3800000548362732, + 1.0 + ], + "delta_full_state_norm": [ + -0.007059420341319456, + -0.6785715194364694, + -0.1584857467624925, + 0.9790151758812515, + -0.6848159693890227, + 0.17142842661214597, + 0.9999999900000001 + ], + "movement_text": "move backward 8 mm; move right 17 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 39 mm; move right 351 mm; move upward 179 mm; roll downward 34 degrees; pitch downward 113 degrees; yaw counterclockwise 22 degrees; open gripper;", + "subtask_movement_text": "move backward 39 mm; move right 292 mm; move upward 145 mm; roll downward 18 degrees; pitch downward 93 degrees; yaw counterclockwise 22 degrees; open gripper;" + }, + { + "frame_index": 56, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 17 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 31 mm; move right 353 mm; move upward 182 mm; roll downward 40 degrees; pitch downward 114 degrees; yaw counterclockwise 18 degrees; open gripper;\nSubtask Movement: move backward 31 mm; move right 276 mm; move upward 138 mm; roll downward 18 degrees; pitch downward 89 degrees; yaw counterclockwise 18 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 183, + 82 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007142857648432255, + -0.016785714775323868, + 0.007142857648432255, + 0.0, + -0.08285713940858841, + 0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + -0.031071430072188377, + -0.3532143533229828, + 0.1817857176065445, + -0.6928571462631226, + -1.9957141876220703, + 0.3214285969734192, + 1.0 + ], + "delta_full_state_norm": [ + 0.008455267365720331, + -0.6785715194364694, + -0.19855782917947895, + 0.9790151758812515, + -0.6848159693890227, + 0.11428560924336684, + 0.9999999900000001 + ], + "movement_text": "move backward 7 mm; move right 17 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 31 mm; move right 353 mm; move upward 182 mm; roll downward 40 degrees; pitch downward 114 degrees; yaw counterclockwise 18 degrees; open gripper;", + "subtask_movement_text": "move backward 31 mm; move right 276 mm; move upward 138 mm; roll downward 18 degrees; pitch downward 89 degrees; yaw counterclockwise 18 degrees; open gripper;" + }, + { + "frame_index": 57, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 16 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 24 mm; move right 355 mm; move upward 185 mm; roll downward 45 degrees; pitch downward 116 degrees; yaw counterclockwise 15 degrees; open gripper;\nSubtask Movement: move backward 24 mm; move right 259 mm; move upward 131 mm; roll downward 18 degrees; pitch downward 84 degrees; yaw counterclockwise 15 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 184, + 81 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007142857648432255, + -0.01607142947614193, + 0.007142857648432255, + 0.0, + -0.08428571373224258, + 0.051428571343421936, + 1.0 + ], + "delta_next_20": [ + -0.023928573355078697, + -0.35499998927116394, + 0.18464285135269165, + -0.7928571701049805, + -2.0228569507598877, + 0.26571428775787354, + 1.0 + ], + "delta_full_state_norm": [ + 0.008455267365720331, + -0.6071430302882654, + -0.19855782917947895, + 0.9790151758812515, + -0.70057519968629, + 0.028571308684401053, + 0.9999999900000001 + ], + "movement_text": "move backward 7 mm; move right 16 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 24 mm; move right 355 mm; move upward 185 mm; roll downward 45 degrees; pitch downward 116 degrees; yaw counterclockwise 15 degrees; open gripper;", + "subtask_movement_text": "move backward 24 mm; move right 259 mm; move upward 131 mm; roll downward 18 degrees; pitch downward 84 degrees; yaw counterclockwise 15 degrees; open gripper;" + }, + { + "frame_index": 58, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 16 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 17 mm; move right 356 mm; move upward 187 mm; roll downward 51 degrees; pitch downward 117 degrees; yaw counterclockwise 12 degrees; open gripper;\nSubtask Movement: move backward 17 mm; move right 243 mm; move upward 124 mm; roll downward 18 degrees; pitch downward 79 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 185, + 81 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006428571883589029, + -0.01607142947614193, + 0.007500000298023224, + 0.0, + -0.08857142925262451, + 0.04714285582304001, + 1.0 + ], + "delta_next_20": [ + -0.016785716637969017, + -0.35607144236564636, + 0.18714284896850586, + -0.8971428871154785, + -2.0457143783569336, + 0.2142857164144516, + 1.0 + ], + "delta_full_state_norm": [ + 0.039484663008661824, + -0.6071430302882654, + -0.1584857467624925, + 0.9790151758812515, + -0.7478528083874678, + -0.05714299187456484, + 0.9999999900000001 + ], + "movement_text": "move backward 6 mm; move right 16 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 17 mm; move right 356 mm; move upward 187 mm; roll downward 51 degrees; pitch downward 117 degrees; yaw counterclockwise 12 degrees; open gripper;", + "subtask_movement_text": "move backward 17 mm; move right 243 mm; move upward 124 mm; roll downward 18 degrees; pitch downward 79 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 59, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 16 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 10 mm; move right 357 mm; move upward 189 mm; roll downward 57 degrees; pitch downward 118 degrees; yaw counterclockwise 10 degrees; open gripper;\nSubtask Movement: move backward 10 mm; move right 227 mm; move upward 116 mm; roll downward 18 degrees; pitch downward 74 degrees; yaw counterclockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 187, + 81 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.004285714589059353, + -0.01607142947614193, + 0.007857142947614193, + -0.004285714123398066, + -0.09142857044935226, + 0.03999999910593033, + 1.0 + ], + "delta_next_20": [ + -0.010357143357396126, + -0.35678574442863464, + 0.18857143819332123, + -1.0014286041259766, + -2.0642857551574707, + 0.167142853140831, + 1.0 + ], + "delta_full_state_norm": [ + 0.1325728499374863, + -0.6071430302882654, + -0.11841366434550615, + 0.909834971062857, + -0.7793711867913783, + -0.20000010980230976, + 0.9999999900000001 + ], + "movement_text": "move backward 4 mm; move right 16 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 10 mm; move right 357 mm; move upward 189 mm; roll downward 57 degrees; pitch downward 118 degrees; yaw counterclockwise 10 degrees; open gripper;", + "subtask_movement_text": "move backward 10 mm; move right 227 mm; move upward 116 mm; roll downward 18 degrees; pitch downward 74 degrees; yaw counterclockwise 10 degrees; open gripper;" + }, + { + "frame_index": 60, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 17 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 6 mm; move right 356 mm; move upward 190 mm; roll downward 63 degrees; pitch downward 119 degrees; yaw counterclockwise 7 degrees; open gripper;\nSubtask Movement: move backward 6 mm; move right 211 mm; move upward 108 mm; roll downward 18 degrees; pitch downward 69 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 188, + 80 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0032142859417945147, + -0.016785714775323868, + 0.007500000298023224, + -0.009999999776482582, + -0.09285714477300644, + 0.037142857909202576, + 1.0 + ], + "delta_next_20": [ + -0.00607142923399806, + -0.3557143211364746, + 0.18964286148548126, + -1.1071429252624512, + -2.0771427154541016, + 0.12714286148548126, + 1.0 + ], + "delta_full_state_norm": [ + 0.17911694340189865, + -0.6785715194364694, + -0.1584857467624925, + 0.8175946954660889, + -0.7951304170886456, + -0.25714292717108866, + 0.9999999900000001 + ], + "movement_text": "move backward 3 mm; move right 17 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 6 mm; move right 356 mm; move upward 190 mm; roll downward 63 degrees; pitch downward 119 degrees; yaw counterclockwise 7 degrees; open gripper;", + "subtask_movement_text": "move backward 6 mm; move right 211 mm; move upward 108 mm; roll downward 18 degrees; pitch downward 69 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 61, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 2 mm; move right 16 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 3 mm; move right 353 mm; move upward 191 mm; roll downward 69 degrees; pitch downward 120 degrees; yaw counterclockwise 5 degrees; open gripper;\nSubtask Movement: move backward 3 mm; move right 194 mm; move upward 101 mm; roll downward 17 degrees; pitch downward 63 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 189, + 80 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0021428572945296764, + -0.016428573057055473, + 0.007857142947614193, + -0.011428571306169033, + -0.09428571164608002, + 0.0357142873108387, + 1.0 + ], + "delta_next_20": [ + -0.0028571428265422583, + -0.35285720229148865, + 0.1907142847776413, + -1.207142949104309, + -2.0871427059173584, + 0.08999999612569809, + 1.0 + ], + "delta_full_state_norm": [ + 0.225661036866311, + -0.6428573679945717, + -0.11841366434550615, + 0.794534624687715, + -0.8108895651952888, + -0.28571433585547823, + 0.9999999900000001 + ], + "movement_text": "move backward 2 mm; move right 16 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 3 mm; move right 353 mm; move upward 191 mm; roll downward 69 degrees; pitch downward 120 degrees; yaw counterclockwise 5 degrees; open gripper;", + "subtask_movement_text": "move backward 3 mm; move right 194 mm; move upward 101 mm; roll downward 17 degrees; pitch downward 63 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 62, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move right 16 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 1 mm; move right 349 mm; move upward 191 mm; roll downward 75 degrees; pitch downward 120 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move backward 1 mm; move right 178 mm; move upward 93 mm; roll downward 17 degrees; pitch downward 58 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 191, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0007142857066355646, + -0.01607142947614193, + 0.007500000298023224, + -0.009999999776482582, + -0.09285714477300644, + 0.029999999329447746, + 1.0 + ], + "delta_next_20": [ + -0.0007142857066355646, + -0.3492857813835144, + 0.19142858684062958, + -1.3100000619888306, + -2.0928568840026855, + 0.05428571626543999, + 1.0 + ], + "delta_full_state_norm": [ + 0.287719830680802, + -0.6071430302882654, + -0.1584857467624925, + 0.8175946954660889, + -0.7951304170886456, + -0.40000008235173234, + 0.9999999900000001 + ], + "movement_text": "move backward 1 mm; move right 16 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 1 mm; move right 349 mm; move upward 191 mm; roll downward 75 degrees; pitch downward 120 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move backward 1 mm; move right 178 mm; move upward 93 mm; roll downward 17 degrees; pitch downward 58 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 63, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 344 mm; move upward 192 mm; roll downward 81 degrees; pitch downward 120 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 161 mm; move upward 85 mm; roll downward 16 degrees; pitch downward 53 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.015357143245637417, + 0.006785714533179998, + -0.008571428246796131, + -0.09285714477300644, + 0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.34392866492271423, + 0.19178573787212372, + -1.4200000762939453, + -2.098571300506592, + 0.02428571507334709, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + -0.5357144480078572, + -0.2386299638445446, + 0.8406547662444626, + -0.7951304170886456, + -0.6285714635855444, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 344 mm; move upward 192 mm; roll downward 81 degrees; pitch downward 120 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 161 mm; move upward 85 mm; roll downward 16 degrees; pitch downward 53 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 64, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 338 mm; move upward 191 mm; roll downward 87 degrees; pitch downward 120 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 146 mm; move upward 79 mm; roll downward 15 degrees; pitch downward 47 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 193, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.015000000596046448, + 0.008214286528527737, + 0.0, + -0.09428571164608002, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.33821436762809753, + 0.19107143580913544, + -1.527142882347107, + -2.0999999046325684, + 0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + -0.5000002034337552, + -0.07834147743236108, + 0.9790151758812515, + -0.8108895651952888, + -0.8857143000698693, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 338 mm; move upward 191 mm; roll downward 87 degrees; pitch downward 120 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 146 mm; move upward 79 mm; roll downward 15 degrees; pitch downward 47 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 65, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 331 mm; move upward 188 mm; roll downward 94 degrees; pitch downward 120 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 131 mm; move upward 70 mm; roll downward 15 degrees; pitch downward 42 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 194, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.015357143245637417, + 0.009642857126891613, + 0.0, + -0.09857142716646194, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.3314286172389984, + 0.1875, + -1.6428571939468384, + -2.094285488128662, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + -0.5357144480078572, + 0.08194685223558462, + 0.9790151758812515, + -0.8581671738964666, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 331 mm; move upward 188 mm; roll downward 94 degrees; pitch downward 120 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 131 mm; move upward 70 mm; roll downward 15 degrees; pitch downward 42 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 66, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 16 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 323 mm; move upward 183 mm; roll downward 101 degrees; pitch downward 119 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 116 mm; move upward 61 mm; roll downward 15 degrees; pitch downward 36 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 195, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.016428573057055473, + 0.009285714477300644, + -0.0057142856530845165, + -0.1014285683631897, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.322500079870224, + 0.18285715579986572, + -1.7657142877578735, + -2.0842857360839844, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + -0.6428573679945717, + 0.04187476981859817, + 0.8867749002844831, + -0.889685552300377, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 16 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 323 mm; move upward 183 mm; roll downward 101 degrees; pitch downward 119 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 116 mm; move upward 61 mm; roll downward 15 degrees; pitch downward 36 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 67, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 311 mm; move upward 177 mm; roll downward 108 degrees; pitch downward 118 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 99 mm; move upward 51 mm; roll downward 15 degrees; pitch downward 31 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01785714365541935, + 0.009642857126891613, + -0.015714285895228386, + -0.10285714268684387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.31071433424949646, + 0.17714284360408783, + -1.882857084274292, + -2.0671427249908447, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + -0.7857143462909796, + 0.08194685223558462, + 0.7253544123525935, + -0.9054447825976444, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move upward 10 mm; roll downward 1 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 311 mm; move upward 177 mm; roll downward 108 degrees; pitch downward 118 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 99 mm; move upward 51 mm; roll downward 15 degrees; pitch downward 31 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 68, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 19 mm; move upward 10 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 296 mm; move upward 169 mm; roll downward 114 degrees; pitch downward 117 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 81 mm; move upward 42 mm; roll downward 14 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.019285714253783226, + 0.010000000707805157, + -0.029999999329447746, + -0.10571428388357162, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.29607149958610535, + 0.16928572952747345, + -1.9899998903274536, + -2.044285774230957, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + -0.9285713245873874, + 0.12201903914872947, + 0.49475373463576355, + -0.9369631610015549, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 19 mm; move upward 10 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 296 mm; move upward 169 mm; roll downward 114 degrees; pitch downward 117 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 81 mm; move upward 42 mm; roll downward 14 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 69, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 20 mm; move upward 10 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 277 mm; move upward 160 mm; roll downward 119 degrees; pitch downward 115 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 62 mm; move upward 32 mm; roll downward 13 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 199, + 75 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.020000001415610313, + 0.010357143357396126, + -0.05999999865889549, + -0.1071428582072258, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.2771429121494293, + 0.16035716235637665, + -2.072857141494751, + -2.0114285945892334, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + -1.0, + 0.16209112156571592, + 0.010492293390275576, + -0.9527223912988222, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 20 mm; move upward 10 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 277 mm; move upward 160 mm; roll downward 119 degrees; pitch downward 115 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 62 mm; move upward 32 mm; roll downward 13 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 70, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 21 mm; move upward 10 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 257 mm; move upward 150 mm; roll downward 122 degrees; pitch downward 113 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 42 mm; move upward 21 mm; roll downward 9 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 74 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.021071428433060646, + 0.010357143357396126, + -0.0714285746216774, + -0.10857142508029938, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.25714290142059326, + 0.15035715699195862, + -2.1242856979370117, + -1.9700000286102295, + 0.0014285714132711291, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + -1.0, + 0.16209112156571592, + -0.1739883329705313, + -0.9684815394054653, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 21 mm; move upward 10 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 257 mm; move upward 150 mm; roll downward 122 degrees; pitch downward 113 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 42 mm; move upward 21 mm; roll downward 9 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 71, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 21 mm; move upward 11 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 1 mm; move right 236 mm; move upward 140 mm; roll downward 124 degrees; pitch downward 110 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 21 mm; move upward 11 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.021071428433060646, + 0.011071428656578064, + -0.08714285492897034, + -0.10857142508029938, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0007142857066355646, + -0.23607145249843597, + 0.14000001549720764, + -2.158571481704712, + -1.9228571653366089, + 0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + -1.0, + 0.24223528639968883, + -0.4276490062984647, + -0.9684815394054653, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 21 mm; move upward 11 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 1 mm; move right 236 mm; move upward 140 mm; roll downward 124 degrees; pitch downward 110 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 21 mm; move upward 11 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 72, + "segment_id": 10200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector has released contact with the microwave control panel and is retracting its arm back towards its base, indicating the completion of the interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 20 mm; move upward 11 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 1 mm; move right 215 mm; move upward 129 mm; roll downward 125 degrees; pitch downward 107 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.020000001415610313, + 0.011428571306169033, + -0.09142857044935226, + -0.11142857372760773, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0014285714132711291, + -0.21500001847743988, + 0.12892857193946838, + -2.174285650253296, + -1.8757143020629883, + 0.009999999776482582, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + -1.0, + 0.28230736881667506, + -0.49682923366704024, + -1.0, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 20 mm; move upward 11 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 1 mm; move right 215 mm; move upward 129 mm; roll downward 125 degrees; pitch downward 107 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 73, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, maintaining contact and applying pressure to the stop button area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, maintaining contact and applying pressure to the stop button area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 20 mm; move upward 11 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 3 mm; move right 195 mm; move upward 117 mm; roll downward 125 degrees; pitch downward 104 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 152 mm; move upward 87 mm; roll downward 53 degrees; pitch downward 55 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01964285783469677, + 0.011428571306169033, + -0.09285714477300644, + -0.1128571406006813, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0028571428265422583, + -0.19499997794628143, + 0.11749999970197678, + -2.1842856407165527, + -1.8214285373687744, + 0.015714285895228386, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + -0.9642856622936937, + 0.28230736881667506, + -0.5198893495457764, + -1.0, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 20 mm; move upward 11 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 3 mm; move right 195 mm; move upward 117 mm; roll downward 125 degrees; pitch downward 104 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 152 mm; move upward 87 mm; roll downward 53 degrees; pitch downward 55 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 74, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, maintaining contact and applying pressure to the stop button area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, maintaining contact and applying pressure to the stop button area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 19 mm; move upward 11 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 5 mm; move right 175 mm; move upward 106 mm; roll downward 125 degrees; pitch downward 101 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 132 mm; move upward 76 mm; roll downward 48 degrees; pitch downward 49 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.018928570672869682, + 0.010714286006987095, + -0.09571428596973419, + -0.1128571406006813, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.004642857238650322, + -0.1753571331501007, + 0.10607143491506577, + -2.1885714530944824, + -1.76285719871521, + 0.02142857201397419, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + -0.8928569868810812, + 0.20216320398270238, + -0.5660094610356158, + -1.0, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 19 mm; move upward 11 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 5 mm; move right 175 mm; move upward 106 mm; roll downward 125 degrees; pitch downward 101 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 132 mm; move upward 76 mm; roll downward 48 degrees; pitch downward 49 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 75, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, maintaining contact and applying pressure to the stop button area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, maintaining contact and applying pressure to the stop button area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 19 mm; move upward 10 mm; roll downward 6 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 7 mm; move right 156 mm; move upward 95 mm; roll downward 126 degrees; pitch downward 97 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 113 mm; move upward 65 mm; roll downward 42 degrees; pitch downward 43 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.018928570672869682, + 0.010357143357396126, + -0.09857142716646194, + -0.11142857372760773, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.006785714533179998, + -0.15642856061458588, + 0.09535714983940125, + -2.1914286613464355, + -1.7014286518096924, + 0.02857142873108387, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + -0.8928569868810812, + 0.16209112156571592, + -0.6121295725254552, + -1.0, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 19 mm; move upward 10 mm; roll downward 6 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 7 mm; move right 156 mm; move upward 95 mm; roll downward 126 degrees; pitch downward 97 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 113 mm; move upward 65 mm; roll downward 42 degrees; pitch downward 43 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 76, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, maintaining contact and applying pressure to the stop button area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, maintaining contact and applying pressure to the stop button area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 19 mm; move upward 10 mm; roll downward 6 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 11 mm; move right 138 mm; move upward 85 mm; roll downward 125 degrees; pitch downward 94 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 94 mm; move upward 55 mm; roll downward 37 degrees; pitch downward 36 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.018571428954601288, + 0.010000000707805157, + -0.10000000149011612, + -0.10999999940395355, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.01071428693830967, + -0.13750000298023224, + 0.08500000089406967, + -2.1857142448425293, + -1.6342856884002686, + 0.0357142873108387, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + -0.8571428354391835, + 0.12201903914872947, + -0.6351896884041913, + -0.9842407697027327, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 19 mm; move upward 10 mm; roll downward 6 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 11 mm; move right 138 mm; move upward 85 mm; roll downward 125 degrees; pitch downward 94 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 94 mm; move upward 55 mm; roll downward 37 degrees; pitch downward 36 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 77, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, maintaining contact and applying pressure to the stop button area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, maintaining contact and applying pressure to the stop button area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 17 mm; move upward 10 mm; roll downward 6 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 16 mm; move right 119 mm; move upward 75 mm; roll downward 125 degrees; pitch downward 89 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 76 mm; move upward 45 mm; roll downward 31 degrees; pitch downward 30 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01714285835623741, + 0.009642857126891613, + -0.10428571701049805, + -0.1071428582072258, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.01607142947614193, + -0.11892857402563095, + 0.07500000298023224, + -2.1757140159606934, + -1.5614286661148071, + 0.04285714402794838, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + -0.7142858571427757, + 0.08194685223558462, + -0.7043699157727669, + -0.9527223912988222, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 17 mm; move upward 10 mm; roll downward 6 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 16 mm; move right 119 mm; move upward 75 mm; roll downward 125 degrees; pitch downward 89 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 76 mm; move upward 45 mm; roll downward 31 degrees; pitch downward 30 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 78, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, maintaining contact and applying pressure to the stop button area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, maintaining contact and applying pressure to the stop button area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 17 mm; move upward 9 mm; roll downward 6 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 22 mm; move right 102 mm; move upward 65 mm; roll downward 124 degrees; pitch downward 85 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 59 mm; move upward 35 mm; roll downward 25 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.016785714775323868, + 0.008928571827709675, + -0.10428571701049805, + -0.1071428582072258, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.021785715594887733, + -0.10178571194410324, + 0.06535714119672775, + -2.161428213119507, + -1.4900000095367432, + 0.05000000074505806, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + -0.6785715194364694, + 0.0018026874016117134, + -0.7043699157727669, + -0.9527223912988222, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 17 mm; move upward 9 mm; roll downward 6 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 22 mm; move right 102 mm; move upward 65 mm; roll downward 124 degrees; pitch downward 85 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 59 mm; move upward 35 mm; roll downward 25 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 79, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, maintaining contact and applying pressure to the stop button area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, maintaining contact and applying pressure to the stop button area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move upward 9 mm; roll downward 6 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 28 mm; move right 85 mm; move upward 56 mm; roll downward 123 degrees; pitch downward 81 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 42 mm; move upward 26 mm; roll downward 19 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.015000000596046448, + 0.008928571827709675, + -0.10999999940395355, + -0.10428571701049805, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.028214288875460625, + -0.08500000089406967, + 0.05642857775092125, + -2.1442859172821045, + -1.4185713529586792, + 0.05714285746216774, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + -0.5000002034337552, + 0.0018026874016117134, + -0.7966101387524458, + -0.9212040128949117, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move upward 9 mm; roll downward 6 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 28 mm; move right 85 mm; move upward 56 mm; roll downward 123 degrees; pitch downward 81 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 42 mm; move upward 26 mm; roll downward 19 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 80, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, maintaining contact and applying pressure to the stop button area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, maintaining contact and applying pressure to the stop button area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move upward 9 mm; roll downward 6 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 35 mm; move right 70 mm; move upward 47 mm; roll downward 121 degrees; pitch downward 77 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 27 mm; move upward 17 mm; roll downward 13 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.013928571715950966, + 0.008571429178118706, + -0.10999999940395355, + -0.10285714268684387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.03500000387430191, + -0.07000000774860382, + 0.04749999940395355, + -2.1185715198516846, + -1.3485713005065918, + 0.06142857298254967, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + -0.392857376579245, + -0.03826939501537463, + -0.7966101387524458, + -0.9054447825976444, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move upward 9 mm; roll downward 6 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 35 mm; move right 70 mm; move upward 47 mm; roll downward 121 degrees; pitch downward 77 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 27 mm; move upward 17 mm; roll downward 13 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 81, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, maintaining contact and applying pressure to the stop button area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, maintaining contact and applying pressure to the stop button area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move upward 9 mm; roll downward 7 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 43 mm; move right 56 mm; move upward 39 mm; roll downward 120 degrees; pitch downward 73 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 13 mm; move upward 9 mm; roll downward 7 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.012857143767178059, + 0.008571429178118706, + -0.11428571492433548, + -0.10000000149011612, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.04321428760886192, + -0.056071437895298004, + 0.038928575813770294, + -2.0899999141693115, + -1.2757141590118408, + 0.06142857298254967, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + -0.28571464285693904, + -0.03826939501537463, + -0.8657903661210213, + -0.8739264041937339, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move upward 9 mm; roll downward 7 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 43 mm; move right 56 mm; move upward 39 mm; roll downward 120 degrees; pitch downward 73 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 13 mm; move upward 9 mm; roll downward 7 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 82, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, maintaining contact and applying pressure to the stop button area.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, maintaining contact and applying pressure to the stop button area.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 11 mm; move upward 8 mm; roll downward 7 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 52 mm; move right 43 mm; move upward 30 mm; roll downward 117 degrees; pitch downward 69 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.010714286006987095, + 0.007857142947614193, + -0.11999999731779099, + -0.09857142716646194, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05214285850524902, + -0.04321428760886192, + 0.03035714291036129, + -2.0485715866088867, + -1.2028570175170898, + 0.06142857298254967, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + -0.07142898914791862, + -0.11841366434550615, + -0.9580305891007003, + -0.8581671738964666, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 11 mm; move upward 8 mm; roll downward 7 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 52 mm; move right 43 mm; move upward 30 mm; roll downward 117 degrees; pitch downward 69 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 83, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 10 mm; move upward 6 mm; roll downward 7 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 62 mm; move right 32 mm; move upward 23 mm; roll downward 114 degrees; pitch downward 65 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move forward 1087 mm; move right 230 mm; move upward 23 mm; roll downward 173 degrees; pitch downward 57 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.009642857126891613, + 0.006071428768336773, + -0.11571428924798965, + -0.09428571164608002, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.06178571656346321, + -0.032499998807907104, + 0.02250000275671482, + -1.9957141876220703, + -1.1285712718963623, + 0.06142857298254967, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + 0.035713837706591534, + -0.3187741809265967, + -0.8888504819997574, + -0.8108895651952888, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 10 mm; move upward 6 mm; roll downward 7 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 62 mm; move right 32 mm; move upward 23 mm; roll downward 114 degrees; pitch downward 65 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 1087 mm; move right 230 mm; move upward 23 mm; roll downward 173 degrees; pitch downward 57 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 84, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 8 mm; move upward 5 mm; roll downward 7 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 73 mm; move right 23 mm; move upward 16 mm; roll downward 111 degrees; pitch downward 60 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move forward 1087 mm; move right 220 mm; move upward 16 mm; roll downward 167 degrees; pitch downward 51 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.008214286528527737, + 0.004642857238650322, + -0.11571428924798965, + -0.08857142925262451, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.07285714149475098, + -0.022857146337628365, + 0.016428573057055473, + -1.9442856311798096, + -1.0542855262756348, + 0.06142857298254967, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + 0.1785708160029995, + -0.4790626150907009, + -0.8888504819997574, + -0.7478528083874678, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 8 mm; move upward 5 mm; roll downward 7 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 73 mm; move right 23 mm; move upward 16 mm; roll downward 111 degrees; pitch downward 60 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 1087 mm; move right 220 mm; move upward 16 mm; roll downward 167 degrees; pitch downward 51 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 85, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 6 mm; move upward 5 mm; roll downward 7 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 84 mm; move right 15 mm; move upward 12 mm; roll downward 108 degrees; pitch downward 56 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move forward 1087 mm; move right 212 mm; move upward 12 mm; roll downward 160 degrees; pitch downward 46 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.006428571883589029, + 0.005000000353902578, + -0.12285714596509933, + -0.08857142925262451, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.08428571373224258, + -0.014642858877778053, + 0.011785714887082577, + -1.8928571939468384, + -0.9857142567634583, + 0.06142857298254967, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + 0.35714217857181585, + -0.43899048042563527, + -1.0, + -0.7478528083874678, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 6 mm; move upward 5 mm; roll downward 7 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 84 mm; move right 15 mm; move upward 12 mm; roll downward 108 degrees; pitch downward 56 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 1087 mm; move right 212 mm; move upward 12 mm; roll downward 160 degrees; pitch downward 46 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 86, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 5 mm; move upward 4 mm; roll downward 7 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 97 mm; move right 8 mm; move upward 7 mm; roll downward 105 degrees; pitch downward 52 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move forward 1087 mm; move right 206 mm; move upward 7 mm; roll downward 153 degrees; pitch downward 41 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.004642857238650322, + 0.0035714288242161274, + -0.12285714596509933, + -0.08428571373224258, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.09714286029338837, + -0.008214286528527737, + 0.006785714533179998, + -1.8271429538726807, + -0.9085714221000671, + 0.06142857298254967, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + 0.5357135411406322, + -0.5992789145897395, + -1.0, + -0.70057519968629, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 5 mm; move upward 4 mm; roll downward 7 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 97 mm; move right 8 mm; move upward 7 mm; roll downward 105 degrees; pitch downward 52 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 1087 mm; move right 206 mm; move upward 7 mm; roll downward 153 degrees; pitch downward 41 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 87, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 3 mm; move upward 2 mm; roll downward 7 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 111 mm; move right 4 mm; move upward 3 mm; roll downward 101 degrees; pitch downward 47 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move forward 1087 mm; move right 201 mm; move upward 3 mm; roll downward 146 degrees; pitch downward 37 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0032142859417945147, + 0.0017857144121080637, + -0.12285714596509933, + -0.07999999821186066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.11071429401636124, + -0.0035714288242161274, + 0.0032142859417945147, + -1.7557142972946167, + -0.8285713791847229, + 0.06142857298254967, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + 0.6785705892861933, + -0.7996394572948697, + -1.0, + -0.6532975909851122, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 3 mm; move upward 2 mm; roll downward 7 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 111 mm; move right 4 mm; move upward 3 mm; roll downward 101 degrees; pitch downward 47 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 1087 mm; move right 201 mm; move upward 3 mm; roll downward 146 degrees; pitch downward 37 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 88, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 1 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 125 mm; move right 0 mm; move upward 1 mm; roll downward 96 degrees; pitch downward 43 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move forward 1087 mm; move right 198 mm; move upward 1 mm; roll downward 139 degrees; pitch downward 32 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0003571428533177823, + 0.0010714286472648382, + -0.1128571406006813, + -0.07285714149475098, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1250000149011612, + -0.0003571428533177823, + 0.0014285714132711291, + -1.6828571557998657, + -0.7485713958740234, + 0.06142857298254967, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + 0.9642847350537989, + -0.8797836743769218, + -0.8427302502422853, + -0.5745016038800239, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 1 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 125 mm; move right 0 mm; move upward 1 mm; roll downward 96 degrees; pitch downward 43 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 1087 mm; move right 198 mm; move upward 1 mm; roll downward 139 degrees; pitch downward 32 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 89, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 140 mm; move right 0 mm; move upward 0 mm; roll downward 92 degrees; pitch downward 39 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move forward 1087 mm; move right 198 mm; move upward 0 mm; roll downward 133 degrees; pitch downward 28 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0003571428533177823, + -0.11142857372760773, + -0.0657142847776413, + 0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.14035716652870178, + 0.0, + 0.0003571428533177823, + -1.6114284992218018, + -0.6757143139839172, + 0.06142857298254967, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + 0.9999990000005705, + -0.9599278947244789, + -0.8196702546311818, + -0.49570561677493563, + -0.9714285750174674, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 140 mm; move right 0 mm; move upward 0 mm; roll downward 92 degrees; pitch downward 39 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 1087 mm; move right 198 mm; move upward 0 mm; roll downward 133 degrees; pitch downward 28 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 90, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 155 mm; move right 0 mm; move downward 0 mm; roll downward 88 degrees; pitch downward 35 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 1087 mm; move right 198 mm; move downward 0 mm; roll downward 126 degrees; pitch downward 24 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0007142857066355646, + 0.0, + 0.0, + -0.10571428388357162, + -0.06142857298254967, + 0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.15535716712474823, + 0.0, + 0.0, + -1.5342856645584106, + -0.6100000143051147, + 0.05999999865889549, + 1.0 + ], + "delta_full_state_norm": [ + 0.34977861690946943, + 0.9999990000005705, + -1.0, + -0.7274299113838703, + -0.44842804916907, + -0.9142857273807081, + 0.9999999900000001 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 155 mm; move right 0 mm; move downward 0 mm; roll downward 88 degrees; pitch downward 35 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 1087 mm; move right 198 mm; move downward 0 mm; roll downward 126 degrees; pitch downward 24 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 91, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 170 mm; move right 0 mm; move downward 0 mm; roll downward 83 degrees; pitch downward 31 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 1086 mm; move right 198 mm; move downward 0 mm; roll downward 120 degrees; pitch downward 20 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0007142857066355646, + 0.0, + 0.0, + -0.10285714268684387, + -0.06142857298254967, + 0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.17000003159046173, + 0.0, + 0.0, + -1.454285740852356, + -0.5485714673995972, + 0.055714286863803864, + 1.0 + ], + "delta_full_state_norm": [ + 0.34977861690946943, + 0.9999990000005705, + -1.0, + -0.6813097998940307, + -0.44842804916907, + -0.9142857273807081, + 0.9999999900000001 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 170 mm; move right 0 mm; move downward 0 mm; roll downward 83 degrees; pitch downward 31 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 1086 mm; move right 198 mm; move downward 0 mm; roll downward 120 degrees; pitch downward 20 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 92, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 3 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 185 mm; move right 0 mm; move downward 0 mm; roll downward 79 degrees; pitch downward 28 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 1086 mm; move right 198 mm; move downward 0 mm; roll downward 114 degrees; pitch downward 17 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0014285714132711291, + 0.0, + 0.0, + -0.1014285683631897, + -0.05714285746216774, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.18464286625385284, + -0.0003571428533177823, + 0.0, + -1.3728570938110352, + -0.4871428906917572, + 0.051428571343421936, + 1.0 + ], + "delta_full_state_norm": [ + 0.38080801002380316, + 0.9999990000005705, + -1.0, + -0.6582496840152947, + -0.40115044046789217, + -0.8857143000698693, + 0.9999999900000001 + ], + "movement_text": "move forward 1 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 3 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 185 mm; move right 0 mm; move downward 0 mm; roll downward 79 degrees; pitch downward 28 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 1086 mm; move right 198 mm; move downward 0 mm; roll downward 114 degrees; pitch downward 17 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 93, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 3 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 198 mm; move right 1 mm; move downward 0 mm; roll downward 74 degrees; pitch downward 25 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 1084 mm; move right 198 mm; move downward 0 mm; roll downward 108 degrees; pitch downward 14 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0017857144121080637, + 0.0, + 0.0, + -0.09714286029338837, + -0.05428571254014969, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.1982143074274063, + -0.0010714286472648382, + 0.0, + -1.2899998426437378, + -0.43000003695487976, + 0.04571428522467613, + 1.0 + ], + "delta_full_state_norm": [ + 0.39632271290248955, + 0.9999990000005705, + -1.0, + -0.5890695769143519, + -0.36963202096866954, + -0.8857143000698693, + 0.9999999900000001 + ], + "movement_text": "move forward 2 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 3 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 198 mm; move right 1 mm; move downward 0 mm; roll downward 74 degrees; pitch downward 25 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 1084 mm; move right 198 mm; move downward 0 mm; roll downward 108 degrees; pitch downward 14 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 94, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 3 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 212 mm; move right 2 mm; move downward 0 mm; roll downward 69 degrees; pitch downward 22 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move forward 1082 mm; move right 198 mm; move downward 0 mm; roll downward 103 degrees; pitch downward 11 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0021428572945296764, + 0.0, + 0.0, + -0.09857142716646194, + -0.051428571343421936, + 0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.2117857187986374, + -0.0017857144121080637, + 0.0, + -1.2085713148117065, + -0.3757142722606659, + 0.04000000283122063, + 1.0 + ], + "delta_full_state_norm": [ + 0.4118374107239604, + 0.9999990000005705, + -1.0, + -0.6121295725254552, + -0.3381136425647592, + -0.8571428727590304, + 0.9999999900000001 + ], + "movement_text": "move forward 2 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 3 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 212 mm; move right 2 mm; move downward 0 mm; roll downward 69 degrees; pitch downward 22 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 1082 mm; move right 198 mm; move downward 0 mm; roll downward 103 degrees; pitch downward 11 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 95, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 225 mm; move right 3 mm; move downward 0 mm; roll downward 64 degrees; pitch downward 19 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move forward 1080 mm; move right 198 mm; move downward 0 mm; roll downward 97 degrees; pitch downward 8 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0039285714738070965, + 0.0, + 0.0, + -0.09285714477300644, + -0.044285714626312256, + 0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.22500000894069672, + -0.0032142859417945147, + 0.0, + -1.1242855787277222, + -0.32428571581840515, + 0.03285714238882065, + 1.0 + ], + "delta_full_state_norm": [ + 0.48941088971688296, + 0.9999990000005705, + -1.0, + -0.5198893495457764, + -0.2593176554596709, + -0.8571428727590304, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 225 mm; move right 3 mm; move downward 0 mm; roll downward 64 degrees; pitch downward 19 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 1080 mm; move right 198 mm; move downward 0 mm; roll downward 97 degrees; pitch downward 8 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 96, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 236 mm; move right 4 mm; move downward 0 mm; roll downward 60 degrees; pitch downward 16 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 1076 mm; move right 198 mm; move downward 0 mm; roll downward 92 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0053571430034935474, + 0.0, + 0.0, + -0.09000000357627869, + -0.037142857909202576, + 0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.23607145249843597, + -0.004285714589059353, + 0.0, + -1.0457141399383545, + -0.2800000011920929, + 0.025714285671710968, + 1.0 + ], + "delta_full_state_norm": [ + 0.5514696810027662, + 0.9999990000005705, + -1.0, + -0.47376923805593685, + -0.1805216683545826, + -0.8571428727590304, + 0.9999999900000001 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 236 mm; move right 4 mm; move downward 0 mm; roll downward 60 degrees; pitch downward 16 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 1076 mm; move right 198 mm; move downward 0 mm; roll downward 92 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 97, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 246 mm; move right 6 mm; move downward 0 mm; roll downward 56 degrees; pitch downward 14 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 1071 mm; move right 198 mm; move downward 0 mm; roll downward 87 degrees; pitch downward 3 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0057142856530845165, + 0.0, + 0.0, + -0.09000000357627869, + -0.0357142873108387, + 0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.24571430683135986, + -0.00607142923399806, + 0.0, + -0.9700000286102295, + -0.24285712838172913, + 0.018571428954601288, + 1.0 + ], + "delta_full_state_norm": [ + 0.5669843687098057, + 0.9999990000005705, + -1.0, + -0.47376923805593685, + -0.16476247915262732, + -0.8571428727590304, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 246 mm; move right 6 mm; move downward 0 mm; roll downward 56 degrees; pitch downward 14 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 1071 mm; move right 198 mm; move downward 0 mm; roll downward 87 degrees; pitch downward 3 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 98, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 255 mm; move right 8 mm; move downward 0 mm; roll downward 51 degrees; pitch downward 12 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 1065 mm; move right 198 mm; move downward 0 mm; roll downward 82 degrees; pitch downward 1 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006428571883589029, + 0.0, + 0.0, + -0.08714285492897034, + -0.0357142873108387, + 0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.25535714626312256, + -0.008214286528527737, + 0.0, + -0.8942858576774597, + -0.20714284479618073, + 0.011428571306169033, + 1.0 + ], + "delta_full_state_norm": [ + 0.5980137845816096, + 0.9999990000005705, + -1.0, + -0.4276490062984647, + -0.16476247915262732, + -0.8571428727590304, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 255 mm; move right 8 mm; move downward 0 mm; roll downward 51 degrees; pitch downward 12 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 1065 mm; move right 198 mm; move downward 0 mm; roll downward 82 degrees; pitch downward 1 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 99, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 264 mm; move right 12 mm; move downward 0 mm; roll downward 47 degrees; pitch downward 10 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1059 mm; move right 198 mm; move downward 0 mm; roll downward 77 degrees; pitch upward 1 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006785714533179998, + 0.0, + 0.0, + -0.08428571373224258, + -0.034285712987184525, + 0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.26357144117355347, + -0.011785714887082577, + 0.0, + -0.8228573203086853, + -0.17142854630947113, + 0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.6135284722886492, + 0.9999990000005705, + -1.0, + -0.3815288948086253, + -0.14900324885535998, + -0.9142857273807081, + 0.9999999900000001 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 264 mm; move right 12 mm; move downward 0 mm; roll downward 47 degrees; pitch downward 10 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1059 mm; move right 198 mm; move downward 0 mm; roll downward 77 degrees; pitch upward 1 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 100, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 271 mm; move right 16 mm; move downward 0 mm; roll downward 43 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1052 mm; move right 198 mm; move downward 0 mm; roll downward 72 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008214286528527737, + 0.0, + 0.0, + -0.08142857253551483, + -0.029999999329447746, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.27142858505249023, + -0.015714285895228386, + 0.0, + -0.7557144165039062, + -0.1371428370475769, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6755872838033945, + 0.9999990000005705, + -1.0, + -0.33540878331878576, + -0.1017256607018382, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 271 mm; move right 16 mm; move downward 0 mm; roll downward 43 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1052 mm; move right 198 mm; move downward 0 mm; roll downward 72 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 101, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 278 mm; move right 20 mm; move downward 0 mm; roll downward 40 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1044 mm; move right 198 mm; move downward 0 mm; roll downward 67 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008928571827709675, + 0.0, + 0.0, + -0.07285714149475098, + -0.027142856270074844, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2775000035762787, + -0.020357144996523857, + 0.0, + -0.6900001168251038, + -0.1071428507566452, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7066166592174739, + 0.9999990000005705, + -1.0, + -0.19704832858163468, + -0.0702072617502717, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 278 mm; move right 20 mm; move downward 0 mm; roll downward 40 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1044 mm; move right 198 mm; move downward 0 mm; roll downward 67 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 102, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 283 mm; move right 25 mm; move downward 0 mm; roll downward 36 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1035 mm; move right 198 mm; move downward 0 mm; roll downward 63 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + 0.0, + 0.0, + -0.06714285910129547, + -0.02428571507334709, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28285712003707886, + -0.02500000037252903, + 0.0, + -0.6342858076095581, + -0.07999999821186066, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7376460346315532, + 0.9999990000005705, + -1.0, + -0.10480810560195575, + -0.038688883346361225, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 283 mm; move right 25 mm; move downward 0 mm; roll downward 36 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1035 mm; move right 198 mm; move downward 0 mm; roll downward 63 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 103, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 288 mm; move right 30 mm; move downward 0 mm; roll downward 33 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1025 mm; move right 198 mm; move downward 0 mm; roll downward 59 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + -0.06428571790456772, + -0.019999999552965164, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2878571152687073, + -0.029642855748534203, + 0.0, + -0.5842856764793396, + -0.055714286863803864, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7997048259174362, + 0.9999990000005705, + -1.0, + -0.058687994112116226, + 0.008588725354816473, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 288 mm; move right 30 mm; move downward 0 mm; roll downward 33 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1025 mm; move right 198 mm; move downward 0 mm; roll downward 59 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 104, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 291 mm; move right 35 mm; move downward 0 mm; roll downward 31 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1014 mm; move right 198 mm; move downward 0 mm; roll downward 55 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + 0.0, + -0.06428571790456772, + -0.019999999552965164, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2910713851451874, + -0.03500000014901161, + 0.0, + -0.5357142686843872, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.815219513624476, + 0.9999990000005705, + -1.0, + -0.058687994112116226, + 0.008588725354816473, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 291 mm; move right 35 mm; move downward 0 mm; roll downward 31 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1014 mm; move right 198 mm; move downward 0 mm; roll downward 55 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 105, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 294 mm; move right 41 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1003 mm; move right 198 mm; move downward 0 mm; roll downward 52 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + 0.0, + -0.05714285746216774, + -0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2939285337924957, + -0.040714286267757416, + 0.0, + -0.4871428906917572, + -0.015714285895228386, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8772783453680835, + 0.9999990000005705, + -1.0, + 0.0566124048801151, + 0.10314391193568806, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 294 mm; move right 41 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1003 mm; move right 198 mm; move downward 0 mm; roll downward 52 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 106, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 295 mm; move right 46 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 990 mm; move right 198 mm; move downward 0 mm; roll downward 48 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013571429066359997, + 0.0, + 0.0, + -0.051428571343421936, + -0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2953570783138275, + -0.04571428522467613, + 0.0, + -0.4471428692340851, + -0.004285714123398066, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9083077207821628, + 0.9999990000005705, + -1.0, + 0.1488526879936103, + 0.18193990417769035, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 295 mm; move right 46 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 990 mm; move right 198 mm; move downward 0 mm; roll downward 48 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 107, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 296 mm; move right 51 mm; move downward 0 mm; roll downward 24 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 976 mm; move right 198 mm; move downward 0 mm; roll downward 46 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + 0.0, + 0.0, + -0.05000000074505806, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2960713803768158, + -0.05107143148779869, + 0.0, + -0.4157143235206604, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9393371366539665, + 0.9999990000005705, + -1.0, + 0.17191274373853016, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 296 mm; move right 51 mm; move downward 0 mm; roll downward 24 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 976 mm; move right 198 mm; move downward 0 mm; roll downward 46 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 108, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 296 mm; move right 56 mm; move downward 0 mm; roll downward 22 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 962 mm; move right 198 mm; move downward 0 mm; roll downward 43 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + 0.0, + 0.0, + -0.041428569704294205, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2960714101791382, + -0.05642857030034065, + 0.0, + -0.3871428966522217, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9858811997750856, + 0.9999990000005705, + -1.0, + 0.31027319847568124, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 296 mm; move right 56 mm; move downward 0 mm; roll downward 22 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 962 mm; move right 198 mm; move downward 0 mm; roll downward 43 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 109, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 295 mm; move right 62 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 947 mm; move right 198 mm; move downward 0 mm; roll downward 40 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + 0.0, + -0.034285712987184525, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.29499998688697815, + -0.062142856419086456, + 0.0, + -0.367142915725708, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9703665120680458, + 0.9999990000005705, + -1.0, + 0.4255735373340961, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 295 mm; move right 62 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 947 mm; move right 198 mm; move downward 0 mm; roll downward 40 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 110, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 294 mm; move right 68 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 932 mm; move right 198 mm; move downward 0 mm; roll downward 38 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + 0.0, + 0.0, + -0.025714285671710968, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.29428568482398987, + -0.06785713881254196, + 0.0, + -0.3542857766151428, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9858811997750856, + 0.9999990000005705, + -1.0, + 0.5639339319374308, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 294 mm; move right 68 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 932 mm; move right 198 mm; move downward 0 mm; roll downward 38 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 111, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 293 mm; move right 73 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 916 mm; move right 198 mm; move downward 0 mm; roll downward 37 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + -0.0003571428533177823, + 0.0, + -0.02142857201397419, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2932142913341522, + -0.07321428507566452, + 0.0, + -0.3500000834465027, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9858811997750856, + 0.9642847350537989, + -1.0, + 0.6331141292390983, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 293 mm; move right 73 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 916 mm; move right 198 mm; move downward 0 mm; roll downward 37 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 112, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 292 mm; move right 78 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 901 mm; move right 197 mm; move downward 0 mm; roll downward 36 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + -0.0007142857066355646, + 0.0, + -0.018571428954601288, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2921428382396698, + -0.07821428030729294, + 0.0, + -0.3485715091228485, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9703665120680458, + 0.9285704701070272, + -1.0, + 0.6792342707958459, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 292 mm; move right 78 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 901 mm; move right 197 mm; move downward 0 mm; roll downward 36 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 113, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 291 mm; move right 83 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 886 mm; move right 196 mm; move downward 0 mm; roll downward 35 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + -0.0007142857066355646, + 0.0, + -0.015714285895228386, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2914285659790039, + -0.08321427553892136, + 0.0, + -0.3500000536441803, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9858811997750856, + 0.9285704701070272, + -1.0, + 0.7253544123525935, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 291 mm; move right 83 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 886 mm; move right 196 mm; move downward 0 mm; roll downward 35 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 114, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 290 mm; move right 88 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 871 mm; move right 196 mm; move downward 0 mm; roll downward 34 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + -0.0014285714132711291, + 0.0, + -0.014285714365541935, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2900000214576721, + -0.08821428567171097, + 0.0, + -0.35285720229148865, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9858811997750856, + 0.8571419402134839, + -1.0, + 0.7484144831309674, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 290 mm; move right 88 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 871 mm; move right 196 mm; move downward 0 mm; roll downward 34 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 115, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 288 mm; move right 92 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 855 mm; move right 194 mm; move downward 0 mm; roll downward 33 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + -0.0010714286472648382, + 0.0, + -0.014285714365541935, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2882142961025238, + -0.0924999937415123, + 0.0, + -0.35714292526245117, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9703665120680458, + 0.8928561964291115, + -1.0, + 0.7484144831309674, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 288 mm; move right 92 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 855 mm; move right 194 mm; move downward 0 mm; roll downward 33 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 116, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 2 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 287 mm; move right 97 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 840 mm; move right 193 mm; move downward 0 mm; roll downward 32 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + -0.0017857144121080637, + 0.0, + -0.014285714365541935, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28714287281036377, + -0.09714285284280777, + 0.0, + -0.36000004410743713, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9703665120680458, + 0.8214276607148054, + -1.0, + 0.7484144831309674, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 2 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 287 mm; move right 97 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 840 mm; move right 193 mm; move downward 0 mm; roll downward 32 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 117, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 2 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 286 mm; move right 101 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 825 mm; move right 191 mm; move downward 0 mm; roll downward 31 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + -0.0021428572945296764, + 0.0, + -0.014285714365541935, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.285714328289032, + -0.10107143223285675, + 0.0, + -0.3628571927547455, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9858811997750856, + 0.7857133928576523, + -1.0, + 0.7484144831309674, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 2 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 286 mm; move right 101 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 825 mm; move right 191 mm; move downward 0 mm; roll downward 31 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 118, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 285 mm; move right 105 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 810 mm; move right 189 mm; move downward 0 mm; roll downward 30 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.0035714288242161274, + 0.0, + -0.015714285895228386, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28464290499687195, + -0.10535714775323868, + 0.0, + -0.36571431159973145, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9548517839032817, + 0.6428563214290401, + -1.0, + 0.7253544123525935, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 285 mm; move right 105 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 810 mm; move right 189 mm; move downward 0 mm; roll downward 30 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 119, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 284 mm; move right 108 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 795 mm; move right 186 mm; move downward 0 mm; roll downward 29 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.0039285714738070965, + 0.0, + -0.017142856493592262, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28392863273620605, + -0.10821428149938583, + 0.0, + -0.36571431159973145, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9548517839032817, + 0.6071420768549383, + -1.0, + 0.7022943566076738, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 284 mm; move right 108 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 795 mm; move right 186 mm; move downward 0 mm; roll downward 29 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 120, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 283 mm; move right 111 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 781 mm; move right 182 mm; move downward 0 mm; roll downward 28 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.004642857238650322, + 0.0, + -0.015714285895228386, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2832143306732178, + -0.11071427911520004, + 0.0, + -0.3628571629524231, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9393371366539665, + 0.5357135411406322, + -1.0, + 0.7253544123525935, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 283 mm; move right 111 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 781 mm; move right 182 mm; move downward 0 mm; roll downward 28 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 121, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 283 mm; move right 112 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 766 mm; move right 177 mm; move downward 0 mm; roll downward 28 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.004642857238650322, + 0.0, + -0.017142856493592262, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2832143008708954, + -0.11214285343885422, + 0.0, + -0.36000001430511475, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9393371366539665, + 0.5357135411406322, + -1.0, + 0.7022943566076738, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 283 mm; move right 112 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 766 mm; move right 177 mm; move downward 0 mm; roll downward 28 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 122, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 283 mm; move right 114 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 752 mm; move right 172 mm; move downward 0 mm; roll downward 27 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.004642857238650322, + 0.0, + -0.017142856493592262, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2832143008708954, + -0.1135714203119278, + 0.0, + -0.35428571701049805, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9548517839032817, + 0.5357135411406322, + -1.0, + 0.7022943566076738, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 283 mm; move right 114 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 752 mm; move right 172 mm; move downward 0 mm; roll downward 27 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 123, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 283 mm; move right 115 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 738 mm; move right 168 mm; move downward 0 mm; roll downward 26 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.0053571430034935474, + 0.0, + -0.015714285895228386, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28285714983940125, + -0.11464285105466843, + 0.0, + -0.3471428453922272, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9393371366539665, + 0.4642850054263259, + -1.0, + 0.7253544123525935, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 283 mm; move right 115 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 738 mm; move right 168 mm; move downward 0 mm; roll downward 26 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 124, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 283 mm; move right 115 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 723 mm; move right 163 mm; move downward 0 mm; roll downward 25 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.0057142856530845165, + 0.0, + -0.015714285895228386, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2832143008708954, + -0.11500000208616257, + 0.0, + -0.3399999737739563, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9393371366539665, + 0.428570760852224, + -1.0, + 0.7253544123525935, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 283 mm; move right 115 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 723 mm; move right 163 mm; move downward 0 mm; roll downward 25 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 125, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 284 mm; move right 115 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 709 mm; move right 157 mm; move downward 0 mm; roll downward 24 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.005000000353902578, + 0.0, + -0.017142856493592262, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28357142210006714, + -0.11535713821649551, + 0.0, + -0.3285714089870453, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9393371366539665, + 0.499999250000428, + -1.0, + 0.7022943566076738, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 284 mm; move right 115 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 709 mm; move right 157 mm; move downward 0 mm; roll downward 24 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 126, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 284 mm; move right 116 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 695 mm; move right 152 mm; move downward 0 mm; roll downward 23 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.0053571430034935474, + 0.0, + -0.019999999552965164, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2839285731315613, + -0.11642856895923615, + 0.0, + -0.3142857253551483, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9393371366539665, + 0.4642850054263259, + -1.0, + 0.6561742150509262, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 284 mm; move right 116 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 695 mm; move right 152 mm; move downward 0 mm; roll downward 23 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 127, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 284 mm; move right 117 mm; move downward 0 mm; roll downward 17 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 680 mm; move right 146 mm; move downward 0 mm; roll downward 22 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.0053571430034935474, + 0.0, + -0.02142857201397419, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2835714519023895, + -0.11714284867048264, + 0.0, + -0.2971428632736206, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9393371366539665, + 0.4642850054263259, + -1.0, + 0.6331141292390983, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 284 mm; move right 117 mm; move downward 0 mm; roll downward 17 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 680 mm; move right 146 mm; move downward 0 mm; roll downward 22 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 128, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 284 mm; move right 117 mm; move downward 0 mm; roll downward 16 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 666 mm; move right 141 mm; move downward 0 mm; roll downward 20 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.0057142856530845165, + 0.0, + -0.02142857201397419, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28392860293388367, + -0.11678570508956909, + 0.0, + -0.2785714566707611, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9393371366539665, + 0.428570760852224, + -1.0, + 0.6331141292390983, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 284 mm; move right 117 mm; move downward 0 mm; roll downward 16 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 666 mm; move right 141 mm; move downward 0 mm; roll downward 20 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 129, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 284 mm; move right 116 mm; move downward 0 mm; roll downward 15 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 652 mm; move right 135 mm; move downward 0 mm; roll downward 19 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.0057142856530845165, + 0.0, + -0.02142857201397419, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2842857539653778, + -0.11571427434682846, + 0.0, + -0.25857144594192505, + 0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9393371366539665, + 0.428570760852224, + -1.0, + 0.6331141292390983, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 284 mm; move right 116 mm; move downward 0 mm; roll downward 15 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 652 mm; move right 135 mm; move downward 0 mm; roll downward 19 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 130, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 284 mm; move right 115 mm; move downward 0 mm; roll downward 14 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 638 mm; move right 130 mm; move downward 0 mm; roll downward 18 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.0053571430034935474, + 0.0, + -0.02142857201397419, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2842857539653778, + -0.11464285850524902, + 0.0, + -0.24000002443790436, + 0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9393371366539665, + 0.4642850054263259, + -1.0, + 0.6331141292390983, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 284 mm; move right 115 mm; move downward 0 mm; roll downward 14 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 638 mm; move right 130 mm; move downward 0 mm; roll downward 18 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 131, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 285 mm; move right 114 mm; move downward 0 mm; roll downward 13 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 623 mm; move right 124 mm; move downward 0 mm; roll downward 17 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.0053571430034935474, + 0.0, + -0.019999999552965164, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28464290499687195, + -0.11357144266366959, + 0.0, + -0.2200000137090683, + 0.00714285671710968, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9393371366539665, + 0.4642850054263259, + -1.0, + 0.6561742150509262, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 285 mm; move right 114 mm; move downward 0 mm; roll downward 13 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 623 mm; move right 124 mm; move downward 0 mm; roll downward 17 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 132, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 285 mm; move right 111 mm; move downward 0 mm; roll downward 12 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 609 mm; move right 119 mm; move downward 0 mm; roll downward 16 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.0057142856530845165, + 0.0, + -0.019999999552965164, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2850000262260437, + -0.11142859607934952, + 0.0, + -0.2014285922050476, + 0.012857142835855484, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9393371366539665, + 0.428570760852224, + -1.0, + 0.6561742150509262, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 285 mm; move right 111 mm; move downward 0 mm; roll downward 12 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 609 mm; move right 119 mm; move downward 0 mm; roll downward 16 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 133, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 285 mm; move right 109 mm; move downward 0 mm; roll downward 10 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 595 mm; move right 113 mm; move downward 0 mm; roll downward 14 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.0057142856530845165, + 0.0, + -0.018571428954601288, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28535714745521545, + -0.10857144743204117, + 0.0, + -0.18142859637737274, + 0.02142857015132904, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9238224084892024, + 0.428570760852224, + -1.0, + 0.6792342707958459, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 285 mm; move right 109 mm; move downward 0 mm; roll downward 10 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 595 mm; move right 113 mm; move downward 0 mm; roll downward 14 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 134, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 286 mm; move right 105 mm; move downward 0 mm; roll downward 9 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 581 mm; move right 108 mm; move downward 0 mm; roll downward 13 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013571429066359997, + -0.0057142856530845165, + 0.0, + -0.018571428954601288, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2864285707473755, + -0.10464288294315338, + 0.0, + -0.16285715997219086, + 0.03285714238882065, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9083077207821628, + 0.428570760852224, + -1.0, + 0.6792342707958459, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 286 mm; move right 105 mm; move downward 0 mm; roll downward 9 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 581 mm; move right 108 mm; move downward 0 mm; roll downward 13 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 135, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 288 mm; move right 100 mm; move downward 0 mm; roll downward 8 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 567 mm; move right 102 mm; move downward 0 mm; roll downward 12 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.0057142856530845165, + 0.0, + -0.017142856493592262, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2882142961025238, + -0.09964286535978317, + 0.0, + -0.14428573846817017, + 0.051428571343421936, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9238224084892024, + 0.428570760852224, + -1.0, + 0.7022943566076738, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 288 mm; move right 100 mm; move downward 0 mm; roll downward 8 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 567 mm; move right 102 mm; move downward 0 mm; roll downward 12 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 136, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 290 mm; move right 95 mm; move downward 0 mm; roll downward 7 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 553 mm; move right 96 mm; move downward 0 mm; roll downward 11 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013571429066359997, + -0.0057142856530845165, + 0.0, + -0.017142856493592262, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2900000214576721, + -0.0950000062584877, + 0.0, + -0.12714284658432007, + 0.0714285671710968, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9083077207821628, + 0.428570760852224, + -1.0, + 0.7022943566076738, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 290 mm; move right 95 mm; move downward 0 mm; roll downward 7 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 553 mm; move right 96 mm; move downward 0 mm; roll downward 11 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 137, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 292 mm; move right 90 mm; move downward 0 mm; roll downward 6 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 540 mm; move right 90 mm; move downward 0 mm; roll downward 10 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.006428571883589029, + 0.0, + -0.017142856493592262, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2921428680419922, + -0.09035714715719223, + 0.0, + -0.10999999940395355, + 0.09285713732242584, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9393371366539665, + 0.35714217857181585, + -1.0, + 0.7022943566076738, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 292 mm; move right 90 mm; move downward 0 mm; roll downward 6 degrees; pitch upward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 540 mm; move right 90 mm; move downward 0 mm; roll downward 10 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 138, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 294 mm; move right 84 mm; move downward 0 mm; roll downward 5 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 525 mm; move right 84 mm; move downward 0 mm; roll downward 9 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.006428571883589029, + 0.0, + -0.015714285895228386, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.29357144236564636, + -0.08392857760190964, + 0.0, + -0.09285715222358704, + 0.11428570747375488, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9238224084892024, + 0.35714217857181585, + -1.0, + 0.7253544123525935, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 294 mm; move right 84 mm; move downward 0 mm; roll downward 5 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 525 mm; move right 84 mm; move downward 0 mm; roll downward 9 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 139, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 295 mm; move right 78 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 511 mm; move right 78 mm; move downward 0 mm; roll downward 9 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.006428571883589029, + 0.0, + -0.014285714365541935, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.29500001668930054, + -0.07750000059604645, + 0.0, + -0.0771428644657135, + 0.13428570330142975, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9238224084892024, + 0.35714217857181585, + -1.0, + 0.7484144831309674, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 295 mm; move right 78 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 511 mm; move right 78 mm; move downward 0 mm; roll downward 9 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 140, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 296 mm; move right 71 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 498 mm; move right 71 mm; move downward 0 mm; roll downward 8 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.006071428768336773, + 0.0, + -0.012857142835855484, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2957143187522888, + -0.07107143104076385, + 0.0, + -0.06285713613033295, + 0.1485714167356491, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9393371366539665, + 0.3928564697120198, + -1.0, + 0.7714745539093413, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 296 mm; move right 71 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 498 mm; move right 71 mm; move downward 0 mm; roll downward 8 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 141, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 296 mm; move right 65 mm; move downward 0 mm; roll downward 3 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 483 mm; move right 65 mm; move downward 0 mm; roll downward 7 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.006071428768336773, + 0.0, + -0.011428571306169033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.29607143998146057, + -0.06499999761581421, + 0.0, + -0.049999989569187164, + 0.16285713016986847, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9393371366539665, + 0.3928564697120198, + -1.0, + 0.794534624687715, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 296 mm; move right 65 mm; move downward 0 mm; roll downward 3 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 483 mm; move right 65 mm; move downward 0 mm; roll downward 7 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 142, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 296 mm; move right 59 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 469 mm; move right 59 mm; move downward 0 mm; roll downward 6 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.0057142856530845165, + 0.0, + -0.009999999776482582, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.29607143998146057, + -0.05892856791615486, + 0.0, + -0.038571424782276154, + 0.17714284360408783, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9393371366539665, + 0.428570760852224, + -1.0, + 0.8175946954660889, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 296 mm; move right 59 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 469 mm; move right 59 mm; move downward 0 mm; roll downward 6 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 143, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 295 mm; move right 53 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 455 mm; move right 53 mm; move downward 0 mm; roll downward 6 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.0057142856530845165, + 0.0, + -0.008571428246796131, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.29500001668930054, + -0.05321428179740906, + 0.0, + -0.02857142686843872, + 0.18571427464485168, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9548517839032817, + 0.428570760852224, + -1.0, + 0.8406547662444626, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 295 mm; move right 53 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 455 mm; move right 53 mm; move downward 0 mm; roll downward 6 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 144, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 293 mm; move right 47 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 440 mm; move right 47 mm; move downward 0 mm; roll downward 5 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.006071428768336773, + 0.0, + -0.004285714123398066, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2932142913341522, + -0.04749999940395355, + 0.0, + -0.019999997690320015, + 0.1914285570383072, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9548517839032817, + 0.3928564697120198, + -1.0, + 0.909834971062857, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 293 mm; move right 47 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 440 mm; move right 47 mm; move downward 0 mm; roll downward 5 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 145, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 291 mm; move right 41 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 425 mm; move right 41 mm; move downward 0 mm; roll downward 5 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.006071428768336773, + 0.0, + -0.0028571428265422583, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2907142639160156, + -0.0414285734295845, + 0.0, + -0.015714285895228386, + 0.1914285570383072, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9548517839032817, + 0.3928564697120198, + -1.0, + 0.9328950380828673, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 291 mm; move right 41 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 425 mm; move right 41 mm; move downward 0 mm; roll downward 5 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 146, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 288 mm; move right 35 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 411 mm; move right 35 mm; move downward 0 mm; roll downward 5 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.006071428768336773, + 0.0, + -0.0028571428265422583, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28785714507102966, + -0.035357143729925156, + 0.0, + -0.017142856493592262, + 0.1914285570383072, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9238224084892024, + 0.3928564697120198, + -1.0, + 0.9328950380828673, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 288 mm; move right 35 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 411 mm; move right 35 mm; move downward 0 mm; roll downward 5 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 147, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 285 mm; move right 29 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 397 mm; move right 29 mm; move downward 0 mm; roll downward 5 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.005000000353902578, + 0.0, + -0.0028571428265422583, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28535714745521545, + -0.029285717755556107, + 0.0, + -0.01857142709195614, + 0.1914285570383072, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9548517839032817, + 0.499999250000428, + -1.0, + 0.9328950380828673, + 0.24497669565968083, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 285 mm; move right 29 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 397 mm; move right 29 mm; move downward 0 mm; roll downward 5 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 148, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 282 mm; move right 24 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 382 mm; move right 24 mm; move downward 0 mm; roll downward 5 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.004642857238650322, + 0.0, + -0.0014285714132711291, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2817856967449188, + -0.02428571693599224, + 0.0, + -0.02142857201397419, + 0.1899999976158142, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9548517839032817, + 0.5357135411406322, + -1.0, + 0.9559551069820593, + 0.24497669565968083, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 282 mm; move right 24 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 382 mm; move right 24 mm; move downward 0 mm; roll downward 5 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 149, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 278 mm; move right 20 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 368 mm; move right 20 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.004642857238650322, + 0.0, + -0.0028571428265422583, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.27821430563926697, + -0.01964285969734192, + 0.0, + -0.025714285671710968, + 0.18857142329216003, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9393371366539665, + 0.5357135411406322, + -1.0, + 0.9328950380828673, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 278 mm; move right 20 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 368 mm; move right 20 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 150, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 274 mm; move right 15 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 353 mm; move right 15 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.004285714589059353, + 0.0, + -0.0014285714132711291, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2735714614391327, + -0.015000002458691597, + 0.0, + -0.027142856270074844, + 0.18857142329216003, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9548517839032817, + 0.5714277857147341, + -1.0, + 0.9559551069820593, + 0.27649509075856193, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 274 mm; move right 15 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 353 mm; move right 15 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 151, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 268 mm; move right 11 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 339 mm; move right 11 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.0032142859417945147, + 0.0, + -0.0014285714132711291, + 0.0057142856530845165, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.26821431517601013, + -0.010714286006987095, + 0.0, + -0.027142856270074844, + 0.1842857003211975, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9548517839032817, + 0.6785705892861933, + -1.0, + 0.9559551069820593, + 0.29225429023434524, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 268 mm; move right 11 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 339 mm; move right 11 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 152, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 263 mm; move right 8 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 324 mm; move right 8 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 199, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.0028571428265422583, + 0.0, + 0.0, + 0.008571428246796131, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2628571689128876, + -0.007500000298023224, + 0.0, + -0.02857142686843872, + 0.178571417927742, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9548517839032817, + 0.7142848804263973, + -1.0, + 0.9790151758812515, + 0.3237726840489976, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 263 mm; move right 8 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 324 mm; move right 8 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 153, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 258 mm; move right 5 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 309 mm; move right 5 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 199, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + -0.0017857144121080637, + 0.0, + 0.0, + 0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.257500022649765, + -0.004642857238650322, + 0.0, + -0.03285714238882065, + 0.17000000178813934, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9703665120680458, + 0.8214276607148054, + -1.0, + 0.9790151758812515, + 0.3552910830005642, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 258 mm; move right 5 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 309 mm; move right 5 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 154, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 253 mm; move right 3 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 294 mm; move right 3 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 199, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + -0.0007142857066355646, + 0.0, + 0.0, + 0.018571428954601288, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2525000274181366, + -0.002857143059372902, + 0.0, + -0.037142857909202576, + 0.15857142210006714, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9858811997750856, + 0.9285704701070272, + -1.0, + 0.9790151758812515, + 0.4340870803794805, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 253 mm; move right 3 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 294 mm; move right 3 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 155, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 247 mm; move right 2 mm; move downward 0 mm; roll downward 3 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 279 mm; move right 2 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015714285895228386, + -0.0010714286472648382, + 0.0, + 0.0, + 0.019999999552965164, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2474999874830246, + -0.0021428572945296764, + 0.0, + -0.044285714626312256, + 0.14000000059604645, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.8928561964291115, + -1.0, + 0.9790151758812515, + 0.4498462695814358, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 247 mm; move right 2 mm; move downward 0 mm; roll downward 3 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 279 mm; move right 2 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 156, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 242 mm; move right 1 mm; move downward 0 mm; roll downward 3 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 263 mm; move right 1 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015714285895228386, + -0.0010714286472648382, + 0.0, + 0.0, + 0.02142857201397419, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2417856901884079, + -0.0010714286472648382, + 0.0, + -0.05285714194178581, + 0.11999999731779099, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.8928561964291115, + -1.0, + 0.9790151758812515, + 0.4656054793310469, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 242 mm; move right 1 mm; move downward 0 mm; roll downward 3 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 263 mm; move right 1 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 157, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 237 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 247 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015714285895228386, + 0.0, + 0.0, + 0.0, + 0.02142857201397419, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23678569495677948, + 0.0, + 0.0, + -0.06142856925725937, + 0.09857142716646194, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.4656054793310469, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 237 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 247 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 158, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 232 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 232 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + 0.0, + 0.0, + 0.0, + 0.019999999552965164, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23178572952747345, + 0.0, + 0.0, + -0.0714285671710968, + 0.0771428570151329, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9858811997750856, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.4498462695814358, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 232 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 232 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 159, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 228 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 216 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 196, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + 0.0, + 0.0, + 0.0, + 0.014285714365541935, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22750000655651093, + 0.0, + 0.0, + -0.07857142388820648, + 0.05714285746216774, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9548517839032817, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.3868094819521306, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 228 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 216 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 160, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 224 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 202 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 196, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + 0.0, + 0.0, + 0.0, + 0.014285714365541935, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22428570687770844, + 0.0, + 0.0, + -0.08571428060531616, + 0.04285714402794838, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9548517839032817, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.3868094819521306, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 224 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 202 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 161, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 222 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 187 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 195, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + 0.0, + 0.0, + 0.0, + 0.014285714365541935, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22178570926189423, + 0.0, + 0.0, + -0.09142856299877167, + 0.02857142873108387, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9393371366539665, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.3868094819521306, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 222 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 187 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 162, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 220 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 173 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 195, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + 0.0, + 0.0, + 0.008571428246796131, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2200000137090683, + 0.0, + 0.0, + -0.09857141971588135, + 0.01428571343421936, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8927929926173988, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.3237726840489976, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 220 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 173 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 163, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 220 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 160 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 195, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + 0.0, + 0.0, + 0.0057142856530845165, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21964287757873535, + 0.0, + 0.0, + -0.1071428507566452, + 0.0057142856530845165, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8772783453680835, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.29225429023434524, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 220 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 160 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 164, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 220 mm; move right 0 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 147 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 194, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21964286267757416, + 0.0, + 0.0, + -0.11428570747375488, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8462489294962796, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 220 mm; move right 0 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 147 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 165, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 221 mm; move right 0 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 135 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 194, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + 0.0, + 0.0, + -0.004285714123398066, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2207142859697342, + 0.0, + 0.0, + -0.11857142299413681, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.83073424178924, + 0.9999990000005705, + -1.0, + 0.909834971062857, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 221 mm; move right 0 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 135 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 166, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 222 mm; move right 0 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 123 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 193, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + 0.0, + -0.004285714123398066, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22214284539222717, + 0.0, + 0.0, + -0.11571428179740906, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.815219513624476, + 0.9999990000005705, + -1.0, + 0.909834971062857, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 222 mm; move right 0 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 123 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 167, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 223 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 111 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 193, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + -0.0057142856530845165, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22285714745521545, + 0.0, + 0.0, + -0.11142856627702713, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7997048259174362, + 0.9999990000005705, + -1.0, + 0.8867749002844831, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 223 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 111 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 168, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 222 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 100 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 193, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + -0.0057142856530845165, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.22178570926189423, + 0.0, + 0.0, + -0.10571428388357162, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7997048259174362, + 0.9999990000005705, + -1.0, + 0.8867749002844831, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 222 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 100 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 169, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 217 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 89 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 193, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + 0.0, + 0.0, + -0.004285714123398066, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21714286506175995, + 0.0, + 0.0, + -0.10000000149011612, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7376460346315532, + 0.9999990000005705, + -1.0, + 0.909834971062857, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 217 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 89 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 170, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 208 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 80 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + 0.0, + 0.0, + -0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2078571617603302, + 0.0, + 0.0, + -0.09571428596973419, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7221313469245136, + 0.9999990000005705, + -1.0, + 0.9559551069820593, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 208 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 80 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 171, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 199 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 70 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + 0.0, + 0.0, + -0.0028571428265422583, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.19857144355773926, + 0.0, + 0.0, + -0.09428571164608002, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7221313469245136, + 0.9999990000005705, + -1.0, + 0.9328950380828673, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 199 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 70 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 172, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 188 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 61 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + 0.0, + 0.0, + -0.004285714123398066, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1882142871618271, + 0.0, + 0.0, + -0.09142857044935226, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7221313469245136, + 0.9999990000005705, + -1.0, + 0.909834971062857, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 188 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 61 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 173, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 169 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + 0.0, + 0.0, + -0.004285714123398066, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1689285784959793, + 0.0, + 0.0, + -0.08714286237955093, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7531607627963173, + 0.9999990000005705, + -1.0, + 0.909834971062857, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 169 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 52 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 174, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 142 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + 0.0, + 0.0, + -0.0071428571827709675, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.14178572595119476, + 0.0, + 0.0, + -0.082857146859169, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7686754505033571, + 0.9999990000005705, + -1.0, + 0.8637148295061094, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 142 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 175, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 107 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 31 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 45 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + 0.0, + 0.0, + -0.008571428246796131, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.10678572952747345, + 0.0, + 0.0, + -0.07571429014205933, + 0.019999999552965164, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7531607627963173, + 0.9999990000005705, + -1.0, + 0.8406547662444626, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 107 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 31 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 176, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 70 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 21 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 45 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + 0.0, + 0.0, + -0.008571428246796131, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.07000001519918442, + 0.0, + 0.0, + -0.06714285910129547, + 0.044285714626312256, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7841901382103966, + 0.9999990000005705, + -1.0, + 0.8406547662444626, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 70 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 21 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 177, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 31 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 45 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + 0.0, + 0.0, + -0.009999999776482582, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.03142858296632767, + 0.0, + 0.0, + -0.058571428060531616, + 0.0771428570151329, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7841901382103966, + 0.9999990000005705, + -1.0, + 0.8175946954660889, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 31 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 178, + "segment_id": 20000, + "subtask": "move away from the microwave", + "reason": "The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is visibly retracting and rotating its joint to pull the end-effector away from the microwave interface, moving towards the lower right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 8 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 44 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + -0.0071428571827709675, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.007857141084969044, + 0.0, + 0.0, + -0.048571426421403885, + 0.11571428179740906, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7997048259174362, + 0.9999990000005705, + -1.0, + 0.8637148295061094, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 8 mm; move right 0 mm; move downward 0 mm; roll downward 3 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 179, + "segment_id": 20179, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 48 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 117 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 44 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + 0.0, + -0.0071428571827709675, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.04821428656578064, + 0.0, + 0.0, + -0.041428569704294205, + 0.1557142734527588, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.815219513624476, + 0.9999990000005705, + -1.0, + 0.8637148295061094, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 48 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 117 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 180, + "segment_id": 20179, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 90 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 106 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 44 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + 0.0, + 0.0, + -0.0057142856530845165, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.08964285999536514, + 0.0, + 0.0, + -0.034285712987184525, + 0.1971428394317627, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8462489294962796, + 0.9999990000005705, + -1.0, + 0.8867749002844831, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 90 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 106 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 181, + "segment_id": 20179, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 132 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 94 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 44 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + 0.0, + -0.0071428571827709675, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.13214285671710968, + 0.0, + 0.0, + -0.02857142686843872, + 0.2442857027053833, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8617636172033194, + 0.9999990000005705, + -1.0, + 0.8637148295061094, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 132 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 94 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 182, + "segment_id": 20179, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 175 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 17 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 81 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 43 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + 0.0, + -0.008571428246796131, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.17499999701976776, + 0.0, + 0.0, + -0.02142857015132904, + 0.29999998211860657, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8772783453680835, + 0.9999990000005705, + -1.0, + 0.8406547662444626, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 175 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 17 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 81 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 183, + "segment_id": 20179, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 219 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 21 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 68 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 43 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + 0.0, + -0.0071428571827709675, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.21857142448425293, + 0.0, + 0.0, + -0.012857142835855484, + 0.35999998450279236, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8772783453680835, + 0.9999990000005705, + -1.0, + 0.8637148295061094, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 219 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 21 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 68 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 184, + "segment_id": 20179, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 262 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 24 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 55 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 43 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + 0.0, + -0.004285714123398066, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2621428668498993, + 0.0, + 0.0, + -0.0057142856530845165, + 0.42571425437927246, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8927929926173988, + 0.9999990000005705, + -1.0, + 0.909834971062857, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 262 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 24 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 55 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 185, + "segment_id": 20179, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 306 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 28 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 42 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 43 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + 0.0, + -0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.30571430921554565, + 0.0, + 0.0, + -0.0014285714132711291, + 0.4957142472267151, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8927929926173988, + 0.9999990000005705, + -1.0, + 0.9559551069820593, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 306 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 28 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 42 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 186, + "segment_id": 20179, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 349 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 32 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 29 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 42 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3489285409450531, + 0.0, + 0.0, + 0.0, + 0.5642856955528259, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8462489294962796, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 349 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 32 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 29 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 187, + "segment_id": 20179, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 391 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 36 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 17 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 42 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3907143175601959, + 0.0, + 0.0, + 0.0014285714132711291, + 0.6328571438789368, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7531607627963173, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 391 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 36 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 17 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 188, + "segment_id": 20179, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 430 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 40 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 42 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006428571883589029, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.43000003695487976, + 0.0, + 0.0, + 0.008571428246796131, + 0.704285740852356, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5980137845816096, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 430 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 40 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 189, + "segment_id": 20179, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 465 mm; move right 0 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 45 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 42 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0003571428533177823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4650000035762787, + 0.0, + 0.0, + 0.018571428954601288, + 0.7785714864730835, + -0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.33426392035230257, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 465 mm; move right 0 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 45 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 190, + "segment_id": 20179, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 494 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 49 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 42 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.49392858147621155, + 0.0, + 0.0, + 0.03142857179045677, + 0.8571429252624512, + -0.02142857015132904, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 494 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 49 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 191, + "segment_id": 20179, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 494 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 49 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 42 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0010714286472648382, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.49392858147621155, + 0.0, + 0.0, + 0.03142857179045677, + 0.8571429252624512, + -0.02142857015132904, + 1.0 + ], + "delta_full_state_norm": [ + 0.27220513033072335, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 1 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 494 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 49 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 192, + "segment_id": 20192, + "subtask": "move away from the microwave", + "reason": "The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 493 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 49 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 316 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 24 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 42 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.010000000707805157, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4928571283817291, + 0.0, + 0.0, + 0.03142857179045677, + 0.8571429252624512, + -0.02142857015132904, + 1.0 + ], + "delta_full_state_norm": [ + -0.11566231520604597, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 10 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 493 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 49 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 316 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 24 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 193, + "segment_id": 20192, + "subtask": "move away from the microwave", + "reason": "The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 483 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 49 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 306 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 24 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 193, + 42 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01714285835623741, + 0.0, + 0.0, + 0.0, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4828571379184723, + 0.0, + 0.0, + 0.03142857179045677, + 0.8571429252624512, + -0.02142857015132904, + 1.0 + ], + "delta_full_state_norm": [ + -0.42595627163546135, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.24497669565968083, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 17 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 483 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 49 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 306 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 24 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 194, + "segment_id": 20192, + "subtask": "move away from the microwave", + "reason": "The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 25 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 466 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 49 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 289 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 24 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 193, + 42 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.024642856791615486, + 0.0, + 0.0, + 0.0, + 0.018571428954601288, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4657142758369446, + 0.0, + 0.0, + 0.03142857179045677, + 0.8557143211364746, + -0.02142857015132904, + 1.0 + ], + "delta_full_state_norm": [ + -0.7517648348564676, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.4340870803794805, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 25 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 466 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 49 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 289 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 24 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 195, + "segment_id": 20192, + "subtask": "move away from the microwave", + "reason": "The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 27 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 441 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 48 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 265 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 23 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 194, + 43 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02678571455180645, + 0.0, + 0.0, + 0.0, + 0.02428571507334709, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.44107142090797424, + 0.0, + 0.0, + 0.03142857179045677, + 0.8371429443359375, + -0.02142857015132904, + 1.0 + ], + "delta_full_state_norm": [ + -0.8448530420141545, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.4971238782826135, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 27 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 441 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 48 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 265 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 23 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 196, + "segment_id": 20192, + "subtask": "move away from the microwave", + "reason": "The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 28 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 414 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 47 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 238 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 22 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 194, + 43 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.027857143431901932, + 0.0, + 0.0, + 0.0, + 0.03285714238882065, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4142857491970062, + 0.0, + 0.0, + 0.03142857179045677, + 0.8128571510314941, + -0.02142857015132904, + 1.0 + ], + "delta_full_state_norm": [ + -0.8913971455929979, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.5916790545896571, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 28 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 414 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 47 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 238 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 22 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 197, + "segment_id": 20192, + "subtask": "move away from the microwave", + "reason": "The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 29 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 386 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 45 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 210 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 20 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 195, + 44 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02857143059372902, + 0.0, + 0.0, + 0.0, + 0.03857142850756645, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3864285945892334, + 0.0, + 0.0, + 0.03142857179045677, + 0.7799999713897705, + -0.02142857015132904, + 1.0 + ], + "delta_full_state_norm": [ + -0.9224266019225261, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.6547158524927901, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 29 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 386 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 45 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 210 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 20 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 198, + "segment_id": 20192, + "subtask": "move away from the microwave", + "reason": "The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 29 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 358 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 42 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 181 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 18 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 196, + 45 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.029285714030265808, + 0.0, + 0.0, + 0.0, + 0.03999999910593033, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.35785719752311707, + 0.0, + 0.0, + 0.03142857179045677, + 0.7414286136627197, + -0.02142857015132904, + 1.0 + ], + "delta_full_state_norm": [ + -0.9534558964211566, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.6704750416947454, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 29 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 358 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 42 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 181 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 18 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 199, + "segment_id": 20192, + "subtask": "move away from the microwave", + "reason": "The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 30 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 329 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 40 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 152 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 45 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.030000001192092896, + 0.0, + 0.0, + 0.0, + 0.041428569704294205, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.32857146859169006, + 0.0, + 0.0, + 0.03142857179045677, + 0.7014285326004028, + -0.02142857015132904, + 1.0 + ], + "delta_full_state_norm": [ + -0.9844853527506847, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.6862342308967004, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 30 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 329 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 40 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 152 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 15 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 200, + "segment_id": 20192, + "subtask": "move away from the microwave", + "reason": "The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 30 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 299 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 38 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 122 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03035714291036129, + 0.0, + 0.0, + 0.0, + 0.04714285582304001, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2985714375972748, + 0.0, + 0.0, + 0.03142857179045677, + 0.6599999666213989, + -0.02142857015132904, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.7492710287998336, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 30 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 299 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 38 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 122 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 13 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 201, + "segment_id": 20192, + "subtask": "move away from the microwave", + "reason": "The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 30 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 268 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 35 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 92 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 199, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03035714291036129, + 0.0, + 0.0, + 0.0, + 0.055714286863803864, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.26821431517601013, + 0.0, + 0.0, + 0.03142857179045677, + 0.6128571033477783, + -0.02142857015132904, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.8438262462021893, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 30 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 268 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 35 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 92 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 202, + "segment_id": 20192, + "subtask": "move away from the microwave", + "reason": "The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 31 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 238 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 32 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 61 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 199, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.030714286491274834, + 0.0, + 0.0, + 0.0, + 0.05999999865889549, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2378571480512619, + 0.0, + 0.0, + 0.03142857179045677, + 0.5571428537368774, + -0.02142857015132904, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.8911038138080549, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 31 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 238 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 32 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 61 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 203, + "segment_id": 20192, + "subtask": "move away from the microwave", + "reason": "The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 31 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 207 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 28 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 31 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.030714286491274834, + 0.0, + 0.0, + 0.0, + 0.0657142847776413, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.20714285969734192, + 0.0, + 0.0, + 0.03142857179045677, + 0.49714285135269165, + -0.02142857015132904, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.9541406117111879, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 31 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 207 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 28 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 31 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 204, + "segment_id": 20192, + "subtask": "move away from the microwave", + "reason": "The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is in a static, retracted pose near the stove, maintaining distance from the microwave and showing no signs of further interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 30 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 176 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 25 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03035714291036129, + 0.0, + 0.0, + 0.0, + 0.07000000029802322, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.17642857134342194, + 0.0, + 0.0, + 0.03142857179045677, + 0.43142858147621155, + -0.02142857015132904, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 1.0, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 30 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 176 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 25 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 205, + "segment_id": 192, + "subtask": "move away from the microwave", + "reason": "The robot's arm is fully retracted and positioned low near the stovetop, having completely cleared the interaction zone of the microwave above.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is fully retracted and positioned low near the stovetop, having completely cleared the interaction zone of the microwave above.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 30 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 146 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 21 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 117 mm; move right 0 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 16 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.030000001192092896, + 0.0, + 0.0, + 0.0, + 0.06857142597436905, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.1460714191198349, + 0.0, + 0.0, + 0.03142857179045677, + 0.3614285886287689, + -0.02142857015132904, + 1.0 + ], + "delta_full_state_norm": [ + -0.9844853527506847, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.9856589901150983, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 30 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 146 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 21 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 117 mm; move right 0 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 16 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 206, + "segment_id": 192, + "subtask": "move away from the microwave", + "reason": "The robot's arm is fully retracted and positioned low near the stovetop, having completely cleared the interaction zone of the microwave above.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is fully retracted and positioned low near the stovetop, having completely cleared the interaction zone of the microwave above.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 30 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 116 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 17 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 87 mm; move right 0 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.029642855748534203, + 0.0, + 0.0, + 0.0014285714132711291, + 0.06857142597436905, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.1160714253783226, + 0.0, + 0.0, + 0.03142857179045677, + 0.2928571403026581, + -0.02142857015132904, + 1.0 + ], + "delta_full_state_norm": [ + -0.9689705436704719, + 0.9999990000005705, + -1.0, + 1.0, + 0.9856589901150983, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 30 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 116 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 17 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 87 mm; move right 0 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 207, + "segment_id": 192, + "subtask": "move away from the microwave", + "reason": "The robot's arm is fully retracted and positioned low near the stovetop, having completely cleared the interaction zone of the microwave above.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is fully retracted and positioned low near the stovetop, having completely cleared the interaction zone of the microwave above.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 29 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 86 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 13 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 58 mm; move right 0 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.029285714030265808, + 0.0, + 0.0, + 0.0071428571827709675, + 0.0714285746216774, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.08642857521772385, + 0.0, + 0.0, + 0.029999999329447746, + 0.22428572177886963, + -0.02142857015132904, + 1.0 + ], + "delta_full_state_norm": [ + -0.9534558964211566, + 0.9999990000005705, + -1.0, + 1.0, + 1.0, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 29 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 86 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 13 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 58 mm; move right 0 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 208, + "segment_id": 192, + "subtask": "move away from the microwave", + "reason": "The robot's arm is fully retracted and positioned low near the stovetop, having completely cleared the interaction zone of the microwave above.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is fully retracted and positioned low near the stovetop, having completely cleared the interaction zone of the microwave above.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 29 mm; move right 0 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 57 mm; move right 0 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 9 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 29 mm; move right 0 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02857143059372902, + 0.0, + 0.0, + 0.009999999776482582, + 0.07428571581840515, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + -0.05714286118745804, + 0.0, + 0.0, + 0.022857142612338066, + 0.15285715460777283, + -0.02142857015132904, + 1.0 + ], + "delta_full_state_norm": [ + -0.9224266019225261, + 0.9999990000005705, + -1.0, + 1.0, + 1.0, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 29 mm; move right 0 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 57 mm; move right 0 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 9 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 29 mm; move right 0 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 209, + "segment_id": 192, + "subtask": "move away from the microwave", + "reason": "The robot's arm is fully retracted and positioned low near the stovetop, having completely cleared the interaction zone of the microwave above.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. reach for the stop button\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is fully retracted and positioned low near the stovetop, having completely cleared the interaction zone of the microwave above.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 29 mm; move right 0 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 5 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.02857143059372902, + 0.0, + 0.0, + 0.012857142835855484, + 0.07857143133878708, + -0.017142856493592262, + 1.0 + ], + "delta_full_state_norm": [ + 0.3187492237951357, + 0.9999990000005705, + -1.0, + 0.9790151758812515, + 0.22921749746812603, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 29 mm; move right 0 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 5 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + } + ], + "all_object_names": [ + "obj_container", + "obj" + ], + "obj_cat": "obj_container", + "distr_cats": [ + "obj" + ], + "grounding_camera": "robot0_agentview_left", + "grounding_method": "self_render_selfconsistent" +} \ No newline at end of file diff --git a/grounding_cot/TurnOffMicrowave/extras/episode_000041/cot_annotations.json b/grounding_cot/TurnOffMicrowave/extras/episode_000041/cot_annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..c937f4a86164ba271d819b0ca651b8706a0b2260 --- /dev/null +++ b/grounding_cot/TurnOffMicrowave/extras/episode_000041/cot_annotations.json @@ -0,0 +1,10794 @@ +{ + "sample_key": "TurnOffMicrowave|41", + "subtask_list": [ + "approach the microwave", + "reach for the stop button", + "press the stop button", + "move away from the microwave" + ], + "segment_labels_raw": { + "1": [ + "approach the microwave", + "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring." + ], + "2": [ + "reach for the stop button", + "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel." + ], + "3": [ + "press the stop button", + "The robot's end-effector is positioned directly against the microwave control panel, indicating physical contact and the execution of a press action." + ], + "4": [ + "move away from the microwave", + "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel." + ], + "5": [ + "press the stop button", + "The robot's end-effector is positioned in direct contact with the microwave control panel, maintaining a static pose consistent with holding down a button." + ], + "6": [ + "move away from the microwave", + "The robot's end-effector, which was previously interacting with the microwave, is retracting upwards and to the right. The arm moves out of the immediate vicinity of the appliance without further contact or manipulation." + ], + "7": [ + "move away from the microwave", + "The robot arm is shown retracting and moving downward, increasing its distance from the microwave located in the upper right of the frame." + ] + }, + "instruction": "press the stop button on the microwave", + "suite": "TurnOffMicrowave", + "num_frames": 223, + "segment_count": 7, + "movement_statistics": { + "mean": [ + 0.001574311433088519, + -0.004630045005540059, + 0.003484945624728474, + -0.02916720044337664, + -0.026681614489996213, + -0.0026649583669822044, + 1.0 + ], + "std": [ + 0.014537811754087382, + 0.0057738188663668455, + 0.006810195834360186, + 0.03318351880453864, + 0.03217117475034406, + 0.005473769301109887, + 0.0 + ], + "Q1": [ + -0.03821428865194321, + -0.018571428954601288, + 0.0, + -0.11588571399450302, + -0.08857142925262451, + -0.018571428954601288, + 1.0 + ], + "Q99": [ + 0.01734285730868578, + 0.0, + 0.023928571492433548, + 0.03540000095963478, + 0.026199999265372757, + 0.0, + 1.0 + ] + }, + "frames": [ + { + "frame_index": 0, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move right 0 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 239 mm; move right 0 mm; move upward 267 mm; roll downward 0 degrees; pitch downward 53 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 421 mm; move right 8 mm; move upward 443 mm; roll downward 0 degrees; pitch downward 90 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 103 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0007142857066355646, + 0.0, + 0.0007142857066355646, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.23928570747375488, + 0.0, + 0.2671428620815277, + 0.0, + -0.9199999570846558, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.34996121730501506, + 0.999998923077525, + -0.940298533211304, + 0.5320112195599911, + 0.5185460592739464, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 1 mm; move right 0 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 239 mm; move right 0 mm; move upward 267 mm; roll downward 0 degrees; pitch downward 53 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 421 mm; move right 8 mm; move upward 443 mm; roll downward 0 degrees; pitch downward 90 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 1, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 0 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 260 mm; move right 0 mm; move upward 287 mm; roll downward 0 degrees; pitch downward 57 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 420 mm; move right 8 mm; move upward 442 mm; roll downward 0 degrees; pitch downward 90 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 103 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.004285714589059353, + 0.0, + 0.005000000353902578, + 0.0, + -0.014285714365541935, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.260357141494751, + 0.0, + 0.28678572177886963, + 0.0, + -0.9928572177886963, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.22139348122598657, + 0.999998923077525, + -0.5820896984233164, + 0.5320112195599911, + 0.2944982801698328, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 4 mm; move right 0 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 260 mm; move right 0 mm; move upward 287 mm; roll downward 0 degrees; pitch downward 57 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 420 mm; move right 8 mm; move upward 442 mm; roll downward 0 degrees; pitch downward 90 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 2, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 0 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 278 mm; move right 0 mm; move upward 302 mm; roll downward 0 degrees; pitch downward 60 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 416 mm; move right 8 mm; move upward 437 mm; roll downward 0 degrees; pitch downward 89 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 103 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006071428768336773, + 0.0, + 0.007857142947614193, + 0.0, + -0.022857142612338066, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.27821430563926697, + 0.0, + 0.3024999797344208, + 0.0, + -1.0528571605682373, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.15710962261584172, + 0.999998923077525, + -0.3432838507289955, + 0.5320112195599911, + 0.1451331008625778, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 6 mm; move right 0 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 278 mm; move right 0 mm; move upward 302 mm; roll downward 0 degrees; pitch downward 60 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 416 mm; move right 8 mm; move upward 437 mm; roll downward 0 degrees; pitch downward 89 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 3, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 0 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 295 mm; move right 0 mm; move upward 316 mm; roll downward 0 degrees; pitch downward 63 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 410 mm; move right 8 mm; move upward 429 mm; roll downward 0 degrees; pitch downward 87 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 103 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0057142856530845165, + 0.0, + 0.008214286528527737, + 0.0, + -0.019999999552965164, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2946428656578064, + 0.0, + 0.3157142996788025, + 0.0, + -1.1071429252624512, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.16996640439586463, + 0.999998923077525, + -0.31343305652069897, + 0.5320112195599911, + 0.19492149937471925, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 6 mm; move right 0 mm; move upward 8 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 295 mm; move right 0 mm; move upward 316 mm; roll downward 0 degrees; pitch downward 63 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 410 mm; move right 8 mm; move upward 429 mm; roll downward 0 degrees; pitch downward 87 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 4, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 312 mm; move right 0 mm; move upward 329 mm; roll downward 0 degrees; pitch downward 67 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 404 mm; move right 8 mm; move upward 421 mm; roll downward 0 degrees; pitch downward 86 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 103 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006428571883589029, + 0.0, + 0.010714286006987095, + 0.0, + -0.02857142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.31214284896850586, + 0.0, + 0.32928571105003357, + 0.0, + -1.1685713529586792, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.14425284083581857, + 0.999998923077525, + -0.10447796411374766, + 0.5320112195599911, + 0.045556303838294454, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 6 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 312 mm; move right 0 mm; move upward 329 mm; roll downward 0 degrees; pitch downward 67 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 404 mm; move right 8 mm; move upward 421 mm; roll downward 0 degrees; pitch downward 86 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 5, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 0 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 329 mm; move right 0 mm; move upward 341 mm; roll downward 0 degrees; pitch downward 70 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 398 mm; move right 8 mm; move upward 410 mm; roll downward 0 degrees; pitch downward 85 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007500000298023224, + 0.0, + 0.012500000186264515, + 0.0, + -0.034285712987184525, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.32892856001853943, + -0.0003571428533177823, + 0.3407142758369446, + 0.0, + -1.2214285135269165, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.10568252902239639, + 0.999998923077525, + 0.044775695560318685, + 0.5320112195599911, + -0.05402046072764932, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 8 mm; move right 0 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 329 mm; move right 0 mm; move upward 341 mm; roll downward 0 degrees; pitch downward 70 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 398 mm; move right 8 mm; move upward 410 mm; roll downward 0 degrees; pitch downward 85 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 6, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 0 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 345 mm; move right 2 mm; move upward 351 mm; roll downward 0 degrees; pitch downward 73 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 390 mm; move right 8 mm; move upward 398 mm; roll downward 0 degrees; pitch downward 83 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008571429178118706, + 0.0, + 0.012500000186264515, + 0.0, + -0.03857142850756645, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.34464287757873535, + -0.0017857144121080637, + 0.3507142663002014, + 0.0, + -1.2699999809265137, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.0671122004456508, + 0.999998923077525, + 0.044775695560318685, + 0.5320112195599911, + -0.12870307472503129, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 9 mm; move right 0 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 345 mm; move right 2 mm; move upward 351 mm; roll downward 0 degrees; pitch downward 73 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 390 mm; move right 8 mm; move upward 398 mm; roll downward 0 degrees; pitch downward 83 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 7, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 359 mm; move right 4 mm; move upward 361 mm; roll downward 0 degrees; pitch downward 76 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 381 mm; move right 8 mm; move upward 385 mm; roll downward 0 degrees; pitch downward 80 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 155, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008571429178118706, + 0.0, + 0.013571429066359997, + 0.0, + -0.03999999910593033, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3589285910129547, + -0.004285714589059353, + 0.36142855882644653, + 0.0, + -1.3185713291168213, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.0671122004456508, + 0.999998923077525, + 0.13432792250150016, + 0.5320112195599911, + -0.15359725775193245, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 9 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 359 mm; move right 4 mm; move upward 361 mm; roll downward 0 degrees; pitch downward 76 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 381 mm; move right 8 mm; move upward 385 mm; roll downward 0 degrees; pitch downward 80 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 8, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 373 mm; move right 8 mm; move upward 372 mm; roll downward 0 degrees; pitch downward 78 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 373 mm; move right 8 mm; move upward 372 mm; roll downward 0 degrees; pitch downward 78 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 155, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.010357143357396126, + 0.0, + 0.014642857015132904, + 0.0, + -0.044285714626312256, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3728571832180023, + -0.007500000298023224, + 0.3717857003211975, + 0.0, + -1.3642857074737549, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.002828341835505954, + 0.999998923077525, + 0.22388007160082757, + 0.5320112195599911, + -0.22827987174931452, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 10 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 373 mm; move right 8 mm; move upward 372 mm; roll downward 0 degrees; pitch downward 78 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 373 mm; move right 8 mm; move upward 372 mm; roll downward 0 degrees; pitch downward 78 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 9, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 385 mm; move right 12 mm; move upward 381 mm; roll downward 0 degrees; pitch downward 81 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 363 mm; move right 8 mm; move upward 357 mm; roll downward 0 degrees; pitch downward 76 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 155, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011428571306169033, + 0.0, + 0.014642857015132904, + 0.0, + -0.04714285582304001, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3850000202655792, + -0.011785714887082577, + 0.3814285695552826, + 0.0, + -1.408571481704712, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.03574195321459295, + 0.999998923077525, + 0.22388007160082757, + 0.5320112195599911, + -0.27806823780311674, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 385 mm; move right 12 mm; move upward 381 mm; roll downward 0 degrees; pitch downward 81 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 363 mm; move right 8 mm; move upward 357 mm; roll downward 0 degrees; pitch downward 76 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 10, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 395 mm; move right 17 mm; move upward 391 mm; roll downward 0 degrees; pitch downward 83 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 351 mm; move right 8 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 73 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 156, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012142857536673546, + 0.0, + 0.015000000596046448, + 0.0, + -0.04857143014669418, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.39499998092651367, + -0.016785714775323868, + 0.3910714387893677, + 0.0, + -1.4500001668930054, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.06145551677463901, + 0.999998923077525, + 0.25373086580912396, + 0.5320112195599911, + -0.3029624857466965, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 12 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 395 mm; move right 17 mm; move upward 391 mm; roll downward 0 degrees; pitch downward 83 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 351 mm; move right 8 mm; move upward 343 mm; roll downward 0 degrees; pitch downward 73 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 11, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 404 mm; move right 23 mm; move upward 400 mm; roll downward 0 degrees; pitch downward 85 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 339 mm; move right 8 mm; move upward 327 mm; roll downward 0 degrees; pitch downward 70 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 156, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013214285485446453, + 0.0, + 0.016785714775323868, + 0.0, + -0.05714285746216774, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.40392857789993286, + -0.022857142612338066, + 0.4000000059604645, + 0.0, + -1.4914287328720093, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.1000258118247378, + 0.999998923077525, + 0.4029845254831903, + 0.5320112195599911, + -0.45232764882478194, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 404 mm; move right 23 mm; move upward 400 mm; roll downward 0 degrees; pitch downward 85 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 339 mm; move right 8 mm; move upward 327 mm; roll downward 0 degrees; pitch downward 70 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 12, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 411 mm; move right 31 mm; move upward 407 mm; roll downward 0 degrees; pitch downward 87 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 326 mm; move right 8 mm; move upward 311 mm; roll downward 0 degrees; pitch downward 67 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 156, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.015357143245637417, + 0.0, + 0.01607142947614193, + 0.0, + -0.058571428060531616, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4107142388820648, + -0.031071430072188377, + 0.4067857265472412, + 0.0, + -1.5242857933044434, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.17716646897822907, + 0.999998923077525, + 0.34328309275030544, + 0.5320112195599911, + -0.4772218318516831, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 15 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 411 mm; move right 31 mm; move upward 407 mm; roll downward 0 degrees; pitch downward 87 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 326 mm; move right 8 mm; move upward 311 mm; roll downward 0 degrees; pitch downward 67 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 13, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 414 mm; move right 40 mm; move upward 413 mm; roll downward 0 degrees; pitch downward 89 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 310 mm; move right 8 mm; move upward 295 mm; roll downward 0 degrees; pitch downward 64 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.015714285895228386, + 0.0, + 0.015714285895228386, + 0.0, + -0.058571428060531616, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.41428571939468384, + -0.03964285925030708, + 0.41285714507102966, + 0.0, + -1.5514287948608398, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.1900232339949287, + 0.999998923077525, + 0.31343229854200905, + 0.5320112195599911, + -0.4772218318516831, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 414 mm; move right 40 mm; move upward 413 mm; roll downward 0 degrees; pitch downward 89 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 310 mm; move right 8 mm; move upward 295 mm; roll downward 0 degrees; pitch downward 64 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 14, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 417 mm; move right 48 mm; move upward 419 mm; roll downward 0 degrees; pitch downward 90 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 295 mm; move right 8 mm; move upward 279 mm; roll downward 0 degrees; pitch downward 60 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 98 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.016428573057055473, + 0.0, + 0.015357143245637417, + 0.0, + -0.06142857298254967, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4171428680419922, + -0.04821428656578064, + 0.4189285933971405, + 0.0, + -1.5771430730819702, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.21573683108162156, + 0.999998923077525, + 0.2835815821755665, + 0.5320112195599911, + -0.527010262822164, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 417 mm; move right 48 mm; move upward 419 mm; roll downward 0 degrees; pitch downward 90 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 295 mm; move right 8 mm; move upward 279 mm; roll downward 0 degrees; pitch downward 60 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 15, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 18 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 419 mm; move right 57 mm; move upward 424 mm; roll downward 0 degrees; pitch downward 92 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 278 mm; move right 8 mm; move upward 264 mm; roll downward 0 degrees; pitch downward 57 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 158, + 98 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.017500000074505806, + 0.0, + 0.015357143245637417, + 0.0, + -0.06428571790456772, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4189285933971405, + -0.05714286118745804, + 0.42428573966026306, + 0.0, + -1.600000262260437, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.25430709260507356, + 0.999998923077525, + 0.2835815821755665, + 0.5320112195599911, + -0.5767986937926449, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 18 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 419 mm; move right 57 mm; move upward 424 mm; roll downward 0 degrees; pitch downward 92 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 278 mm; move right 8 mm; move upward 264 mm; roll downward 0 degrees; pitch downward 57 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 16, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 19 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 419 mm; move right 67 mm; move upward 427 mm; roll downward 0 degrees; pitch downward 93 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 261 mm; move right 8 mm; move upward 248 mm; roll downward 0 degrees; pitch downward 53 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 158, + 97 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.018928570672869682, + 0.0, + 0.01714285835623741, + 0.0, + -0.06714285910129547, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.41928568482398987, + -0.06714286655187607, + 0.427142858505249, + 0.0, + -1.6157145500183105, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.3057341526718719, + 0.999998923077525, + 0.4328353196914869, + 0.5320112195599911, + -0.6265870598464471, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 19 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 419 mm; move right 67 mm; move upward 427 mm; roll downward 0 degrees; pitch downward 93 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 261 mm; move right 8 mm; move upward 248 mm; roll downward 0 degrees; pitch downward 53 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 17, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 417 mm; move right 78 mm; move upward 427 mm; roll downward 0 degrees; pitch downward 93 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 242 mm; move right 8 mm; move upward 231 mm; roll downward 0 degrees; pitch downward 49 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 159, + 97 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01964285783469677, + 0.0, + 0.017500000074505806, + 0.0, + -0.06857142597436905, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.41749998927116394, + -0.07750000804662704, + 0.427142858505249, + 0.0, + -1.6257145404815674, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.33144774975856484, + 0.999998923077525, + 0.4626859582160754, + 0.5320112195599911, + -0.6514811779566696, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 20 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 417 mm; move right 78 mm; move upward 427 mm; roll downward 0 degrees; pitch downward 93 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 242 mm; move right 8 mm; move upward 231 mm; roll downward 0 degrees; pitch downward 49 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 18, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 414 mm; move right 89 mm; move upward 425 mm; roll downward 0 degrees; pitch downward 93 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 222 mm; move right 8 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 45 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 159, + 96 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.020000001415610313, + 0.0, + 0.018214285373687744, + 0.0, + -0.07000000029802322, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.41357141733169556, + -0.08857142925262451, + 0.42500004172325134, + 0.0, + -1.630000114440918, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.34430454830191126, + 0.999998923077525, + 0.5223873909489603, + 0.5320112195599911, + -0.6763754259002495, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 20 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 414 mm; move right 89 mm; move upward 425 mm; roll downward 0 degrees; pitch downward 93 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 222 mm; move right 8 mm; move upward 214 mm; roll downward 0 degrees; pitch downward 45 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 19, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 407 mm; move right 101 mm; move upward 417 mm; roll downward 0 degrees; pitch downward 93 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 202 mm; move right 8 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 160, + 96 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02071428671479225, + 0.0, + 0.01964285783469677, + 0.0, + -0.07428571581840515, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.4067857265472412, + -0.10107143223285675, + 0.4171428680419922, + 0.0, + -1.6185716390609741, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.37001807833531053, + 0.999998923077525, + 0.6417904120984381, + 0.5320112195599911, + -0.7510580398976314, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 21 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 407 mm; move right 101 mm; move upward 417 mm; roll downward 0 degrees; pitch downward 93 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 202 mm; move right 8 mm; move upward 195 mm; roll downward 0 degrees; pitch downward 41 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 20, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 395 mm; move right 116 mm; move upward 402 mm; roll downward 0 degrees; pitch downward 91 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 181 mm; move right 8 mm; move upward 176 mm; roll downward 0 degrees; pitch downward 37 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 161, + 96 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.021785713732242584, + 0.0, + 0.020357143133878708, + 0.0, + -0.07428571581840515, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.39499998092651367, + -0.11571428924798965, + 0.40214282274246216, + 0.0, + -1.588571548461914, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.4085883398587624, + 0.999998923077525, + 0.7014918448313232, + 0.5320112195599911, + -0.7510580398976314, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 0 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 395 mm; move right 116 mm; move upward 402 mm; roll downward 0 degrees; pitch downward 91 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 181 mm; move right 8 mm; move upward 176 mm; roll downward 0 degrees; pitch downward 37 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 21, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 0 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 380 mm; move right 132 mm; move upward 385 mm; roll downward 0 degrees; pitch downward 89 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 160 mm; move right 8 mm; move upward 155 mm; roll downward 0 degrees; pitch downward 33 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 161, + 95 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.022142857313156128, + 0.0, + 0.02071428671479225, + 0.0, + -0.07428571581840515, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.38035714626312256, + -0.13214285671710968, + 0.385357141494751, + 0.0, + -1.5585715770721436, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.42144513840210884, + 0.999998923077525, + 0.7313426390396196, + 0.5320112195599911, + -0.7510580398976314, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 0 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 380 mm; move right 132 mm; move upward 385 mm; roll downward 0 degrees; pitch downward 89 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 160 mm; move right 8 mm; move upward 155 mm; roll downward 0 degrees; pitch downward 33 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 22, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 0 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 365 mm; move right 149 mm; move upward 368 mm; roll downward 0 degrees; pitch downward 88 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 138 mm; move right 8 mm; move upward 135 mm; roll downward 0 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 162, + 95 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.022499999031424522, + 0.0, + 0.021071428433060646, + 0.0, + -0.0771428570151329, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.36500000953674316, + -0.1485714167356491, + 0.3675000071525574, + 0.0, + -1.5314286947250366, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.4343018698921616, + 0.999998923077525, + 0.7611932775642081, + 0.5320112195599911, + -0.8008464059514336, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 0 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 365 mm; move right 149 mm; move upward 368 mm; roll downward 0 degrees; pitch downward 88 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 138 mm; move right 8 mm; move upward 135 mm; roll downward 0 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 23, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 23 mm; move right 0 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 348 mm; move right 166 mm; move upward 348 mm; roll downward 0 degrees; pitch downward 86 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 115 mm; move right 8 mm; move upward 114 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 163, + 94 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02321428619325161, + 0.0, + 0.021785713732242584, + 0.0, + -0.08142857253551483, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.34785711765289307, + -0.1664285659790039, + 0.34785714745521545, + 0.0, + -1.5, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.46001546697885454, + 0.999998923077525, + 0.8208947102970929, + 0.5320112195599911, + -0.8755290199488157, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 23 mm; move right 0 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 348 mm; move right 166 mm; move upward 348 mm; roll downward 0 degrees; pitch downward 86 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 115 mm; move right 8 mm; move upward 114 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 24, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 23 mm; move right 0 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 329 mm; move right 185 mm; move upward 327 mm; roll downward 0 degrees; pitch downward 84 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 92 mm; move right 8 mm; move upward 92 mm; roll downward 0 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 164, + 94 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02321428619325161, + -0.0003571428533177823, + 0.022142857313156128, + 0.0, + -0.08142857253551483, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3285714387893677, + -0.18464285135269165, + 0.32678574323654175, + 0.0, + -1.4642857313156128, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.46001546697885454, + 0.9615374065315176, + 0.8507455045053895, + 0.5320112195599911, + -0.8755290199488157, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 23 mm; move right 0 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 329 mm; move right 185 mm; move upward 327 mm; roll downward 0 degrees; pitch downward 84 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 92 mm; move right 8 mm; move upward 92 mm; roll downward 0 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 25, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 23 mm; move right 1 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 308 mm; move right 203 mm; move upward 305 mm; roll downward 0 degrees; pitch downward 82 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 69 mm; move right 7 mm; move upward 70 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 165, + 93 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02321428619325161, + -0.0014285714132711291, + 0.022499999031424522, + 0.0, + -0.08285713940858841, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3082142770290375, + -0.20285716652870178, + 0.3053571879863739, + 0.0, + -1.4285714626312256, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.46001546697885454, + 0.8461528568934953, + 0.8805961430299778, + 0.5320112195599911, + -0.9004231380590382, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 23 mm; move right 1 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 308 mm; move right 203 mm; move upward 305 mm; roll downward 0 degrees; pitch downward 82 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 69 mm; move right 7 mm; move upward 70 mm; roll downward 0 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 26, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 23 mm; move right 3 mm; move upward 23 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 287 mm; move right 220 mm; move upward 283 mm; roll downward 0 degrees; pitch downward 80 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 45 mm; move right 6 mm; move upward 47 mm; roll downward 0 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 166, + 92 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.022857142612338066, + -0.002500000176951289, + 0.02321428619325161, + 0.0, + -0.08714285492897034, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2874999940395355, + -0.2200000137090683, + 0.2832143008708954, + 0.0, + -1.3914285898208618, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.4471586684355081, + 0.7307682853156745, + 0.940297731446571, + 0.5320112195599911, + -0.9751057520564201, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 23 mm; move right 3 mm; move upward 23 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 287 mm; move right 220 mm; move upward 283 mm; roll downward 0 degrees; pitch downward 80 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 45 mm; move right 6 mm; move upward 47 mm; roll downward 0 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 27, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 3 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 266 mm; move right 236 mm; move upward 260 mm; roll downward 0 degrees; pitch downward 78 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 22 mm; move right 3 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 167, + 92 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.022499999031424522, + -0.0032142859417945147, + 0.023928571492433548, + 0.0, + -0.08571428805589676, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.26571428775787354, + -0.2360714226961136, + 0.2600000500679016, + 0.0, + -1.3542855978012085, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.4343018698921616, + 0.6538452459551458, + 0.9999991641794559, + 0.5320112195599911, + -0.9502116339461978, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 3 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 266 mm; move right 236 mm; move upward 260 mm; roll downward 0 degrees; pitch downward 78 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 22 mm; move right 3 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 28, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is positioned near the microwave and exhibits slight movements consistent with navigating to or aligning with the target object, without any direct contact or manipulation occurring.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 4 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 243 mm; move right 252 mm; move upward 236 mm; roll downward 0 degrees; pitch downward 75 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 168, + 91 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.022499999031424522, + -0.004285714589059353, + 0.02428571507334709, + 0.0, + -0.08857142925262451, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.24321424961090088, + -0.2517857253551483, + 0.23607145249843597, + 0.0, + -1.3157141208648682, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.4343018698921616, + 0.5384606869143529, + 1.0, + 0.5320112195599911, + -1.0, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 4 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 243 mm; move right 252 mm; move upward 236 mm; roll downward 0 degrees; pitch downward 75 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 29, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 5 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 221 mm; move right 266 mm; move upward 212 mm; roll downward 0 degrees; pitch downward 73 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 113 mm; move right 657 mm; move upward 283 mm; roll downward 82 degrees; pitch downward 214 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 169, + 91 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02142857201397419, + -0.005000000353902578, + 0.02428571507334709, + 0.0, + -0.08857142925262451, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.22071431577205658, + -0.2660714387893677, + 0.2117857187986374, + 0.0, + -1.2742855548858643, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.3957316083687097, + 0.4615376475538242, + 1.0, + 0.5320112195599911, + -1.0, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 21 mm; move right 5 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 221 mm; move right 266 mm; move upward 212 mm; roll downward 0 degrees; pitch downward 73 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 113 mm; move right 657 mm; move upward 283 mm; roll downward 82 degrees; pitch downward 214 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 30, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 6 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 199 mm; move right 280 mm; move upward 187 mm; roll downward 0 degrees; pitch downward 71 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 92 mm; move right 652 mm; move upward 258 mm; roll downward 82 degrees; pitch downward 209 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 170, + 90 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.021071428433060646, + -0.006071428768336773, + 0.023928571492433548, + 0.0, + -0.09000000357627869, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.19928573071956635, + -0.27964285016059875, + 0.1874999850988388, + 0.0, + -1.2328569889068604, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.38287480982536326, + 0.34615311358708634, + 0.9999991641794559, + 0.5320112195599911, + -1.0, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 21 mm; move right 6 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 199 mm; move right 280 mm; move upward 187 mm; roll downward 0 degrees; pitch downward 71 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 92 mm; move right 652 mm; move upward 258 mm; roll downward 82 degrees; pitch downward 209 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 31, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 8 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 178 mm; move right 292 mm; move upward 164 mm; roll downward 0 degrees; pitch downward 68 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 71 mm; move right 646 mm; move upward 234 mm; roll downward 82 degrees; pitch downward 204 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 171, + 89 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.020000001415610313, + -0.008214286528527737, + 0.023571429774165154, + 0.0, + -0.09000000357627869, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.17821429669857025, + -0.29178571701049805, + 0.16357144713401794, + 0.0, + -1.1928569078445435, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.34430454830191126, + 0.11538394535738972, + 0.9701485256548674, + 0.5320112195599911, + -1.0, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 20 mm; move right 8 mm; move upward 24 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 178 mm; move right 292 mm; move upward 164 mm; roll downward 0 degrees; pitch downward 68 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 71 mm; move right 646 mm; move upward 234 mm; roll downward 82 degrees; pitch downward 204 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 32, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 19 mm; move right 9 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 158 mm; move right 301 mm; move upward 140 mm; roll downward 0 degrees; pitch downward 66 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 51 mm; move right 638 mm; move upward 211 mm; roll downward 82 degrees; pitch downward 198 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 173, + 88 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.018928570672869682, + -0.008571429178118706, + 0.022142857313156128, + 0.0, + -0.08571428805589676, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.15821430087089539, + -0.30142858624458313, + 0.14000000059604645, + 0.0, + -1.1528569459915161, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.3057341526718719, + 0.07692245075118054, + 0.8507455045053895, + 0.5320112195599911, + -0.9502116339461978, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 19 mm; move right 9 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 158 mm; move right 301 mm; move upward 140 mm; roll downward 0 degrees; pitch downward 66 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 51 mm; move right 638 mm; move upward 211 mm; roll downward 82 degrees; pitch downward 198 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 33, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 19 mm; move right 9 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 139 mm; move right 311 mm; move upward 118 mm; roll downward 0 degrees; pitch downward 64 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 32 mm; move right 629 mm; move upward 189 mm; roll downward 82 degrees; pitch downward 194 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 174, + 87 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.018571428954601288, + -0.008571429178118706, + 0.021785713732242584, + 0.0, + -0.08428571373224258, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.13928572833538055, + -0.3107143044471741, + 0.11821428686380386, + 0.0, + -1.1185712814331055, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.29287742118181914, + 0.07692245075118054, + 0.8208947102970929, + 0.5320112195599911, + -0.9253173860026179, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 19 mm; move right 9 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 139 mm; move right 311 mm; move upward 118 mm; roll downward 0 degrees; pitch downward 64 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 32 mm; move right 629 mm; move upward 189 mm; roll downward 82 degrees; pitch downward 194 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 34, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 18 mm; move right 9 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 121 mm; move right 320 mm; move upward 97 mm; roll downward 0 degrees; pitch downward 62 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 13 mm; move right 621 mm; move upward 167 mm; roll downward 82 degrees; pitch downward 189 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 175, + 86 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.018214285373687744, + -0.008928571827709675, + 0.02071428671479225, + 0.0, + -0.08428571373224258, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.12071429938077927, + -0.3196428716182709, + 0.09678571671247482, + 0.0, + -1.087142825126648, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.2800206226384727, + 0.03846095614497158, + 0.7313426390396196, + 0.5320112195599911, + -0.9253173860026179, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 18 mm; move right 9 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 121 mm; move right 320 mm; move upward 97 mm; roll downward 0 degrees; pitch downward 62 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 13 mm; move right 621 mm; move upward 167 mm; roll downward 82 degrees; pitch downward 189 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 35, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 18 mm; move right 10 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 103 mm; move right 328 mm; move upward 76 mm; roll downward 0 degrees; pitch downward 60 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 5 mm; move right 612 mm; move upward 146 mm; roll downward 82 degrees; pitch downward 184 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 177, + 86 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01785714365541935, + -0.010000000707805157, + 0.018214285373687744, + 0.0, + -0.07999999821186066, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.10250001400709152, + -0.3278571367263794, + 0.07642857730388641, + 0.0, + -1.0557142496109009, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.26716389114842, + -0.07692362796987684, + 0.5223873909489603, + 0.5320112195599911, + -0.8506347720052359, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 18 mm; move right 10 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 103 mm; move right 328 mm; move upward 76 mm; roll downward 0 degrees; pitch downward 60 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 5 mm; move right 612 mm; move upward 146 mm; roll downward 82 degrees; pitch downward 184 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 36, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 10 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 85 mm; move right 334 mm; move upward 59 mm; roll downward 0 degrees; pitch downward 59 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 23 mm; move right 602 mm; move upward 128 mm; roll downward 82 degrees; pitch downward 179 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 178, + 85 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01714285835623741, + -0.010357143357396126, + 0.01714285835623741, + 0.0, + -0.0771428570151329, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.08464285731315613, + -0.33392858505249023, + 0.059285718947649, + 0.0, + -1.0314286947250366, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.24145036111502083, + -0.1153851225760858, + 0.4328353196914869, + 0.5320112195599911, + -0.8008464059514336, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 17 mm; move right 10 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 85 mm; move right 334 mm; move upward 59 mm; roll downward 0 degrees; pitch downward 59 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 23 mm; move right 602 mm; move upward 128 mm; roll downward 82 degrees; pitch downward 179 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 37, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 11 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 68 mm; move right 340 mm; move upward 44 mm; roll downward 0 degrees; pitch downward 58 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 40 mm; move right 591 mm; move upward 111 mm; roll downward 82 degrees; pitch downward 175 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 180, + 84 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.015714285895228386, + -0.011071428656578064, + 0.015357143245637417, + 0.0, + -0.07285714149475098, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.06750000268220901, + -0.3403571546077728, + 0.04357142746448517, + 0.0, + -1.01285719871521, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.1900232339949287, + -0.19230811178850393, + 0.2835815821755665, + 0.5320112195599911, + -0.7261637919540516, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 11 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 68 mm; move right 340 mm; move upward 44 mm; roll downward 0 degrees; pitch downward 58 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 40 mm; move right 591 mm; move upward 111 mm; roll downward 82 degrees; pitch downward 175 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 38, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 13 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 52 mm; move right 346 mm; move upward 30 mm; roll downward 0 degrees; pitch downward 57 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 56 mm; move right 580 mm; move upward 95 mm; roll downward 82 degrees; pitch downward 171 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 181, + 84 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013214285485446453, + -0.012500000186264515, + 0.010357143357396126, + 0.0, + -0.058571428060531616, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.05178571492433548, + -0.3457143008708954, + 0.029642855748534203, + 0.0, + -1.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.1000258118247378, + -0.3461541905095613, + -0.1343286804801902, + 0.5320112195599911, + -0.4772218318516831, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 13 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 52 mm; move right 346 mm; move upward 30 mm; roll downward 0 degrees; pitch downward 57 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 56 mm; move right 580 mm; move upward 95 mm; roll downward 82 degrees; pitch downward 171 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 39, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 15 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 39 mm; move right 349 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 57 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 69 mm; move right 568 mm; move upward 85 mm; roll downward 82 degrees; pitch downward 167 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 183, + 83 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008928571827709675, + -0.014642857015132904, + 0.004642857238650322, + 0.0, + -0.044285714626312256, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.03857143223285675, + -0.34857141971588135, + 0.021428575739264488, + 0.0, + -1.0028573274612427, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.05425543542895106, + -0.5769232584430368, + -0.6119404537106858, + 0.5320112195599911, + -0.22827987174931452, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 9 mm; move right 15 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 39 mm; move right 349 mm; move upward 21 mm; roll downward 0 degrees; pitch downward 57 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 69 mm; move right 568 mm; move upward 85 mm; roll downward 82 degrees; pitch downward 167 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 40, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 16 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 30 mm; move right 350 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 59 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 78 mm; move right 553 mm; move upward 80 mm; roll downward 82 degrees; pitch downward 165 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 184, + 83 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007142857648432255, + -0.016428573057055473, + 0.0035714288242161274, + 0.0, + -0.044285714626312256, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.0296428594738245, + -0.34964287281036377, + 0.020357143133878708, + 0.0, + -1.0242857933044434, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.11853929403909591, + -0.7692310323627457, + -0.7014926417309402, + 0.5320112195599911, + -0.22827987174931452, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 7 mm; move right 16 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 30 mm; move right 350 mm; move upward 20 mm; roll downward 0 degrees; pitch downward 59 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 78 mm; move right 553 mm; move upward 80 mm; roll downward 82 degrees; pitch downward 165 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 41, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 16 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 23 mm; move right 348 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 60 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 85 mm; move right 537 mm; move upward 77 mm; roll downward 82 degrees; pitch downward 162 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 186, + 83 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006785714533179998, + -0.016428573057055473, + 0.0028571428265422583, + 0.0, + -0.04714285582304001, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.02250000275671482, + -0.34785714745521545, + 0.021785713732242584, + 0.0, + -1.0528571605682373, + -0.0014285714132711291, + 1.0 + ], + "delta_full_state_norm": [ + 0.13139607581911905, + -0.7692310323627457, + -0.7611941328452156, + 0.5320112195599911, + -0.27806823780311674, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 7 mm; move right 16 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 23 mm; move right 348 mm; move upward 22 mm; roll downward 0 degrees; pitch downward 60 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 85 mm; move right 537 mm; move upward 77 mm; roll downward 82 degrees; pitch downward 162 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 42, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 18 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 16 mm; move right 346 mm; move upward 25 mm; roll downward 0 degrees; pitch downward 62 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 92 mm; move right 520 mm; move upward 74 mm; roll downward 82 degrees; pitch downward 160 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 187, + 82 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0053571430034935474, + -0.01785714365541935, + 0.0014285714132711291, + 0.0, + -0.04571428522467613, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.015714285895228386, + -0.3457143008708954, + 0.02500000037252903, + 0.0, + -1.0800001621246338, + -0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.18282316941256438, + -0.9230770107875819, + -0.8805970664226078, + 0.5320112195599911, + -0.2531740547762156, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 5 mm; move right 18 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 16 mm; move right 346 mm; move upward 25 mm; roll downward 0 degrees; pitch downward 62 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 92 mm; move right 520 mm; move upward 74 mm; roll downward 82 degrees; pitch downward 160 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 43, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 18 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 10 mm; move right 342 mm; move upward 30 mm; roll downward 0 degrees; pitch downward 64 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 97 mm; move right 502 mm; move upward 73 mm; roll downward 82 degrees; pitch downward 157 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 189, + 82 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0039285714738070965, + -0.018214285373687744, + 0.0007142857066355646, + 0.0, + -0.04571428522467613, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.010357143357396126, + -0.34214287996292114, + 0.030000001192092896, + 0.0, + -1.1085715293884277, + -0.00714285671710968, + 1.0 + ], + "delta_full_state_norm": [ + 0.23425026300600948, + -0.9615384050975697, + -0.940298533211304, + 0.5320112195599911, + -0.2531740547762156, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 4 mm; move right 18 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 10 mm; move right 342 mm; move upward 30 mm; roll downward 0 degrees; pitch downward 64 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 97 mm; move right 502 mm; move upward 73 mm; roll downward 82 degrees; pitch downward 157 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 44, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 19 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 6 mm; move right 338 mm; move upward 36 mm; roll downward 0 degrees; pitch downward 65 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 101 mm; move right 484 mm; move upward 72 mm; roll downward 82 degrees; pitch downward 154 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 190, + 82 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0028571428265422583, + -0.018571428954601288, + 0.0007142857066355646, + 0.0, + -0.04571428522467613, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.006428571883589029, + -0.3378571569919586, + 0.0357142873108387, + 0.0, + -1.1371430158615112, + -0.009999999776482582, + 1.0 + ], + "delta_full_state_norm": [ + 0.2728205832010935, + -1.0, + -0.940298533211304, + 0.5320112195599911, + -0.2531740547762156, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 3 mm; move right 19 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 6 mm; move right 338 mm; move upward 36 mm; roll downward 0 degrees; pitch downward 65 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 101 mm; move right 484 mm; move upward 72 mm; roll downward 82 degrees; pitch downward 154 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 45, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 19 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 4 mm; move right 333 mm; move upward 42 mm; roll downward 0 degrees; pitch downward 67 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 104 mm; move right 466 mm; move upward 71 mm; roll downward 82 degrees; pitch downward 152 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 82 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.002500000176951289, + -0.018571428954601288, + 0.0003571428533177823, + 0.0, + -0.04571428522467613, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.0035714288242161274, + -0.33321428298950195, + 0.04178571701049805, + 0.0, + -1.1700000762939453, + -0.012857142835855484, + 1.0 + ], + "delta_full_state_norm": [ + 0.285677348217793, + -1.0, + -0.9701492666056519, + 0.5320112195599911, + -0.2531740547762156, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 3 mm; move right 19 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 4 mm; move right 333 mm; move upward 42 mm; roll downward 0 degrees; pitch downward 67 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 104 mm; move right 466 mm; move upward 71 mm; roll downward 82 degrees; pitch downward 152 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 46, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 1 mm; move right 328 mm; move upward 48 mm; roll downward 0 degrees; pitch downward 69 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 106 mm; move right 447 mm; move upward 71 mm; roll downward 82 degrees; pitch downward 149 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 193, + 82 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0010714286472648382, + -0.018571428954601288, + 0.0, + 0.0, + -0.05000000074505806, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.0010714286472648382, + -0.3278571367263794, + 0.04821429029107094, + 0.0, + -1.2014286518096924, + -0.015714285895228386, + 1.0 + ], + "delta_full_state_norm": [ + 0.33710444181123833, + -1.0, + -1.0, + 0.5320112195599911, + -0.32785666877359765, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 1 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 1 mm; move right 328 mm; move upward 48 mm; roll downward 0 degrees; pitch downward 69 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 106 mm; move right 447 mm; move upward 71 mm; roll downward 82 degrees; pitch downward 149 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 47, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 322 mm; move upward 55 mm; roll downward 0 degrees; pitch downward 70 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 429 mm; move upward 71 mm; roll downward 82 degrees; pitch downward 146 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 194, + 82 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.018928570672869682, + 0.0, + 0.0, + -0.04714285582304001, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.3221428692340851, + 0.05500000715255737, + 0.0, + -1.2271428108215332, + -0.018571428954601288, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + -1.0, + -1.0, + 0.5320112195599911, + -0.27806823780311674, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 322 mm; move upward 55 mm; roll downward 0 degrees; pitch downward 70 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 429 mm; move upward 71 mm; roll downward 82 degrees; pitch downward 146 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 48, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 316 mm; move upward 62 mm; roll downward 0 degrees; pitch downward 72 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 410 mm; move upward 71 mm; roll downward 82 degrees; pitch downward 144 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 196, + 82 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.018571428954601288, + 0.0, + 0.0, + -0.04714285582304001, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.3157142996788025, + 0.06178572401404381, + -0.0014285714132711291, + -1.2571427822113037, + -0.022857142612338066, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + -1.0, + -1.0, + 0.5320112195599911, + -0.27806823780311674, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 316 mm; move upward 62 mm; roll downward 0 degrees; pitch downward 72 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 410 mm; move upward 71 mm; roll downward 82 degrees; pitch downward 144 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 49, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 309 mm; move upward 68 mm; roll downward 0 degrees; pitch downward 74 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 391 mm; move upward 71 mm; roll downward 82 degrees; pitch downward 141 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 82 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.018571428954601288, + 0.0, + 0.0, + -0.04714285582304001, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.3092857301235199, + 0.06750001013278961, + -0.004285714123398066, + -1.2871427536010742, + -0.03142857179045677, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + -1.0, + -1.0, + 0.5320112195599911, + -0.27806823780311674, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 19 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 309 mm; move upward 68 mm; roll downward 0 degrees; pitch downward 74 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 391 mm; move upward 71 mm; roll downward 82 degrees; pitch downward 141 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 50, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 302 mm; move upward 71 mm; roll downward 0 degrees; pitch downward 75 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 373 mm; move upward 71 mm; roll downward 82 degrees; pitch downward 138 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 81 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.018214285373687744, + 0.0, + 0.0, + -0.05000000074505806, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.3021428883075714, + 0.07071429491043091, + -0.00714285671710968, + -1.3142857551574707, + -0.04285714402794838, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + -0.9615384050975697, + -1.0, + 0.5320112195599911, + -0.32785666877359765, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 302 mm; move upward 71 mm; roll downward 0 degrees; pitch downward 75 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 373 mm; move upward 71 mm; roll downward 82 degrees; pitch downward 138 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 51, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 295 mm; move upward 71 mm; roll downward 1 degrees; pitch downward 76 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 354 mm; move upward 71 mm; roll downward 82 degrees; pitch downward 135 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 81 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01785714365541935, + 0.0, + 0.0, + -0.05000000074505806, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.2946428954601288, + 0.07071429491043091, + -0.009999999776482582, + -1.3299999237060547, + -0.058571428060531616, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + -0.9230770107875819, + -1.0, + 0.5320112195599911, + -0.32785666877359765, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 295 mm; move upward 71 mm; roll downward 1 degrees; pitch downward 76 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 354 mm; move upward 71 mm; roll downward 82 degrees; pitch downward 135 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 52, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 288 mm; move upward 71 mm; roll downward 1 degrees; pitch downward 77 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 336 mm; move upward 71 mm; roll downward 82 degrees; pitch downward 132 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 81 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01785714365541935, + 0.0003571428533177823, + 0.0, + -0.051428571343421936, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.28785714507102966, + 0.07071429491043091, + -0.009999999776482582, + -1.3371429443359375, + -0.07428571581840515, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + -0.9230770107875819, + -0.9701492666056519, + 0.5320112195599911, + -0.3527508518004988, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 288 mm; move upward 71 mm; roll downward 1 degrees; pitch downward 77 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 336 mm; move upward 71 mm; roll downward 82 degrees; pitch downward 132 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 53, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 281 mm; move upward 70 mm; roll downward 1 degrees; pitch downward 76 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 319 mm; move upward 70 mm; roll downward 82 degrees; pitch downward 129 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 81 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.017500000074505806, + 0.0003571428533177823, + 0.0, + -0.05285714194178581, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.28107142448425293, + 0.07035714387893677, + -0.009999999776482582, + -1.3328572511672974, + -0.08571428805589676, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + -0.8846154158851517, + -0.9701492666056519, + 0.5320112195599911, + -0.37764503482739986, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 281 mm; move upward 70 mm; roll downward 1 degrees; pitch downward 76 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 319 mm; move upward 70 mm; roll downward 82 degrees; pitch downward 129 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 54, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 17 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 1 mm; move right 274 mm; move upward 70 mm; roll downward 1 degrees; pitch downward 76 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 301 mm; move upward 70 mm; roll downward 82 degrees; pitch downward 126 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 81 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01714285835623741, + 0.0003571428533177823, + 0.0, + -0.05285714194178581, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0007142857066355646, + -0.2735714316368103, + 0.07000000774860382, + -0.018571428954601288, + -1.325714349746704, + -0.09000000357627869, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + -0.8461540215751637, + -0.9701492666056519, + 0.5320112195599911, + -0.37764503482739986, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 17 mm; move upward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 1 mm; move right 274 mm; move upward 70 mm; roll downward 1 degrees; pitch downward 76 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 301 mm; move upward 70 mm; roll downward 82 degrees; pitch downward 126 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 55, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 16 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 3 mm; move right 265 mm; move upward 70 mm; roll downward 2 degrees; pitch downward 76 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 284 mm; move upward 70 mm; roll downward 82 degrees; pitch downward 123 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 81 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01607142947614193, + 0.0010714286472648382, + 0.0, + -0.055714286863803864, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0028571428265422583, + -0.265357106924057, + 0.06964286416769028, + -0.04285714402794838, + -1.3185712099075317, + -0.09000000357627869, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + -0.7307694374603154, + -0.9104477925192821, + 0.5320112195599911, + -0.4274334657978808, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 16 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 3 mm; move right 265 mm; move upward 70 mm; roll downward 2 degrees; pitch downward 76 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 284 mm; move upward 70 mm; roll downward 82 degrees; pitch downward 123 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 56, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 17 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 8 mm; move right 255 mm; move upward 69 mm; roll downward 7 degrees; pitch downward 75 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 268 mm; move upward 69 mm; roll downward 82 degrees; pitch downward 120 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 80 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.016785714775323868, + 0.0014285714132711291, + 0.0, + -0.058571428060531616, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.008214286528527737, + -0.2546428143978119, + 0.06857144087553024, + -0.12000000476837158, + -1.3142855167388916, + -0.09000000357627869, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + -0.8076924266727336, + -0.8805970664226078, + 0.5320112195599911, + -0.4772218318516831, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 17 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 8 mm; move right 255 mm; move upward 69 mm; roll downward 7 degrees; pitch downward 75 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 268 mm; move upward 69 mm; roll downward 82 degrees; pitch downward 120 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 57, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 16 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 16 mm; move right 244 mm; move upward 67 mm; roll downward 13 degrees; pitch downward 75 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 251 mm; move upward 67 mm; roll downward 82 degrees; pitch downward 117 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 80 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.016428573057055473, + 0.0014285714132711291, + 0.0, + -0.05999999865889549, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.015714285895228386, + -0.24357140064239502, + 0.06714286655187607, + -0.22285714745521545, + -1.312856912612915, + -0.09000000357627869, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + -0.7692310323627457, + -0.8805970664226078, + 0.5320112195599911, + -0.5021160148785841, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 16 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 16 mm; move right 244 mm; move upward 67 mm; roll downward 13 degrees; pitch downward 75 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 251 mm; move upward 67 mm; roll downward 82 degrees; pitch downward 117 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 58, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 25 mm; move right 231 mm; move upward 66 mm; roll downward 19 degrees; pitch downward 75 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 235 mm; move upward 66 mm; roll downward 82 degrees; pitch downward 113 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 80 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.015357143245637417, + 0.0021428572945296764, + 0.0, + -0.06142857298254967, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.024642858654260635, + -0.23071430623531342, + 0.0657142922282219, + -0.3400000035762787, + -1.309999942779541, + -0.09000000357627869, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + -0.6538463479516762, + -0.8208955850385642, + 0.5320112195599911, + -0.527010262822164, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move upward 2 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 25 mm; move right 231 mm; move upward 66 mm; roll downward 19 degrees; pitch downward 75 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 235 mm; move upward 66 mm; roll downward 82 degrees; pitch downward 113 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 59, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 16 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 34 mm; move right 218 mm; move upward 64 mm; roll downward 26 degrees; pitch downward 75 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 219 mm; move upward 64 mm; roll downward 82 degrees; pitch downward 110 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 80 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.015714285895228386, + 0.0035714288242161274, + 0.0, + -0.0657142847776413, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.03392857313156128, + -0.21821430325508118, + 0.06357143074274063, + -0.46000000834465027, + -1.3071428537368774, + -0.09000000357627869, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + -0.6923078425578852, + -0.7014926417309402, + 0.5320112195599911, + -0.6016928119028673, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 16 mm; move upward 4 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 34 mm; move right 218 mm; move upward 64 mm; roll downward 26 degrees; pitch downward 75 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 219 mm; move upward 64 mm; roll downward 82 degrees; pitch downward 110 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 60, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 43 mm; move right 204 mm; move upward 60 mm; roll downward 33 degrees; pitch downward 75 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 204 mm; move upward 60 mm; roll downward 82 degrees; pitch downward 106 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 80 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.014642857015132904, + 0.005000000353902578, + 0.0, + -0.07285714149475098, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.04321428760886192, + -0.20357143878936768, + 0.06000000238418579, + -0.5828571319580078, + -1.3028571605682373, + -0.09000000357627869, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + -0.5769232584430368, + -0.5820896984233164, + 0.5320112195599911, + -0.7261637919540516, + 0.8461528568934953, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move upward 5 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 43 mm; move right 204 mm; move upward 60 mm; roll downward 33 degrees; pitch downward 75 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 204 mm; move upward 60 mm; roll downward 82 degrees; pitch downward 106 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 61, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 53 mm; move right 189 mm; move upward 55 mm; roll downward 40 degrees; pitch downward 74 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 189 mm; move upward 55 mm; roll downward 82 degrees; pitch downward 102 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01428571529686451, + 0.006071428768336773, + 0.0, + -0.07428571581840515, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.05285714939236641, + -0.18892858922481537, + 0.05500000715255737, + -0.6942856907844543, + -1.294285774230957, + -0.08857142925262451, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + -0.538461864133049, + -0.49253751040306193, + 0.5320112195599911, + -0.7510580398976314, + 0.6923067907094655, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 53 mm; move right 189 mm; move upward 55 mm; roll downward 40 degrees; pitch downward 74 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 189 mm; move upward 55 mm; roll downward 82 degrees; pitch downward 102 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 62, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 62 mm; move right 175 mm; move upward 49 mm; roll downward 46 degrees; pitch downward 73 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 175 mm; move upward 49 mm; roll downward 82 degrees; pitch downward 98 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01428571529686451, + 0.006428571883589029, + 0.0, + -0.07428571581840515, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.062142860144376755, + -0.174642875790596, + 0.04892857372760773, + -0.7999999523162842, + -1.281428575515747, + -0.08571428805589676, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + -0.538461864133049, + -0.46268675511569235, + 0.5320112195599911, + -0.7510580398976314, + 0.6923067907094655, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 62 mm; move right 175 mm; move upward 49 mm; roll downward 46 degrees; pitch downward 73 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 175 mm; move upward 49 mm; roll downward 82 degrees; pitch downward 98 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 63, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 71 mm; move right 160 mm; move upward 43 mm; roll downward 52 degrees; pitch downward 73 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 160 mm; move upward 43 mm; roll downward 82 degrees; pitch downward 93 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.013928571715950966, + 0.006428571883589029, + 0.0, + -0.07428571581840515, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.0714285746216774, + -0.16035716235637665, + 0.042500000447034836, + -0.905714213848114, + -1.2699999809265137, + -0.082857146859169, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + -0.5000002692306187, + -0.46268675511569235, + 0.5320112195599911, + -0.7510580398976314, + 0.6923067907094655, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 71 mm; move right 160 mm; move upward 43 mm; roll downward 52 degrees; pitch downward 73 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 160 mm; move upward 43 mm; roll downward 82 degrees; pitch downward 93 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 64, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 80 mm; move right 146 mm; move upward 36 mm; roll downward 58 degrees; pitch downward 72 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 146 mm; move upward 36 mm; roll downward 82 degrees; pitch downward 89 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.013928571715950966, + 0.006785714533179998, + 0.0, + -0.07857143133878708, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.08000000566244125, + -0.14642858505249023, + 0.03607143089175224, + -1.0071427822113037, + -1.2599999904632568, + -0.08000000566244125, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + -0.5000002692306187, + -0.4328360387492499, + 0.5320112195599911, + -0.8257406538950135, + 0.6923067907094655, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 80 mm; move right 146 mm; move upward 36 mm; roll downward 58 degrees; pitch downward 72 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 146 mm; move upward 36 mm; roll downward 82 degrees; pitch downward 89 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 65, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 87 mm; move right 133 mm; move upward 29 mm; roll downward 63 degrees; pitch downward 71 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 133 mm; move upward 29 mm; roll downward 82 degrees; pitch downward 85 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.013214285485446453, + 0.006785714533179998, + 0.0, + -0.0771428570151329, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.08714286237955093, + -0.13250002264976501, + 0.029285714030265808, + -1.1042855978012085, + -1.2457143068313599, + -0.0771428644657135, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + -0.42307717972197945, + -0.4328360387492499, + 0.5320112195599911, + -0.8008464059514336, + 0.6923067907094655, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 87 mm; move right 133 mm; move upward 29 mm; roll downward 63 degrees; pitch downward 71 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 133 mm; move upward 29 mm; roll downward 82 degrees; pitch downward 85 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 66, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 93 mm; move right 119 mm; move upward 23 mm; roll downward 68 degrees; pitch downward 70 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 119 mm; move upward 23 mm; roll downward 82 degrees; pitch downward 80 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.012857143767178059, + 0.006785714533179998, + 0.0, + -0.07571428269147873, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.09285714477300644, + -0.11928572505712509, + 0.02250000089406967, + -1.192857027053833, + -1.2299998998641968, + -0.07428571581840515, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + -0.3846157854119916, + -0.4328360387492499, + 0.5320112195599911, + -0.7759521580078539, + 0.6923067907094655, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 93 mm; move right 119 mm; move upward 23 mm; roll downward 68 degrees; pitch downward 70 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 119 mm; move upward 23 mm; roll downward 82 degrees; pitch downward 80 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 67, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 98 mm; move right 106 mm; move upward 16 mm; roll downward 73 degrees; pitch downward 70 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 106 mm; move upward 16 mm; roll downward 82 degrees; pitch downward 76 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.012500000186264515, + 0.006785714533179998, + -0.0014285714132711291, + -0.0771428570151329, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.09750000387430191, + -0.1064285859465599, + 0.015714285895228386, + -1.2771427631378174, + -1.2157142162322998, + -0.0714285746216774, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + -0.3461541905095613, + -0.4328360387492499, + 0.5131254798287086, + -0.8008464059514336, + 0.5384607370624634, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 98 mm; move right 106 mm; move upward 16 mm; roll downward 73 degrees; pitch downward 70 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 106 mm; move upward 16 mm; roll downward 82 degrees; pitch downward 76 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 68, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 12 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 102 mm; move right 94 mm; move upward 9 mm; roll downward 78 degrees; pitch downward 69 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 94 mm; move upward 9 mm; roll downward 82 degrees; pitch downward 72 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 75 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.012142857536673546, + 0.0057142856530845165, + -0.0028571428265422583, + -0.0771428570151329, + -0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + 0.10214286297559738, + -0.09392857551574707, + 0.008928571827709675, + -1.355714201927185, + -1.1957142353057861, + -0.06714285910129547, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + -0.30769269590335235, + -0.5223882656904314, + 0.4942397400974259, + -0.8008464059514336, + 0.07692255104740187, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 12 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 102 mm; move right 94 mm; move upward 9 mm; roll downward 78 degrees; pitch downward 69 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 94 mm; move upward 9 mm; roll downward 82 degrees; pitch downward 72 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 69, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 11 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 108 mm; move right 82 mm; move upward 3 mm; roll downward 82 degrees; pitch downward 67 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 82 mm; move upward 3 mm; roll downward 82 degrees; pitch downward 67 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 75 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.011428571306169033, + 0.0032142859417945147, + -0.0028571428265422583, + -0.07428571581840515, + -0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + 0.10750000923871994, + -0.08178571611642838, + 0.0032142859417945147, + -1.4299999475479126, + -1.1714284420013428, + -0.058571428060531616, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + -0.230769606394713, + -0.7313433775578462, + 0.4942397400974259, + -0.7510580398976314, + -0.230769606394713, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 11 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 108 mm; move right 82 mm; move upward 3 mm; roll downward 82 degrees; pitch downward 67 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 82 mm; move upward 3 mm; roll downward 82 degrees; pitch downward 67 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 70, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 11 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 114 mm; move right 70 mm; move downward 0 mm; roll downward 86 degrees; pitch downward 66 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 70 mm; move downward 0 mm; roll downward 82 degrees; pitch downward 63 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 74 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.010714286006987095, + 0.0, + -0.0028571428265422583, + -0.0657142847776413, + -0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + 0.11357142776250839, + -0.07035713642835617, + 0.0, + -1.5028570890426636, + -1.1485713720321655, + -0.04714285954833031, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + -0.15384661718229486, + -1.0, + 0.4942397400974259, + -0.6016928119028673, + -0.6923078425578852, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 11 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 114 mm; move right 70 mm; move downward 0 mm; roll downward 86 degrees; pitch downward 66 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 70 mm; move downward 0 mm; roll downward 82 degrees; pitch downward 63 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 71, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 11 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 120 mm; move right 60 mm; move downward 0 mm; roll downward 90 degrees; pitch downward 65 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 60 mm; move downward 0 mm; roll downward 82 degrees; pitch downward 59 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 74 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.011071428656578064, + 0.0, + 0.0, + -0.05714285746216774, + -0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + 0.12035714834928513, + -0.05964285880327225, + 0.0, + -1.5771427154541016, + -1.1328569650650024, + -0.03142857179045677, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + -0.19230811178850393, + -1.0, + 0.5320112195599911, + -0.45232764882478194, + -0.6923078425578852, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 11 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 120 mm; move right 60 mm; move downward 0 mm; roll downward 90 degrees; pitch downward 65 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 60 mm; move downward 0 mm; roll downward 82 degrees; pitch downward 59 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 72, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 11 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 128 mm; move right 49 mm; move downward 0 mm; roll downward 95 degrees; pitch downward 64 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 49 mm; move downward 0 mm; roll downward 82 degrees; pitch downward 56 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 74 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.011071428656578064, + 0.0, + 0.0, + -0.04714285582304001, + -0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + 0.12785714864730835, + -0.04857143387198448, + 0.0, + -1.6557141542434692, + -1.1257141828536987, + -0.015714285895228386, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + -0.19230811178850393, + -1.0, + 0.5320112195599911, + -0.27806823780311674, + -0.230769606394713, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 11 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 128 mm; move right 49 mm; move downward 0 mm; roll downward 95 degrees; pitch downward 64 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 49 mm; move downward 0 mm; roll downward 82 degrees; pitch downward 56 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 73, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 10 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 136 mm; move right 38 mm; move downward 0 mm; roll downward 100 degrees; pitch downward 65 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 108 mm; move right 38 mm; move downward 0 mm; roll downward 82 degrees; pitch downward 53 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 74 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0007142857066355646, + -0.010000000707805157, + 0.0, + -0.008571428246796131, + -0.04571428522467613, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.13571429252624512, + -0.03750000521540642, + 0.0, + -1.738571286201477, + -1.1271427869796753, + -0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.40138830670762937, + -0.07692362796987684, + -1.0, + 0.41869678425032064, + -0.2531740547762156, + 0.5384607370624634, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 10 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 136 mm; move right 38 mm; move downward 0 mm; roll downward 100 degrees; pitch downward 65 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 108 mm; move right 38 mm; move downward 0 mm; roll downward 82 degrees; pitch downward 53 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 74, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 9 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 143 mm; move right 28 mm; move downward 0 mm; roll downward 104 degrees; pitch downward 65 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 107 mm; move right 28 mm; move downward 0 mm; roll downward 81 degrees; pitch downward 51 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 74 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0021428572945296764, + -0.008928571827709675, + 0.0, + -0.02428571507334709, + -0.04571428522467613, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1428571492433548, + -0.027500001713633537, + 0.0, + -1.811428427696228, + -1.1285713911056519, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4528154023964901, + 0.03846095614497158, + -1.0, + 0.21095363027707248, + -0.2531740547762156, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 9 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 143 mm; move right 28 mm; move downward 0 mm; roll downward 104 degrees; pitch downward 65 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 107 mm; move right 28 mm; move downward 0 mm; roll downward 81 degrees; pitch downward 51 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 75, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 5 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 149 mm; move right 19 mm; move downward 0 mm; roll downward 107 degrees; pitch downward 64 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 105 mm; move right 19 mm; move downward 0 mm; roll downward 80 degrees; pitch downward 48 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 74 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0053571430034935474, + -0.0053571430034935474, + 0.0, + -0.0771428570151329, + -0.051428571343421936, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1492857187986374, + -0.018571428954601288, + 0.0, + -1.8685712814331055, + -1.1257143020629883, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5685263546000803, + 0.423076152947615, + -1.0, + -0.4878187351633474, + -0.3527508518004988, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 5 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 149 mm; move right 19 mm; move downward 0 mm; roll downward 107 degrees; pitch downward 64 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 105 mm; move right 19 mm; move downward 0 mm; roll downward 80 degrees; pitch downward 48 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 76, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 6 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 152 mm; move right 13 mm; move downward 0 mm; roll downward 107 degrees; pitch downward 64 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 99 mm; move right 13 mm; move downward 0 mm; roll downward 75 degrees; pitch downward 45 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 74 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007500000298023224, + -0.0057142856530845165, + 0.0, + -0.10285714268684387, + -0.05714285746216774, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.15214286744594574, + -0.013214285485446453, + 0.0, + -1.8742855787277222, + -1.1157143115997314, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.645666994990248, + 0.38461465834140607, + -1.0, + -0.8277620534044603, + -0.45232764882478194, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 6 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 152 mm; move right 13 mm; move downward 0 mm; roll downward 107 degrees; pitch downward 64 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 99 mm; move right 13 mm; move downward 0 mm; roll downward 75 degrees; pitch downward 45 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 77, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 4 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 153 mm; move right 8 mm; move downward 0 mm; roll downward 106 degrees; pitch downward 63 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 92 mm; move right 8 mm; move downward 0 mm; roll downward 69 degrees; pitch downward 42 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008928571827709675, + -0.0035714288242161274, + 0.0, + -0.11714285612106323, + -0.05714285746216774, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.15285715460777283, + -0.007500000298023224, + 0.0, + -1.858571171760559, + -1.0957143306732178, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6970940885836934, + 0.6153837262748816, + -1.0, + -1.0, + -0.45232764882478194, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 4 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 153 mm; move right 8 mm; move downward 0 mm; roll downward 106 degrees; pitch downward 63 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 92 mm; move right 8 mm; move downward 0 mm; roll downward 69 degrees; pitch downward 42 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 78, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 3 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 152 mm; move right 4 mm; move downward 0 mm; roll downward 105 degrees; pitch downward 62 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 83 mm; move right 4 mm; move downward 0 mm; roll downward 63 degrees; pitch downward 38 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + -0.0028571428265422583, + 0.0, + -0.11999999731779099, + -0.058571428060531616, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.15214286744594574, + -0.0039285714738070965, + 0.0, + -1.8314284086227417, + -1.0757144689559937, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7099508536003929, + 0.6923067907094655, + -1.0, + -1.0, + -0.4772218318516831, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 3 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 152 mm; move right 4 mm; move downward 0 mm; roll downward 105 degrees; pitch downward 62 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 83 mm; move right 4 mm; move downward 0 mm; roll downward 63 degrees; pitch downward 38 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 79, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 1 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 150 mm; move right 1 mm; move upward 0 mm; roll downward 103 degrees; pitch downward 60 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 74 mm; move right 1 mm; move downward 0 mm; roll downward 56 degrees; pitch downward 35 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + -0.0010714286472648382, + 0.0, + -0.12285714596509933, + -0.06142857298254967, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.15035714209079742, + -0.0010714286472648382, + 0.0003571428533177823, + -1.7999998331069946, + -1.0542857646942139, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7099508536003929, + 0.8846143640367319, + -1.0, + -1.0, + -0.527010262822164, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 1 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 150 mm; move right 1 mm; move upward 0 mm; roll downward 103 degrees; pitch downward 60 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 74 mm; move right 1 mm; move downward 0 mm; roll downward 56 degrees; pitch downward 35 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 80, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 148 mm; move right 0 mm; move upward 1 mm; roll downward 101 degrees; pitch downward 59 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 64 mm; move right 0 mm; move downward 0 mm; roll downward 49 degrees; pitch downward 32 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + 0.0, + 0.0, + -0.11142857372760773, + -0.06428571790456772, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.14785714447498322, + 0.0, + 0.0014285714132711291, + -1.765714168548584, + -1.0285714864730835, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7228076186170926, + 0.999998923077525, + -1.0, + -0.9410765256504343, + -0.5767986937926449, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 148 mm; move right 0 mm; move upward 1 mm; roll downward 101 degrees; pitch downward 59 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 64 mm; move right 0 mm; move downward 0 mm; roll downward 49 degrees; pitch downward 32 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 81, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 145 mm; move right 0 mm; move upward 3 mm; roll downward 100 degrees; pitch downward 57 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 55 mm; move right 0 mm; move downward 0 mm; roll downward 42 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + 0.0, + 0.0, + -0.10571428388357162, + -0.06142857298254967, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1446428745985031, + 0.0, + 0.0032142859417945147, + -1.7414284944534302, + -1.0000001192092896, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7099508536003929, + 0.999998923077525, + -1.0, + -0.8655335113208485, + -0.527010262822164, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 145 mm; move right 0 mm; move upward 3 mm; roll downward 100 degrees; pitch downward 57 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 55 mm; move right 0 mm; move downward 0 mm; roll downward 42 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 82, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 141 mm; move right 0 mm; move upward 5 mm; roll downward 99 degrees; pitch downward 56 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 45 mm; move right 0 mm; move downward 0 mm; roll downward 36 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + 0.0, + 0.0, + -0.10571428388357162, + -0.06285714358091354, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.14142857491970062, + -0.0003571428533177823, + 0.005000000353902578, + -1.71999990940094, + -0.9742857217788696, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7099508536003929, + 0.999998923077525, + -1.0, + -0.8655335113208485, + -0.5519044458490652, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 141 mm; move right 0 mm; move upward 5 mm; roll downward 99 degrees; pitch downward 56 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 45 mm; move right 0 mm; move downward 0 mm; roll downward 36 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 83, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 138 mm; move right 1 mm; move upward 7 mm; roll downward 97 degrees; pitch downward 54 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 36 mm; move right 0 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008571429178118706, + 0.0, + 0.0, + -0.1014285683631897, + -0.06428571790456772, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.13785713911056519, + -0.0010714286472648382, + 0.007142857648432255, + -1.7000000476837158, + -0.9457142949104309, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6842373235669938, + 0.999998923077525, + -1.0, + -0.8088762751978615, + -0.5767986937926449, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 138 mm; move right 1 mm; move upward 7 mm; roll downward 97 degrees; pitch downward 54 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 36 mm; move right 0 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 84, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 135 mm; move right 3 mm; move upward 9 mm; roll downward 96 degrees; pitch downward 52 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 28 mm; move right 0 mm; move downward 0 mm; roll downward 24 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007142857648432255, + 0.0, + 0.0, + -0.09714286029338837, + -0.06428571790456772, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.13464286923408508, + -0.0032142859417945147, + 0.009285714477300644, + -1.6814286708831787, + -0.9157143235206604, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6328102299735485, + 0.999998923077525, + -1.0, + -0.7522191375716838, + -0.5767986937926449, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 135 mm; move right 3 mm; move upward 9 mm; roll downward 96 degrees; pitch downward 52 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 28 mm; move right 0 mm; move downward 0 mm; roll downward 24 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 85, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 132 mm; move right 6 mm; move upward 13 mm; roll downward 96 degrees; pitch downward 51 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 20 mm; move right 0 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0057142856530845165, + 0.0, + 0.0, + -0.08857142925262451, + -0.06142857298254967, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.13214285671710968, + -0.005714286118745804, + 0.012857143767178059, + -1.6671429872512817, + -0.8828572034835815, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5813831196167798, + 0.999998923077525, + -1.0, + -0.6389046653257098, + -0.527010262822164, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 132 mm; move right 6 mm; move upward 13 mm; roll downward 96 degrees; pitch downward 51 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 20 mm; move right 0 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 86, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 130 mm; move right 10 mm; move upward 16 mm; roll downward 95 degrees; pitch downward 49 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004642857238650322, + 0.0, + 0.0, + -0.08428571373224258, + -0.06142857298254967, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.13035713136196136, + -0.009642857126891613, + 0.016428573057055473, + -1.6600000858306885, + -0.8542857766151428, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5428128078033576, + 0.999998923077525, + -1.0, + -0.5822474292027227, + -0.527010262822164, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 130 mm; move right 10 mm; move upward 16 mm; roll downward 95 degrees; pitch downward 49 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 87, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 129 mm; move right 15 mm; move upward 20 mm; roll downward 95 degrees; pitch downward 47 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004642857238650322, + 0.0, + 0.0, + -0.07999999821186066, + -0.05714285746216774, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.12892857193946838, + -0.014642857015132904, + 0.01964285783469677, + -1.6557143926620483, + -0.8228570818901062, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5428128078033576, + 0.999998923077525, + -1.0, + -0.5255901930797356, + -0.45232764882478194, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 129 mm; move right 15 mm; move upward 20 mm; roll downward 95 degrees; pitch downward 47 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 10 mm; move right 0 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 88, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 127 mm; move right 21 mm; move upward 23 mm; roll downward 95 degrees; pitch downward 46 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0053571430034935474, + 0.0, + 0.0, + -0.0771428570151329, + -0.05285714194178581, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.12714284658432007, + -0.02142857201397419, + 0.022857144474983215, + -1.6542857885360718, + -0.7942856550216675, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5685263546000803, + 0.999998923077525, + -1.0, + -0.4878187351633474, + -0.37764503482739986, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 127 mm; move right 21 mm; move upward 23 mm; roll downward 95 degrees; pitch downward 46 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 89, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot arm extends from its resting position directly toward the microwave interface, positioning the gripper in close proximity to the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 125 mm; move right 29 mm; move upward 26 mm; roll downward 95 degrees; pitch downward 44 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006071428768336773, + 0.0, + 0.0, + -0.07571428269147873, + -0.051428571343421936, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.12464287132024765, + -0.029285714030265808, + 0.025714287534356117, + -1.6557143926620483, + -0.7657142877578735, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5942399013968029, + 0.999998923077525, + -1.0, + -0.46893295695674864, + -0.3527508518004988, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 125 mm; move right 29 mm; move upward 26 mm; roll downward 95 degrees; pitch downward 44 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 90, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, indicating physical contact and the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, indicating physical contact and the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 120 mm; move right 39 mm; move upward 27 mm; roll downward 95 degrees; pitch downward 42 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 55 mm; move right 0 mm; move downward 0 mm; roll downward 33 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006785714533179998, + 0.0, + 0.0, + -0.0771428570151329, + -0.05000000074505806, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.12000000476837158, + -0.038928572088479996, + 0.027142858132719994, + -1.6542857885360718, + -0.727142870426178, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6199534481935254, + 0.999998923077525, + -1.0, + -0.4878187351633474, + -0.32785666877359765, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 120 mm; move right 39 mm; move upward 27 mm; roll downward 95 degrees; pitch downward 42 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 55 mm; move right 0 mm; move downward 0 mm; roll downward 33 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 91, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, indicating physical contact and the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, indicating physical contact and the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 115 mm; move right 50 mm; move upward 28 mm; roll downward 94 degrees; pitch downward 39 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 48 mm; move right 0 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007500000298023224, + 0.0, + 0.0, + -0.07857143133878708, + -0.05000000074505806, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.11464285850524902, + -0.049642857164144516, + 0.027500001713633537, + -1.647143006324768, + -0.6842857003211975, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.645666994990248, + 0.999998923077525, + -1.0, + -0.5067045133699462, + -0.32785666877359765, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 115 mm; move right 50 mm; move upward 28 mm; roll downward 94 degrees; pitch downward 39 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 48 mm; move right 0 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 92, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, indicating physical contact and the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, indicating physical contact and the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 109 mm; move right 61 mm; move upward 28 mm; roll downward 94 degrees; pitch downward 36 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 41 mm; move right 0 mm; move downward 0 mm; roll downward 24 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007857142947614193, + 0.0, + 0.0, + -0.08285713940858841, + -0.04857143014669418, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.10857143253087997, + -0.06142857298254967, + 0.027500001713633537, + -1.6357144117355347, + -0.6357142925262451, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6585237600069478, + 0.999998923077525, + -1.0, + -0.5633616509961239, + -0.3029624857466965, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 109 mm; move right 61 mm; move upward 28 mm; roll downward 94 degrees; pitch downward 36 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 41 mm; move right 0 mm; move downward 0 mm; roll downward 24 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 93, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, indicating physical contact and the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, indicating physical contact and the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 103 mm; move right 75 mm; move upward 28 mm; roll downward 92 degrees; pitch downward 34 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 33 mm; move right 0 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007857142947614193, + 0.0, + 0.0, + -0.08142857253551483, + -0.04714285582304001, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.10250001400709152, + -0.07500000298023224, + 0.027500001713633537, + -1.6142858266830444, + -0.5871428847312927, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6585237600069478, + 0.999998923077525, + -1.0, + -0.5444759712863344, + -0.27806823780311674, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 103 mm; move right 75 mm; move upward 28 mm; roll downward 92 degrees; pitch downward 34 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 33 mm; move right 0 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 94, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, indicating physical contact and the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, indicating physical contact and the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 98 mm; move right 88 mm; move upward 28 mm; roll downward 91 degrees; pitch downward 31 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 25 mm; move right 0 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008571429178118706, + 0.0, + 0.0, + -0.08142857253551483, + -0.04285714402794838, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.09750001132488251, + -0.08821428567171097, + 0.027500001713633537, + -1.588571548461914, + -0.5400000214576721, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6842373235669938, + 0.999998923077525, + -1.0, + -0.5444759712863344, + -0.20338568872241336, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 98 mm; move right 88 mm; move upward 28 mm; roll downward 91 degrees; pitch downward 31 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 25 mm; move right 0 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 95, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, indicating physical contact and the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, indicating physical contact and the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 94 mm; move right 101 mm; move upward 28 mm; roll downward 89 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008214286528527737, + 0.0, + 0.0, + -0.08285713940858841, + -0.041428569704294205, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.09357143938541412, + -0.10107143223285675, + 0.027500001713633537, + -1.5557143688201904, + -0.49714288115501404, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6713805585502941, + 0.999998923077525, + -1.0, + -0.5633616509961239, + -0.1784914407788336, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 94 mm; move right 101 mm; move upward 28 mm; roll downward 89 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 96, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, indicating physical contact and the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, indicating physical contact and the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 91 mm; move right 114 mm; move upward 28 mm; roll downward 87 degrees; pitch downward 26 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008214286528527737, + 0.0, + 0.0, + -0.08714285492897034, + -0.037142857909202576, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.09142857789993286, + -0.11357142776250839, + 0.027500001713633537, + -1.5214285850524902, + -0.45571431517601013, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6713805585502941, + 0.999998923077525, + -1.0, + -0.620018887119111, + -0.10380889169813023, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 91 mm; move right 114 mm; move upward 28 mm; roll downward 87 degrees; pitch downward 26 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 97, + "segment_id": 20100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is positioned directly against the microwave control panel, indicating physical contact and the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly against the microwave control panel, indicating physical contact and the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 91 mm; move right 125 mm; move upward 28 mm; roll downward 85 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008214286528527737, + 0.0, + 0.0, + -0.09000000357627869, + -0.037142857909202576, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.09071429818868637, + -0.12535713613033295, + 0.027500001713633537, + -1.4800000190734863, + -0.418571412563324, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6713805585502941, + 0.999998923077525, + -1.0, + -0.6577904435323085, + -0.10380889169813023, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 91 mm; move right 125 mm; move upward 28 mm; roll downward 85 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 98, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move upward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 91 mm; move right 137 mm; move upward 28 mm; roll downward 82 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1167 mm; move right 317 mm; move upward 28 mm; roll downward 251 degrees; pitch downward 22 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007500000298023224, + 0.0, + 0.0003571428533177823, + -0.08857142925262451, + -0.037142857909202576, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.09071429073810577, + -0.13678571581840515, + 0.027500001713633537, + -1.4314285516738892, + -0.3814285695552826, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.645666994990248, + 0.999998923077525, + -0.9701492666056519, + -0.6389046653257098, + -0.10380889169813023, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move upward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 91 mm; move right 137 mm; move upward 28 mm; roll downward 82 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1167 mm; move right 317 mm; move upward 28 mm; roll downward 251 degrees; pitch downward 22 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 99, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move upward 1 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 93 mm; move right 147 mm; move upward 27 mm; roll downward 79 degrees; pitch downward 20 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1159 mm; move right 317 mm; move upward 27 mm; roll downward 246 degrees; pitch downward 20 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006785714533179998, + 0.0, + 0.0010714286472648382, + -0.08857142925262451, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.09250000864267349, + -0.14714285731315613, + 0.027142858132719994, + -1.3842856884002686, + -0.3442857265472412, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6199534481935254, + 0.999998923077525, + -0.9104477925192821, + -0.6389046653257098, + -0.07891470867122907, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move upward 1 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 93 mm; move right 147 mm; move upward 27 mm; roll downward 79 degrees; pitch downward 20 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1159 mm; move right 317 mm; move upward 27 mm; roll downward 246 degrees; pitch downward 20 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 100, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move upward 2 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 95 mm; move right 156 mm; move upward 26 mm; roll downward 77 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1153 mm; move right 317 mm; move upward 26 mm; roll downward 241 degrees; pitch downward 18 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006428571883589029, + 0.0, + 0.0017857144121080637, + -0.08714285492897034, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.09535714238882065, + -0.15642856061458588, + 0.02607142925262451, + -1.337142825126648, + -0.3085714280605316, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6070966831768259, + 0.999998923077525, + -0.8507463208654701, + -0.620018887119111, + -0.07891470867122907, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move upward 2 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 95 mm; move right 156 mm; move upward 26 mm; roll downward 77 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1153 mm; move right 317 mm; move upward 26 mm; roll downward 241 degrees; pitch downward 18 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 101, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move upward 2 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 99 mm; move right 165 mm; move upward 24 mm; roll downward 74 degrees; pitch downward 16 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1146 mm; move right 317 mm; move upward 24 mm; roll downward 236 degrees; pitch downward 16 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006071428768336773, + -0.0003571428533177823, + 0.0017857144121080637, + -0.08428571373224258, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.09892856329679489, + -0.16500000655651093, + 0.02428571693599224, + -1.2899999618530273, + -0.2728571593761444, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5942399013968029, + 0.9615374065315176, + -0.8507463208654701, + -0.5822474292027227, + -0.07891470867122907, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move upward 2 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 99 mm; move right 165 mm; move upward 24 mm; roll downward 74 degrees; pitch downward 16 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1146 mm; move right 317 mm; move upward 24 mm; roll downward 236 degrees; pitch downward 16 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 102, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 1 mm; move upward 2 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 104 mm; move right 172 mm; move upward 23 mm; roll downward 71 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1140 mm; move right 317 mm; move upward 23 mm; roll downward 231 degrees; pitch downward 14 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0057142856530845165, + -0.0007142857066355646, + 0.0021428572945296764, + -0.08571428805589676, + -0.034285712987184525, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1039285659790039, + -0.17249999940395355, + 0.02250000275671482, + -1.2457140684127808, + -0.23714286088943481, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5813831196167798, + 0.92307588998551, + -0.8208955850385642, + -0.6011332074093214, + -0.05402046072764932, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 1 mm; move upward 2 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 104 mm; move right 172 mm; move upward 23 mm; roll downward 71 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1140 mm; move right 317 mm; move upward 23 mm; roll downward 231 degrees; pitch downward 14 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 103, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 2 mm; move upward 2 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 110 mm; move right 179 mm; move upward 20 mm; roll downward 69 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1134 mm; move right 316 mm; move upward 20 mm; roll downward 226 degrees; pitch downward 12 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0053571430034935474, + -0.0021428572945296764, + 0.0021428572945296764, + -0.08285713940858841, + -0.034285712987184525, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.10999999195337296, + -0.1785714328289032, + 0.020357144996523857, + -1.1971427202224731, + -0.2028571367263794, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5685263546000803, + 0.769229804995939, + -0.8208955850385642, + -0.5633616509961239, + -0.05402046072764932, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 2 mm; move upward 2 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 110 mm; move right 179 mm; move upward 20 mm; roll downward 69 degrees; pitch downward 12 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1134 mm; move right 316 mm; move upward 20 mm; roll downward 226 degrees; pitch downward 12 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 104, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 3 mm; move upward 4 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 117 mm; move right 182 mm; move upward 18 mm; roll downward 66 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1129 mm; move right 314 mm; move upward 18 mm; roll downward 222 degrees; pitch downward 10 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004642857238650322, + -0.002500000176951289, + 0.0035714288242161274, + -0.08285713940858841, + -0.03142857179045677, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.11678570508956909, + -0.18214285373687744, + 0.018214287236332893, + -1.1499998569488525, + -0.16857142746448517, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5428128078033576, + 0.7307682853156745, + -0.7014926417309402, + -0.5633616509961239, + -0.004232094673846998, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 3 mm; move upward 4 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 117 mm; move right 182 mm; move upward 18 mm; roll downward 66 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1129 mm; move right 314 mm; move upward 18 mm; roll downward 222 degrees; pitch downward 10 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 105, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 4 mm; move upward 4 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 125 mm; move right 185 mm; move upward 15 mm; roll downward 63 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1124 mm; move right 311 mm; move upward 15 mm; roll downward 217 degrees; pitch downward 8 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0039285714738070965, + -0.0039285714738070965, + 0.0035714288242161274, + -0.08142857253551483, + -0.03285714238882065, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.12464286386966705, + -0.18464285135269165, + 0.014642858877778053, + -1.101428508758545, + -0.1371428519487381, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.517099261006635, + 0.5769222316686724, + -0.7014926417309402, + -0.5444759712863344, + -0.02912627770074816, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 4 mm; move upward 4 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 125 mm; move right 185 mm; move upward 15 mm; roll downward 63 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1124 mm; move right 311 mm; move upward 15 mm; roll downward 217 degrees; pitch downward 8 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 106, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 5 mm; move upward 3 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 134 mm; move right 185 mm; move upward 11 mm; roll downward 60 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1120 mm; move right 308 mm; move upward 11 mm; roll downward 212 degrees; pitch downward 6 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0032142859417945147, + -0.005000000353902578, + 0.0032142859417945147, + -0.07999999821186066, + -0.029999999329447746, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.13357143104076385, + -0.18464283645153046, + 0.011071428656578064, + -1.0557142496109009, + -0.10428571701049805, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4913857225915741, + 0.4615376475538242, + -0.7313433775578462, + -0.5255901930797356, + 0.020662120811393514, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 5 mm; move upward 3 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 134 mm; move right 185 mm; move upward 11 mm; roll downward 60 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1120 mm; move right 308 mm; move upward 11 mm; roll downward 212 degrees; pitch downward 6 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 107, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 7 mm; move upward 3 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 144 mm; move right 183 mm; move upward 8 mm; roll downward 58 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1117 mm; move right 303 mm; move upward 8 mm; roll downward 208 degrees; pitch downward 4 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0028571428265422583, + -0.006785714533179998, + 0.0032142859417945147, + -0.07857143133878708, + -0.02857142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.14357143640518188, + -0.18321429193019867, + 0.007857142947614193, + -1.0114285945892334, + -0.07428571581840515, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.47852894081155095, + 0.26923007422655765, + -0.7313433775578462, + -0.5067045133699462, + 0.045556303838294454, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 7 mm; move upward 3 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 144 mm; move right 183 mm; move upward 8 mm; roll downward 58 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1117 mm; move right 303 mm; move upward 8 mm; roll downward 208 degrees; pitch downward 4 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 108, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 8 mm; move upward 3 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 155 mm; move right 180 mm; move upward 5 mm; roll downward 55 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1114 mm; move right 296 mm; move upward 5 mm; roll downward 203 degrees; pitch downward 3 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0028571428265422583, + -0.007857142947614193, + 0.0028571428265422583, + -0.07857143133878708, + -0.02428571507334709, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1550000160932541, + -0.17964285612106323, + 0.004642857238650322, + -0.9685714244842529, + -0.04571428522467613, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.47852894081155095, + 0.15384554025982, + -0.7611941328452156, + -0.5067045133699462, + 0.12023888537733729, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 8 mm; move upward 3 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 155 mm; move right 180 mm; move upward 5 mm; roll downward 55 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1114 mm; move right 296 mm; move upward 5 mm; roll downward 203 degrees; pitch downward 3 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 109, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 10 mm; move upward 1 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 167 mm; move right 175 mm; move upward 2 mm; roll downward 53 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1111 mm; move right 288 mm; move upward 2 mm; roll downward 199 degrees; pitch downward 1 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0014285714132711291, + -0.009642857126891613, + 0.0014285714132711291, + -0.07428571581840515, + -0.012857142835855484, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.16678573191165924, + -0.17499999701976776, + 0.0017857144121080637, + -0.9257142543792725, + -0.02142857015132904, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.42710185140893664, + -0.038462033067446555, + -0.8805970664226078, + -0.45004727724695914, + 0.31939247942590354, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 10 mm; move upward 1 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 167 mm; move right 175 mm; move upward 2 mm; roll downward 53 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1111 mm; move right 288 mm; move upward 2 mm; roll downward 199 degrees; pitch downward 1 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 110, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 11 mm; move upward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 180 mm; move right 169 mm; move upward 0 mm; roll downward 51 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1110 mm; move right 278 mm; move upward 0 mm; roll downward 194 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0014285714132711291, + -0.010714286006987095, + 0.0003571428533177823, + -0.07000000029802322, + -0.0071428571827709675, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18000002205371857, + -0.16857144236564636, + 0.0003571428533177823, + -0.8899999856948853, + -0.008571428246796131, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.42710185140893664, + -0.15384661718229486, + -0.9701492666056519, + -0.39339004112397213, + 0.4189692683356019, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 11 mm; move upward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 180 mm; move right 169 mm; move upward 0 mm; roll downward 51 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1110 mm; move right 278 mm; move upward 0 mm; roll downward 194 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 111, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 12 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 194 mm; move right 161 mm; move downward 0 mm; roll downward 49 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1109 mm; move right 268 mm; move downward 0 mm; roll downward 190 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0014285714132711291, + -0.011785714887082577, + 0.0, + -0.06714285910129547, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.19357143342494965, + -0.1607142984867096, + 0.0, + -0.8585713505744934, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.42710185140893664, + -0.2692312012971433, + -1.0, + -0.3556185832075839, + 0.5185460592739464, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 12 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 194 mm; move right 161 mm; move downward 0 mm; roll downward 49 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1109 mm; move right 268 mm; move downward 0 mm; roll downward 190 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 112, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 14 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 206 mm; move right 151 mm; move downward 0 mm; roll downward 48 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1107 mm; move right 256 mm; move downward 0 mm; roll downward 186 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0017857144121080637, + -0.013571429066359997, + 0.0, + -0.06142857298254967, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.20642857253551483, + -0.1510714292526245, + 0.0, + -0.8299998641014099, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.43995862899812876, + -0.46153877462440973, + -1.0, + -0.2800756181264027, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 14 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 206 mm; move right 151 mm; move downward 0 mm; roll downward 48 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1107 mm; move right 256 mm; move downward 0 mm; roll downward 186 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 113, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 13 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 219 mm; move right 139 mm; move downward 0 mm; roll downward 46 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1105 mm; move right 242 mm; move downward 0 mm; roll downward 183 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0028571428265422583, + -0.013214285485446453, + 0.0, + -0.055714286863803864, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21857145428657532, + -0.13928572833538055, + 0.0, + -0.8085713386535645, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.47852894081155095, + -0.42307717972197945, + -1.0, + -0.2045326530452216, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 13 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 219 mm; move right 139 mm; move downward 0 mm; roll downward 46 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1105 mm; move right 242 mm; move downward 0 mm; roll downward 183 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 114, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 13 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 230 mm; move right 127 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1103 mm; move right 229 mm; move downward 0 mm; roll downward 180 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004642857238650322, + -0.012857143767178059, + 0.0, + -0.04857143014669418, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23000001907348633, + -0.1267857402563095, + 0.0, + -0.7899999618530273, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5428128078033576, + -0.3846157854119916, + -1.0, + -0.11010395900584635, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 13 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 230 mm; move right 127 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1103 mm; move right 229 mm; move downward 0 mm; roll downward 180 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 115, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 13 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 240 mm; move right 115 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1098 mm; move right 216 mm; move downward 0 mm; roll downward 177 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006071428768336773, + -0.012500000186264515, + 0.0, + -0.04857143014669418, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.23964285850524902, + -0.11464288085699081, + 0.0, + -0.7800000309944153, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5942399013968029, + -0.3461541905095613, + -1.0, + -0.11010395900584635, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 13 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 240 mm; move right 115 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1098 mm; move right 216 mm; move downward 0 mm; roll downward 177 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 116, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 12 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 248 mm; move right 103 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1092 mm; move right 204 mm; move downward 0 mm; roll downward 174 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007500000298023224, + -0.011785714887082577, + 0.0, + -0.04571428522467613, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.24785713851451874, + -0.10285717248916626, + 0.0, + -0.7714285850524902, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.645666994990248, + -0.2692312012971433, + -1.0, + -0.07233245184105341, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 12 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 248 mm; move right 103 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1092 mm; move right 204 mm; move downward 0 mm; roll downward 174 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 117, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 11 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 254 mm; move right 92 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1084 mm; move right 192 mm; move downward 0 mm; roll downward 172 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008214286528527737, + -0.011428571306169033, + 0.0, + -0.041428569704294205, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2542857229709625, + -0.0917857214808464, + 0.0, + -0.7642858028411865, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6713805585502941, + -0.230769606394713, + -1.0, + -0.015675215718066404, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 11 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 254 mm; move right 92 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1084 mm; move right 192 mm; move downward 0 mm; roll downward 172 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 118, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 10 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 260 mm; move right 81 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1076 mm; move right 180 mm; move downward 0 mm; roll downward 169 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + -0.010357143357396126, + 0.0, + -0.041428569704294205, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2600000202655792, + -0.08071428537368774, + 0.0, + -0.7628572583198547, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7099508536003929, + -0.1153851225760858, + -1.0, + -0.015675215718066404, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 10 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 260 mm; move right 81 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1076 mm; move right 180 mm; move downward 0 mm; roll downward 169 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 119, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 9 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 265 mm; move right 71 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1067 mm; move right 170 mm; move downward 0 mm; roll downward 167 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + -0.009285714477300644, + 0.0, + -0.041428569704294205, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2653571665287018, + -0.07071429491043091, + 0.0, + -0.7614286541938782, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7228076186170926, + -5.384612374870201e-07, + -1.0, + -0.015675215718066404, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 9 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 265 mm; move right 71 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1067 mm; move right 170 mm; move downward 0 mm; roll downward 167 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 120, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 9 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 270 mm; move right 61 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1057 mm; move right 161 mm; move downward 0 mm; roll downward 164 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + -0.008571429178118706, + 0.0, + -0.03999999910593033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2703571915626526, + -0.06142857298254967, + 0.0, + -0.7600000500679016, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.735664417160439, + 0.07692245075118054, + -1.0, + 0.003210513240127666, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 9 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 270 mm; move right 61 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1057 mm; move right 161 mm; move downward 0 mm; roll downward 164 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 121, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 8 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 275 mm; move right 53 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1047 mm; move right 152 mm; move downward 0 mm; roll downward 162 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + -0.007857142947614193, + 0.0, + -0.03999999910593033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.27500003576278687, + -0.05285714194178581, + 0.0, + -0.7600000500679016, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7742347122105377, + 0.15384554025982, + -1.0, + 0.003210513240127666, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 8 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 275 mm; move right 53 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1047 mm; move right 152 mm; move downward 0 mm; roll downward 162 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 122, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 7 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 279 mm; move right 45 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1036 mm; move right 144 mm; move downward 0 mm; roll downward 160 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + -0.006785714533179998, + 0.0, + -0.037142857909202576, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.27892860770225525, + -0.04500000178813934, + 0.0, + -0.7600000500679016, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.7999482757705838, + 0.26923007422655765, + -1.0, + 0.04098197115651603, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 7 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 279 mm; move right 45 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1036 mm; move right 144 mm; move downward 0 mm; roll downward 160 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 123, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 6 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 282 mm; move right 38 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1024 mm; move right 138 mm; move downward 0 mm; roll downward 158 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + -0.0057142856530845165, + 0.0, + -0.0357142873108387, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2817857563495636, + -0.038214292377233505, + 0.0, + -0.7642858028411865, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8128050407872836, + 0.38461465834140607, + -1.0, + 0.0598677001147101, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 6 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 282 mm; move right 38 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1024 mm; move right 138 mm; move downward 0 mm; roll downward 158 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 124, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 5 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 284 mm; move right 33 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1012 mm; move right 132 mm; move downward 0 mm; roll downward 156 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + -0.005000000353902578, + 0.0, + -0.034285712987184525, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2842857539653778, + -0.032500009983778, + 0.0, + -0.7700000405311584, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8256618058039831, + 0.4615376475538242, + -1.0, + 0.07875347832130886, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 5 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 284 mm; move right 33 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1012 mm; move right 132 mm; move downward 0 mm; roll downward 156 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 125, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 4 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 287 mm; move right 28 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 1000 mm; move right 127 mm; move downward 0 mm; roll downward 154 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + -0.0039285714738070965, + 0.0, + -0.0357142873108387, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.286785751581192, + -0.027500003576278687, + 0.0, + -0.7771428823471069, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8385186043473296, + 0.5769222316686724, + -1.0, + 0.0598677001147101, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 4 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 287 mm; move right 28 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 1000 mm; move right 127 mm; move downward 0 mm; roll downward 154 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 126, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 4 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 289 mm; move right 24 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 987 mm; move right 123 mm; move downward 0 mm; roll downward 152 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + -0.0035714288242161274, + 0.0, + -0.0357142873108387, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28857144713401794, + -0.023571431636810303, + 0.0, + -0.7814285755157471, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8513753358373823, + 0.6153837262748816, + -1.0, + 0.0598677001147101, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 4 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 289 mm; move right 24 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 987 mm; move right 123 mm; move downward 0 mm; roll downward 152 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 127, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 3 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 290 mm; move right 20 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 974 mm; move right 119 mm; move downward 0 mm; roll downward 150 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.0032142859417945147, + 0.0, + -0.0357142873108387, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2900000512599945, + -0.020000001415610313, + 0.0, + -0.785714328289032, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8899456979407747, + 0.6538452459551458, + -1.0, + 0.0598677001147101, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 3 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 290 mm; move right 20 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 974 mm; move right 119 mm; move downward 0 mm; roll downward 150 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 128, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 3 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 290 mm; move right 17 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 959 mm; move right 116 mm; move downward 0 mm; roll downward 148 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.0032142859417945147, + 0.0, + -0.0357142873108387, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2900000214576721, + -0.01714286021888256, + 0.0, + -0.7885714173316956, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9028024294308274, + 0.6538452459551458, + -1.0, + 0.0598677001147101, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 3 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 290 mm; move right 17 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 959 mm; move right 116 mm; move downward 0 mm; roll downward 148 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 129, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 3 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 290 mm; move right 14 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 945 mm; move right 113 mm; move downward 0 mm; roll downward 146 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.0032142859417945147, + 0.0, + -0.03857142850756645, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.289642870426178, + -0.014285718090832233, + 0.0, + -0.7914285063743591, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9028024294308274, + 0.6538452459551458, + -1.0, + 0.022096242198321958, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 3 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 290 mm; move right 14 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 945 mm; move right 113 mm; move downward 0 mm; roll downward 146 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 130, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 3 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 289 mm; move right 12 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 930 mm; move right 110 mm; move downward 0 mm; roll downward 143 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + -0.0028571428265422583, + 0.0, + -0.03857142850756645, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28928571939468384, + -0.011785714887082577, + 0.0, + -0.7914285063743591, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.915659227974174, + 0.6923067907094655, + -1.0, + 0.022096242198321958, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 3 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 289 mm; move right 12 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 930 mm; move right 110 mm; move downward 0 mm; roll downward 143 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 131, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 2 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 289 mm; move right 10 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 915 mm; move right 107 mm; move downward 0 mm; roll downward 141 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.0021428572945296764, + 0.0, + -0.03857142850756645, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28857141733169556, + -0.009642857126891613, + 0.0, + -0.7914285659790039, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8899456979407747, + 0.769229804995939, + -1.0, + 0.022096242198321958, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 2 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 289 mm; move right 10 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 915 mm; move right 107 mm; move downward 0 mm; roll downward 141 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 132, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 2 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 289 mm; move right 8 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 901 mm; move right 105 mm; move downward 0 mm; roll downward 139 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.0017857144121080637, + 0.0, + -0.03999999910593033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28857138752937317, + -0.008214286528527737, + 0.0, + -0.7914285063743591, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8770888993974284, + 0.8076913246762032, + -1.0, + 0.003210513240127666, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 2 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 289 mm; move right 8 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 901 mm; move right 105 mm; move downward 0 mm; roll downward 139 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 133, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 289 mm; move right 7 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 887 mm; move right 103 mm; move downward 0 mm; roll downward 137 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.0007142857066355646, + 0.0, + -0.037142857909202576, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28857141733169556, + -0.007142857648432255, + 0.0, + -0.7914285063743591, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8899456979407747, + 0.92307588998551, + -1.0, + 0.04098197115651603, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 289 mm; move right 7 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 887 mm; move right 103 mm; move downward 0 mm; roll downward 137 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 134, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 288 mm; move right 8 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 873 mm; move right 102 mm; move downward 0 mm; roll downward 134 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.0007142857066355646, + 0.0, + -0.03857142850756645, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28785714507102966, + -0.007500000298023224, + 0.0, + -0.7914285063743591, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8899456979407747, + 0.92307588998551, + -1.0, + 0.022096242198321958, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 288 mm; move right 8 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 873 mm; move right 102 mm; move downward 0 mm; roll downward 134 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 135, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 287 mm; move right 8 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 858 mm; move right 101 mm; move downward 0 mm; roll downward 132 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.0007142857066355646, + 0.0, + -0.03999999910593033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2874999940395355, + -0.007857142947614193, + 0.0, + -0.7899999618530273, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8899456979407747, + 0.92307588998551, + -1.0, + 0.003210513240127666, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 287 mm; move right 8 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 858 mm; move right 101 mm; move downward 0 mm; roll downward 132 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 136, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 287 mm; move right 8 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 844 mm; move right 101 mm; move downward 0 mm; roll downward 130 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.0007142857066355646, + 0.0, + -0.03857142850756645, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28714290261268616, + -0.008214286528527737, + 0.0, + -0.7885713577270508, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8770888993974284, + 0.92307588998551, + -1.0, + 0.022096242198321958, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 287 mm; move right 8 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 844 mm; move right 101 mm; move downward 0 mm; roll downward 130 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 137, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 287 mm; move right 9 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 830 mm; move right 100 mm; move downward 0 mm; roll downward 128 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.0003571428533177823, + 0.0, + -0.03999999910593033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28714290261268616, + -0.008571429178118706, + 0.0, + -0.7899999618530273, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8770888993974284, + 0.9615374065315176, + -1.0, + 0.003210513240127666, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 287 mm; move right 9 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 830 mm; move right 100 mm; move downward 0 mm; roll downward 128 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 138, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 288 mm; move right 9 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 816 mm; move right 100 mm; move downward 0 mm; roll downward 125 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.0003571428533177823, + 0.0, + -0.03999999910593033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28785720467567444, + -0.009285714477300644, + 0.0, + -0.7900000214576721, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9028024294308274, + 0.9615374065315176, + -1.0, + 0.003210513240127666, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 288 mm; move right 9 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 816 mm; move right 100 mm; move downward 0 mm; roll downward 125 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 139, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 288 mm; move right 10 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 801 mm; move right 99 mm; move downward 0 mm; roll downward 123 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + 0.0, + 0.0, + -0.03999999910593033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28785720467567444, + -0.009642857126891613, + 0.0, + -0.7900000214576721, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9028024294308274, + 0.999998923077525, + -1.0, + 0.003210513240127666, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 288 mm; move right 10 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 801 mm; move right 99 mm; move downward 0 mm; roll downward 123 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 140, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 288 mm; move right 11 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 787 mm; move right 99 mm; move downward 0 mm; roll downward 121 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + 0.0, + 0.0, + -0.03999999910593033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28785720467567444, + -0.011071428656578064, + 0.0, + -0.7900000214576721, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9028024294308274, + 0.999998923077525, + -1.0, + 0.003210513240127666, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 288 mm; move right 11 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 787 mm; move right 99 mm; move downward 0 mm; roll downward 121 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 141, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 288 mm; move right 13 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 772 mm; move right 99 mm; move downward 0 mm; roll downward 119 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + 0.0, + -0.03999999910593033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2882143557071686, + -0.012500000186264515, + 0.0, + -0.7900000214576721, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.915659227974174, + 0.999998923077525, + -1.0, + 0.003210513240127666, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 288 mm; move right 13 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 772 mm; move right 99 mm; move downward 0 mm; roll downward 119 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 142, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 288 mm; move right 14 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 757 mm; move right 99 mm; move downward 0 mm; roll downward 116 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + 0.0, + 0.0, + -0.041428569704294205, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2882143259048462, + -0.013571429066359997, + 0.0, + -0.7885714769363403, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9028024294308274, + 0.999998923077525, + -1.0, + -0.015675215718066404, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 288 mm; move right 14 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 757 mm; move right 99 mm; move downward 0 mm; roll downward 116 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 143, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 288 mm; move right 15 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 743 mm; move right 99 mm; move downward 0 mm; roll downward 114 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + 0.0, + 0.0, + -0.041428569704294205, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2882142961025238, + -0.014642858877778053, + 0.0, + -0.785714328289032, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9028024294308274, + 0.999998923077525, + -1.0, + -0.015675215718066404, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 288 mm; move right 15 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 743 mm; move right 99 mm; move downward 0 mm; roll downward 114 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 144, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 288 mm; move right 16 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 728 mm; move right 99 mm; move downward 0 mm; roll downward 112 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + 0.0, + -0.041428569704294205, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2882142961025238, + -0.015714287757873535, + 0.0, + -0.7800000309944153, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.915659227974174, + 0.999998923077525, + -1.0, + -0.015675215718066404, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 288 mm; move right 16 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 728 mm; move right 99 mm; move downward 0 mm; roll downward 112 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 145, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 287 mm; move right 16 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 713 mm; move right 99 mm; move downward 0 mm; roll downward 109 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + 0.0, + 0.0, + -0.03999999910593033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2874999940395355, + -0.015714287757873535, + 0.0, + -0.7742857336997986, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9028024294308274, + 0.999998923077525, + -1.0, + 0.003210513240127666, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 287 mm; move right 16 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 713 mm; move right 99 mm; move downward 0 mm; roll downward 109 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 146, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 287 mm; move right 16 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 698 mm; move right 99 mm; move downward 0 mm; roll downward 107 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + 0.0, + 0.0, + -0.03999999910593033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28678572177886963, + -0.015714287757873535, + 0.0, + -0.7714285850524902, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9028024294308274, + 0.999998923077525, + -1.0, + 0.003210513240127666, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 287 mm; move right 16 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 698 mm; move right 99 mm; move downward 0 mm; roll downward 107 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 147, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 286 mm; move right 16 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 684 mm; move right 99 mm; move downward 0 mm; roll downward 105 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.0003571428533177823, + 0.0, + -0.03857142850756645, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2857142984867096, + -0.015714287757873535, + 0.0, + -0.7671427726745605, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8899456979407747, + 0.9615374065315176, + -1.0, + 0.022096242198321958, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 286 mm; move right 16 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 684 mm; move right 99 mm; move downward 0 mm; roll downward 105 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 148, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 286 mm; move right 15 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 669 mm; move right 99 mm; move downward 0 mm; roll downward 102 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.0003571428533177823, + 0.0, + -0.03857142850756645, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2857142984867096, + -0.015357144176959991, + 0.0, + -0.7657142281532288, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8899456979407747, + 0.9615374065315176, + -1.0, + 0.022096242198321958, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 286 mm; move right 15 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 669 mm; move right 99 mm; move downward 0 mm; roll downward 102 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 149, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 286 mm; move right 15 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 655 mm; move right 99 mm; move downward 0 mm; roll downward 100 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.0007142857066355646, + 0.0, + -0.03857142850756645, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2864285707473755, + -0.015000002458691597, + 0.0, + -0.7642856240272522, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8899456979407747, + 0.92307588998551, + -1.0, + 0.022096242198321958, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 286 mm; move right 15 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 655 mm; move right 99 mm; move downward 0 mm; roll downward 100 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 150, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 287 mm; move right 14 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 641 mm; move right 98 mm; move downward 0 mm; roll downward 98 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.0007142857066355646, + 0.0, + -0.03857142850756645, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28714287281036377, + -0.01428571529686451, + 0.0, + -0.7628571391105652, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8899456979407747, + 0.92307588998551, + -1.0, + 0.022096242198321958, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 287 mm; move right 14 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 641 mm; move right 98 mm; move downward 0 mm; roll downward 98 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 151, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 288 mm; move right 14 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 626 mm; move right 97 mm; move downward 0 mm; roll downward 96 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.0007142857066355646, + 0.0, + -0.03857142850756645, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2875000238418579, + -0.013571429066359997, + 0.0, + -0.7628570795059204, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8899456979407747, + 0.92307588998551, + -1.0, + 0.022096242198321958, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 288 mm; move right 14 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 626 mm; move right 97 mm; move downward 0 mm; roll downward 96 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 152, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 288 mm; move right 13 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 612 mm; move right 96 mm; move downward 0 mm; roll downward 94 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.0007142857066355646, + 0.0, + -0.03999999910593033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28785717487335205, + -0.012857143767178059, + 0.0, + -0.7642857432365417, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8770888993974284, + 0.92307588998551, + -1.0, + 0.003210513240127666, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 288 mm; move right 13 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 612 mm; move right 96 mm; move downward 0 mm; roll downward 94 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 153, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 288 mm; move right 13 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 598 mm; move right 96 mm; move downward 0 mm; roll downward 91 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013571429066359997, + -0.0010714286472648382, + 0.0, + -0.037142857909202576, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28785717487335205, + -0.013214285485446453, + 0.0, + -0.7642857432365417, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8642321343807287, + 0.8846143640367319, + -1.0, + 0.04098197115651603, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 288 mm; move right 13 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 598 mm; move right 96 mm; move downward 0 mm; roll downward 91 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 154, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 288 mm; move right 13 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 585 mm; move right 95 mm; move downward 0 mm; roll downward 89 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.0010714286472648382, + 0.0, + -0.037142857909202576, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2882143259048462, + -0.013214285485446453, + 0.0, + -0.7671429514884949, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8770888993974284, + 0.8846143640367319, + -1.0, + 0.04098197115651603, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 288 mm; move right 13 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 585 mm; move right 95 mm; move downward 0 mm; roll downward 89 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 155, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 288 mm; move right 13 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 571 mm; move right 94 mm; move downward 0 mm; roll downward 87 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.0010714286472648382, + 0.0, + -0.03857142850756645, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28785720467567444, + -0.013214285485446453, + 0.0, + -0.7700001001358032, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8770888993974284, + 0.8846143640367319, + -1.0, + 0.022096242198321958, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 288 mm; move right 13 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 571 mm; move right 94 mm; move downward 0 mm; roll downward 87 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 156, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 288 mm; move right 14 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 557 mm; move right 92 mm; move downward 0 mm; roll downward 85 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.0010714286472648382, + 0.0, + -0.03999999910593033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28785717487335205, + -0.013571429066359997, + 0.0, + -0.7728572487831116, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8770888993974284, + 0.8846143640367319, + -1.0, + 0.003210513240127666, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 288 mm; move right 14 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 557 mm; move right 92 mm; move downward 0 mm; roll downward 85 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 157, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 288 mm; move right 14 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 543 mm; move right 91 mm; move downward 0 mm; roll downward 83 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.0010714286472648382, + 0.0, + -0.03999999910593033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28785717487335205, + -0.01428571529686451, + 0.0, + -0.7757144570350647, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9028024294308274, + 0.8846143640367319, + -1.0, + 0.003210513240127666, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 288 mm; move right 14 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 543 mm; move right 91 mm; move downward 0 mm; roll downward 83 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 158, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 287 mm; move right 15 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 528 mm; move right 90 mm; move downward 0 mm; roll downward 80 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.0007142857066355646, + 0.0, + -0.03999999910593033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.286785751581192, + -0.015000000596046448, + 0.0, + -0.7814286947250366, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9028024294308274, + 0.92307588998551, + -1.0, + 0.003210513240127666, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 287 mm; move right 15 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 528 mm; move right 90 mm; move downward 0 mm; roll downward 80 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 159, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 286 mm; move right 16 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 514 mm; move right 90 mm; move downward 0 mm; roll downward 78 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.0014285714132711291, + 0.0, + -0.03999999910593033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.285714328289032, + -0.016428573057055473, + 0.0, + -0.7871428728103638, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9028024294308274, + 0.8461528568934953, + -1.0, + 0.003210513240127666, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 286 mm; move right 16 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 514 mm; move right 90 mm; move downward 0 mm; roll downward 78 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 160, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 285 mm; move right 17 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 499 mm; move right 88 mm; move downward 0 mm; roll downward 76 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + -0.0014285714132711291, + 0.0, + -0.03999999910593033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28464290499687195, + -0.01714285835623741, + 0.0, + -0.7928571105003357, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.915659227974174, + 0.8461528568934953, + -1.0, + 0.003210513240127666, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 285 mm; move right 17 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 499 mm; move right 88 mm; move downward 0 mm; roll downward 76 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 161, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 284 mm; move right 18 mm; move downward 0 mm; roll downward 46 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 484 mm; move right 87 mm; move downward 0 mm; roll downward 73 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + -0.0010714286472648382, + 0.0, + -0.03857142850756645, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2835714519023895, + -0.018214287236332893, + 0.0, + -0.7985713481903076, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.915659227974174, + 0.8846143640367319, + -1.0, + 0.022096242198321958, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 284 mm; move right 18 mm; move downward 0 mm; roll downward 46 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 484 mm; move right 87 mm; move downward 0 mm; roll downward 73 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 162, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 283 mm; move right 20 mm; move downward 0 mm; roll downward 46 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 469 mm; move right 86 mm; move downward 0 mm; roll downward 71 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.0010714286472648382, + 0.0, + -0.03857142850756645, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2825000286102295, + -0.020000001415610313, + 0.0, + -0.8057141304016113, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9028024294308274, + 0.8846143640367319, + -1.0, + 0.022096242198321958, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 283 mm; move right 20 mm; move downward 0 mm; roll downward 46 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 469 mm; move right 86 mm; move downward 0 mm; roll downward 71 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 163, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 282 mm; move right 22 mm; move downward 0 mm; roll downward 47 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 454 mm; move right 85 mm; move downward 0 mm; roll downward 69 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.0010714286472648382, + 0.0, + -0.0357142873108387, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2817857563495636, + -0.022142859175801277, + 0.0, + -0.8171427249908447, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_full_state_norm": [ + 0.9028024294308274, + 0.8846143640367319, + -1.0, + 0.0598677001147101, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 282 mm; move right 22 mm; move downward 0 mm; roll downward 47 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 454 mm; move right 85 mm; move downward 0 mm; roll downward 69 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 164, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 281 mm; move right 25 mm; move downward 0 mm; roll downward 47 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 440 mm; move right 84 mm; move downward 0 mm; roll downward 67 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + 0.0, + 0.0, + -0.0357142873108387, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2810714542865753, + -0.024642858654260635, + 0.0, + -0.8285712599754333, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_full_state_norm": [ + 0.8899456979407747, + 0.999998923077525, + -1.0, + 0.0598677001147101, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 281 mm; move right 25 mm; move downward 0 mm; roll downward 47 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 440 mm; move right 84 mm; move downward 0 mm; roll downward 67 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 165, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 281 mm; move right 28 mm; move downward 0 mm; roll downward 48 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 425 mm; move right 84 mm; move downward 0 mm; roll downward 65 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + 0.0, + 0.0, + -0.037142857909202576, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28071433305740356, + -0.028214288875460625, + 0.0, + -0.8399998545646667, + 0.0, + -0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.8770888993974284, + 0.999998923077525, + -1.0, + 0.04098197115651603, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 281 mm; move right 28 mm; move downward 0 mm; roll downward 48 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 425 mm; move right 84 mm; move downward 0 mm; roll downward 65 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 166, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 281 mm; move right 33 mm; move downward 0 mm; roll downward 49 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 411 mm; move right 84 mm; move downward 0 mm; roll downward 63 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013571429066359997, + 0.0, + 0.0, + -0.0357142873108387, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28142860531806946, + -0.03285714611411095, + 0.0, + -0.8499999046325684, + 0.0, + -0.008571428246796131, + 1.0 + ], + "delta_full_state_norm": [ + 0.8642321343807287, + 0.999998923077525, + -1.0, + 0.0598677001147101, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 281 mm; move right 33 mm; move downward 0 mm; roll downward 49 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 411 mm; move right 84 mm; move downward 0 mm; roll downward 63 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 167, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 283 mm; move right 38 mm; move downward 0 mm; roll downward 49 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 398 mm; move right 84 mm; move downward 0 mm; roll downward 61 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 199, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + 0.0, + 0.0, + -0.037142857909202576, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2832143008708954, + -0.03785714507102966, + 0.0, + -0.8571428060531616, + 0.0, + -0.012857142835855484, + 1.0 + ], + "delta_full_state_norm": [ + 0.8899456979407747, + 0.999998923077525, + -1.0, + 0.04098197115651603, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 283 mm; move right 38 mm; move downward 0 mm; roll downward 49 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 398 mm; move right 84 mm; move downward 0 mm; roll downward 61 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 168, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 285 mm; move right 43 mm; move downward 0 mm; roll downward 49 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 384 mm; move right 84 mm; move downward 0 mm; roll downward 59 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 199, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + 0.0, + -0.037142857909202576, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2850000262260437, + -0.04321428760886192, + 0.0, + -0.8557142615318298, + 0.0, + -0.018571428954601288, + 1.0 + ], + "delta_full_state_norm": [ + 0.915659227974174, + 0.999998923077525, + -1.0, + 0.04098197115651603, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 285 mm; move right 43 mm; move downward 0 mm; roll downward 49 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 384 mm; move right 84 mm; move downward 0 mm; roll downward 59 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 169, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 285 mm; move right 48 mm; move downward 0 mm; roll downward 49 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 369 mm; move right 84 mm; move downward 0 mm; roll downward 56 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + 0.0, + -0.037142857909202576, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2850000262260437, + -0.04821429029107094, + 0.0, + -0.8500000238418579, + 0.0, + -0.027142856270074844, + 1.0 + ], + "delta_full_state_norm": [ + 0.915659227974174, + 0.999998923077525, + -1.0, + 0.04098197115651603, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 285 mm; move right 48 mm; move downward 0 mm; roll downward 49 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 369 mm; move right 84 mm; move downward 0 mm; roll downward 56 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 170, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 284 mm; move right 53 mm; move downward 0 mm; roll downward 48 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 354 mm; move right 84 mm; move downward 0 mm; roll downward 54 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + 0.0, + 0.0, + -0.03857142850756645, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28392860293388367, + -0.052500005811452866, + 0.0, + -0.8385714292526245, + 0.0, + -0.037142857909202576, + 1.0 + ], + "delta_full_state_norm": [ + 0.9028024294308274, + 0.999998923077525, + -1.0, + 0.022096242198321958, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 284 mm; move right 53 mm; move downward 0 mm; roll downward 48 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 354 mm; move right 84 mm; move downward 0 mm; roll downward 54 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 171, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 282 mm; move right 58 mm; move downward 0 mm; roll downward 47 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 339 mm; move right 84 mm; move downward 0 mm; roll downward 52 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + 0.0, + 0.0, + -0.03999999910593033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2824999988079071, + -0.05785714462399483, + 0.0, + -0.822857141494751, + 0.0, + -0.04857143014669418, + 1.0 + ], + "delta_full_state_norm": [ + 0.9028024294308274, + 0.999998923077525, + -1.0, + 0.003210513240127666, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 282 mm; move right 58 mm; move downward 0 mm; roll downward 47 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 339 mm; move right 84 mm; move downward 0 mm; roll downward 52 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 172, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 281 mm; move right 64 mm; move downward 0 mm; roll downward 46 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 324 mm; move right 84 mm; move downward 0 mm; roll downward 50 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.0010714286472648382, + 0.0, + -0.03999999910593033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28142857551574707, + -0.06428571790456772, + 0.0, + -0.8057143092155457, + 0.0, + -0.06142857298254967, + 1.0 + ], + "delta_full_state_norm": [ + 0.8770888993974284, + 0.8846143640367319, + -1.0, + 0.003210513240127666, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 281 mm; move right 64 mm; move downward 0 mm; roll downward 46 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 324 mm; move right 84 mm; move downward 0 mm; roll downward 50 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 173, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 281 mm; move right 70 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 310 mm; move right 82 mm; move downward 0 mm; roll downward 47 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 196, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.0010714286472648382, + 0.0, + -0.03999999910593033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28142860531806946, + -0.06964285671710968, + 0.0, + -0.7871428728103638, + 0.0, + -0.07428571581840515, + 1.0 + ], + "delta_full_state_norm": [ + 0.8770888993974284, + 0.8846143640367319, + -1.0, + 0.003210513240127666, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 281 mm; move right 70 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 310 mm; move right 82 mm; move downward 0 mm; roll downward 47 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 174, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 282 mm; move right 75 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 296 mm; move right 81 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 196, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013571429066359997, + -0.0010714286472648382, + 0.0, + -0.03999999910593033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2817856967449188, + -0.07499999552965164, + 0.0, + -0.7685714364051819, + 0.0, + -0.08857142925262451, + 1.0 + ], + "delta_full_state_norm": [ + 0.8642321343807287, + 0.8846143640367319, + -1.0, + 0.003210513240127666, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 282 mm; move right 75 mm; move downward 0 mm; roll downward 44 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 296 mm; move right 81 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 175, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 283 mm; move right 80 mm; move downward 0 mm; roll downward 43 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 283 mm; move right 80 mm; move downward 0 mm; roll downward 43 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 196, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.0014285714132711291, + 0.0, + -0.041428569704294205, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28285714983940125, + -0.0803571343421936, + 0.0, + -0.7485714554786682, + 0.0, + -0.10285714268684387, + 1.0 + ], + "delta_full_state_norm": [ + 0.8770888993974284, + 0.8461528568934953, + -1.0, + -0.015675215718066404, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 283 mm; move right 80 mm; move downward 0 mm; roll downward 43 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 283 mm; move right 80 mm; move downward 0 mm; roll downward 43 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 176, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 2 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 284 mm; move right 84 mm; move downward 0 mm; roll downward 42 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move forward 269 mm; move right 79 mm; move downward 0 mm; roll downward 41 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 195, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.0017857144121080637, + 0.0, + -0.04285714402794838, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2839285731315613, + -0.08392857015132904, + 0.0, + -0.727142870426178, + 0.0, + -0.11714285612106323, + 1.0 + ], + "delta_full_state_norm": [ + 0.8770888993974284, + 0.8076913246762032, + -1.0, + -0.03456099392466516, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 2 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 284 mm; move right 84 mm; move downward 0 mm; roll downward 42 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 269 mm; move right 79 mm; move downward 0 mm; roll downward 41 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 177, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 2 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 285 mm; move right 87 mm; move downward 0 mm; roll downward 40 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move forward 255 mm; move right 77 mm; move downward 0 mm; roll downward 38 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 195, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013571429066359997, + -0.0017857144121080637, + 0.0, + -0.04571428522467613, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2850000262260437, + -0.08714285492897034, + 0.0, + -0.7042856812477112, + 0.0, + -0.13285714387893677, + 1.0 + ], + "delta_full_state_norm": [ + 0.8642321343807287, + 0.8076913246762032, + -1.0, + -0.07233245184105341, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 2 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 285 mm; move right 87 mm; move downward 0 mm; roll downward 40 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move forward 255 mm; move right 77 mm; move downward 0 mm; roll downward 38 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 178, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 2 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 288 mm; move right 90 mm; move downward 0 mm; roll downward 39 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; open gripper;\nSubtask Movement: move forward 241 mm; move right 75 mm; move downward 0 mm; roll downward 35 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 194, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013571429066359997, + -0.0021428572945296764, + 0.0, + -0.04571428522467613, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2875000238418579, + -0.09035714715719223, + 0.0, + -0.677142858505249, + 0.0, + -0.1485714316368103, + 1.0 + ], + "delta_full_state_norm": [ + 0.8642321343807287, + 0.769229804995939, + -1.0, + -0.07233245184105341, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 2 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 288 mm; move right 90 mm; move downward 0 mm; roll downward 39 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; open gripper;", + "subtask_movement_text": "move forward 241 mm; move right 75 mm; move downward 0 mm; roll downward 35 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 179, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 2 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 291 mm; move right 94 mm; move downward 0 mm; roll downward 37 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; open gripper;\nSubtask Movement: move forward 228 mm; move right 73 mm; move downward 0 mm; roll downward 33 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 194, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013571429066359997, + -0.0021428572945296764, + 0.0, + -0.04571428522467613, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2907143235206604, + -0.09357142448425293, + 0.0, + -0.6514285206794739, + 0.0, + -0.165714293718338, + 1.0 + ], + "delta_full_state_norm": [ + 0.8642321343807287, + 0.769229804995939, + -1.0, + -0.07233245184105341, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 2 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 291 mm; move right 94 mm; move downward 0 mm; roll downward 37 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; open gripper;", + "subtask_movement_text": "move forward 228 mm; move right 73 mm; move downward 0 mm; roll downward 33 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 180, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 3 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 295 mm; move right 97 mm; move downward 0 mm; roll downward 36 degrees; pitch downward 0 degrees; yaw clockwise 11 degrees; open gripper;\nSubtask Movement: move forward 214 mm; move right 71 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 194, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.002500000176951289, + 0.0, + -0.04571428522467613, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2950000464916229, + -0.09678571671247482, + 0.0, + -0.6257141828536987, + 0.0, + -0.1842857301235199, + 1.0 + ], + "delta_full_state_norm": [ + 0.8770888993974284, + 0.7307682853156745, + -1.0, + -0.07233245184105341, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 3 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 295 mm; move right 97 mm; move downward 0 mm; roll downward 36 degrees; pitch downward 0 degrees; yaw clockwise 11 degrees; open gripper;", + "subtask_movement_text": "move forward 214 mm; move right 71 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 181, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 3 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 299 mm; move right 99 mm; move downward 0 mm; roll downward 34 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 200 mm; move right 69 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 193, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.0028571428265422583, + 0.0, + -0.04571428522467613, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2989286184310913, + -0.09857142716646194, + 0.0, + -0.5999999642372131, + 0.0, + -0.20285716652870178, + 1.0 + ], + "delta_full_state_norm": [ + 0.8770888993974284, + 0.6923067907094655, + -1.0, + -0.07233245184105341, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 3 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 299 mm; move right 99 mm; move downward 0 mm; roll downward 34 degrees; pitch downward 0 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 200 mm; move right 69 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 182, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 3 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 303 mm; move right 100 mm; move downward 0 mm; roll downward 33 degrees; pitch downward 0 degrees; yaw clockwise 13 degrees; open gripper;\nSubtask Movement: move forward 186 mm; move right 66 mm; move downward 0 mm; roll downward 25 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 193, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.0032142859417945147, + 0.0, + -0.05000000074505806, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.30250003933906555, + -0.10000000149011612, + 0.0, + -0.5699999928474426, + 0.0, + -0.22142860293388367, + 1.0 + ], + "delta_full_state_norm": [ + 0.8770888993974284, + 0.6538452459551458, + -1.0, + -0.12898968796404042, + 0.543440256501371, + 0.8461528568934953, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 3 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 303 mm; move right 100 mm; move downward 0 mm; roll downward 33 degrees; pitch downward 0 degrees; yaw clockwise 13 degrees; open gripper;", + "subtask_movement_text": "move forward 186 mm; move right 66 mm; move downward 0 mm; roll downward 25 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 183, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 4 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 305 mm; move right 101 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 0 degrees; yaw clockwise 14 degrees; open gripper;\nSubtask Movement: move forward 172 mm; move right 62 mm; move downward 0 mm; roll downward 22 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 193, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.0035714288242161274, + 0.0, + -0.04714285582304001, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.3046428859233856, + -0.1007142886519432, + 0.0, + -0.5314286351203918, + 0.0, + -0.23857146501541138, + 1.0 + ], + "delta_full_state_norm": [ + 0.8770888993974284, + 0.6153837262748816, + -1.0, + -0.0912181807992476, + 0.543440256501371, + 0.8461528568934953, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 4 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 305 mm; move right 101 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 0 degrees; yaw clockwise 14 degrees; open gripper;", + "subtask_movement_text": "move forward 172 mm; move right 62 mm; move downward 0 mm; roll downward 22 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 184, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 4 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 304 mm; move right 101 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 0 degrees; yaw clockwise 15 degrees; open gripper;\nSubtask Movement: move forward 159 mm; move right 59 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.0035714288242161274, + 0.0, + -0.04714285582304001, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.3035714626312256, + -0.10107143223285675, + 0.0, + -0.4914286434650421, + 0.0, + -0.2557143270969391, + 1.0 + ], + "delta_full_state_norm": [ + 0.8770888993974284, + 0.6153837262748816, + -1.0, + -0.0912181807992476, + 0.543440256501371, + 0.8461528568934953, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 4 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 304 mm; move right 101 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 0 degrees; yaw clockwise 15 degrees; open gripper;", + "subtask_movement_text": "move forward 159 mm; move right 59 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 185, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 5 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 297 mm; move right 101 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 0 degrees; yaw clockwise 16 degrees; open gripper;\nSubtask Movement: move forward 145 mm; move right 55 mm; move downward 0 mm; roll downward 17 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.004642857238650322, + 0.0, + -0.04714285582304001, + 0.0, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.2971428632736206, + -0.1007142886519432, + 0.0, + -0.44571441411972046, + 0.0, + -0.2728571891784668, + 1.0 + ], + "delta_full_state_norm": [ + 0.9028024294308274, + 0.4999991923081437, + -1.0, + -0.0912181807992476, + 0.543440256501371, + 0.5384607370624634, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 5 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 297 mm; move right 101 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 0 degrees; yaw clockwise 16 degrees; open gripper;", + "subtask_movement_text": "move forward 145 mm; move right 55 mm; move downward 0 mm; roll downward 17 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 186, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 5 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 283 mm; move right 97 mm; move downward 0 mm; roll downward 23 degrees; pitch downward 0 degrees; yaw clockwise 16 degrees; open gripper;\nSubtask Movement: move forward 130 mm; move right 51 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + -0.005000000353902578, + 0.0, + -0.04285714402794838, + 0.0, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.2825000286102295, + -0.09714286774396896, + 0.0, + -0.3985714912414551, + 0.0, + -0.28714290261268616, + 1.0 + ], + "delta_full_state_norm": [ + 0.9285159929908735, + 0.4615376475538242, + -1.0, + -0.03456099392466516, + 0.543440256501371, + 0.5384607370624634, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 5 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 283 mm; move right 97 mm; move downward 0 mm; roll downward 23 degrees; pitch downward 0 degrees; yaw clockwise 16 degrees; open gripper;", + "subtask_movement_text": "move forward 130 mm; move right 51 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 187, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 5 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 267 mm; move right 92 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw clockwise 17 degrees; open gripper;\nSubtask Movement: move forward 115 mm; move right 46 mm; move downward 0 mm; roll downward 12 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01607142947614193, + -0.0053571430034935474, + 0.0, + -0.0357142873108387, + 0.0, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.2671428918838501, + -0.09214287251234055, + 0.0, + -0.3557143211364746, + 0.0, + -0.29857146739959717, + 1.0 + ], + "delta_full_state_norm": [ + 0.9542295565509196, + 0.423076152947615, + -1.0, + 0.0598677001147101, + 0.543440256501371, + 0.38461465834140607, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 5 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 267 mm; move right 92 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw clockwise 17 degrees; open gripper;", + "subtask_movement_text": "move forward 115 mm; move right 46 mm; move downward 0 mm; roll downward 12 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 188, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 5 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 243 mm; move right 87 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 0 degrees; yaw clockwise 18 degrees; open gripper;\nSubtask Movement: move forward 99 mm; move right 40 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + -0.005000000353902578, + 0.0, + -0.03142857179045677, + 0.0, + -0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + 0.24250002205371857, + -0.08678572624921799, + 0.0, + -0.3199999928474426, + 0.0, + -0.30571433901786804, + 1.0 + ], + "delta_full_state_norm": [ + 0.915659227974174, + 0.4615376475538242, + -1.0, + 0.11652493623769722, + 0.543440256501371, + 0.07692255104740187, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 5 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 243 mm; move right 87 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 0 degrees; yaw clockwise 18 degrees; open gripper;", + "subtask_movement_text": "move forward 99 mm; move right 40 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 189, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 210 mm; move right 82 mm; move downward 0 mm; roll downward 17 degrees; pitch downward 0 degrees; yaw clockwise 18 degrees; open gripper;\nSubtask Movement: move forward 84 mm; move right 35 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 191, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.004285714589059353, + 0.0, + -0.025714285671710968, + 0.0, + -0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + 0.20964287221431732, + -0.08178573101758957, + 0.0, + -0.28857144713401794, + 0.0, + -0.308571457862854, + 1.0 + ], + "delta_full_state_norm": [ + 0.8770888993974284, + 0.5384606869143529, + -1.0, + 0.1920679013188782, + 0.543440256501371, + -0.07692352767365562, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 210 mm; move right 82 mm; move downward 0 mm; roll downward 17 degrees; pitch downward 0 degrees; yaw clockwise 18 degrees; open gripper;", + "subtask_movement_text": "move forward 84 mm; move right 35 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 190, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 171 mm; move right 78 mm; move downward 0 mm; roll downward 15 degrees; pitch downward 0 degrees; yaw clockwise 18 degrees; open gripper;\nSubtask Movement: move forward 70 mm; move right 31 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 191, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + -0.0053571430034935474, + 0.0, + -0.022857142612338066, + 0.0, + -0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + 0.17071430385112762, + -0.07750000804662704, + 0.0, + -0.2628571391105652, + 0.0, + -0.30571433901786804, + 1.0 + ], + "delta_full_state_norm": [ + 0.8513753358373823, + 0.423076152947615, + -1.0, + 0.22983938385946878, + 0.543440256501371, + -0.230769606394713, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 171 mm; move right 78 mm; move downward 0 mm; roll downward 15 degrees; pitch downward 0 degrees; yaw clockwise 18 degrees; open gripper;", + "subtask_movement_text": "move forward 70 mm; move right 31 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 191, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 128 mm; move right 72 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 0 degrees; yaw clockwise 17 degrees; open gripper;\nSubtask Movement: move forward 56 mm; move right 26 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 191, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013571429066359997, + -0.006428571883589029, + 0.0, + -0.022857142612338066, + 0.0, + -0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + 0.12785714864730835, + -0.07214286923408508, + 0.0, + -0.23999997973442078, + 0.0, + -0.3014286458492279, + 1.0 + ], + "delta_full_state_norm": [ + 0.8642321343807287, + 0.3076915688327666, + -1.0, + 0.22983938385946878, + 0.543440256501371, + -0.3846156851157704, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 128 mm; move right 72 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 0 degrees; yaw clockwise 17 degrees; open gripper;", + "subtask_movement_text": "move forward 56 mm; move right 26 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 192, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 82 mm; move right 66 mm; move downward 0 mm; roll downward 12 degrees; pitch upward 0 degrees; yaw clockwise 17 degrees; open gripper;\nSubtask Movement: move forward 43 mm; move right 19 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.006428571883589029, + 0.0, + -0.02142857201397419, + 0.0, + -0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + 0.08178570866584778, + -0.0657142922282219, + 0.0, + -0.21714285016059875, + 0.0014285714132711291, + -0.3014286160469055, + 1.0 + ], + "delta_full_state_norm": [ + 0.8770888993974284, + 0.3076915688327666, + -1.0, + 0.24872511281766307, + 0.543440256501371, + -0.3846156851157704, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 82 mm; move right 66 mm; move downward 0 mm; roll downward 12 degrees; pitch upward 0 degrees; yaw clockwise 17 degrees; open gripper;", + "subtask_movement_text": "move forward 43 mm; move right 19 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 193, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 34 mm; move right 59 mm; move downward 0 mm; roll downward 11 degrees; pitch upward 1 degrees; yaw clockwise 17 degrees; open gripper;\nSubtask Movement: move forward 29 mm; move right 13 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.006428571883589029, + 0.0, + -0.02142857201397419, + 0.0, + -0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + 0.034285712987184525, + -0.059285718947649, + 0.0, + -0.19571428000926971, + 0.015714285895228386, + -0.30428576469421387, + 1.0 + ], + "delta_full_state_norm": [ + 0.8899456979407747, + 0.3076915688327666, + -1.0, + 0.24872511281766307, + 0.543440256501371, + -0.5384617638368279, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 34 mm; move right 59 mm; move downward 0 mm; roll downward 11 degrees; pitch upward 1 degrees; yaw clockwise 17 degrees; open gripper;", + "subtask_movement_text": "move forward 29 mm; move right 13 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 194, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 14 mm; move right 53 mm; move downward 0 mm; roll downward 10 degrees; pitch upward 2 degrees; yaw clockwise 18 degrees; open gripper;\nSubtask Movement: move forward 15 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.006428571883589029, + 0.0, + -0.019999999552965164, + 0.0, + -0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + -0.013928577303886414, + -0.05285714194178581, + 0.0, + -0.17428569495677948, + 0.03428571671247482, + -0.30571433901786804, + 1.0 + ], + "delta_full_state_norm": [ + 0.9028024294308274, + 0.3076915688327666, + -1.0, + 0.2676108664000594, + 0.543440256501371, + -0.5384617638368279, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 14 mm; move right 53 mm; move downward 0 mm; roll downward 10 degrees; pitch upward 2 degrees; yaw clockwise 18 degrees; open gripper;", + "subtask_movement_text": "move forward 15 mm; move right 6 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 195, + "segment_id": 20200, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned near the stove and appears to be retracting or moving its base away from the microwave, which is located above the appliance. The arm orientation suggests a retreat rather than an approach or interaction with the control panel.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 64 mm; move right 46 mm; move downward 0 mm; roll downward 9 degrees; pitch upward 3 degrees; yaw clockwise 18 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 45 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + -0.005000000353902578, + 0.0, + -0.019999999552965164, + 0.0, + -0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + -0.06357143819332123, + -0.04642857238650322, + 0.0, + -0.15285712480545044, + 0.051428571343421936, + -0.30714288353919983, + 1.0 + ], + "delta_full_state_norm": [ + 0.915659227974174, + 0.4615376475538242, + -1.0, + 0.2676108664000594, + 0.543440256501371, + -0.5384617638368279, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 64 mm; move right 46 mm; move downward 0 mm; roll downward 9 degrees; pitch upward 3 degrees; yaw clockwise 18 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 196, + "segment_id": 20396, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned in direct contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned in direct contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 115 mm; move right 41 mm; move downward 0 mm; roll downward 7 degrees; pitch upward 4 degrees; yaw clockwise 18 degrees; open gripper;\nSubtask Movement: move forward 138 mm; move right 41 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw clockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 45 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + -0.005000000353902578, + 0.0, + -0.019999999552965164, + 0.0, + -0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + -0.11464285850524902, + -0.0414285734295845, + 0.0, + -0.1257142722606659, + 0.06857142597436905, + -0.30714285373687744, + 1.0 + ], + "delta_full_state_norm": [ + 0.915659227974174, + 0.4615376475538242, + -1.0, + 0.2676108664000594, + 0.543440256501371, + -0.6923078425578852, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 115 mm; move right 41 mm; move downward 0 mm; roll downward 7 degrees; pitch upward 4 degrees; yaw clockwise 18 degrees; open gripper;", + "subtask_movement_text": "move forward 138 mm; move right 41 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw clockwise 11 degrees; open gripper;" + }, + { + "frame_index": 197, + "segment_id": 20396, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned in direct contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned in direct contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 168 mm; move right 36 mm; move downward 0 mm; roll downward 5 degrees; pitch upward 5 degrees; yaw clockwise 18 degrees; open gripper;\nSubtask Movement: move forward 123 mm; move right 36 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 0 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 45 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01607142947614193, + -0.005000000353902578, + 0.0, + -0.018571428954601288, + 0.0, + -0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + -0.16750000417232513, + -0.03642857074737549, + 0.0, + -0.08428571373224258, + 0.08285713940858841, + -0.30571427941322327, + 1.0 + ], + "delta_full_state_norm": [ + 0.9542295565509196, + 0.4615376475538242, + -1.0, + 0.28649659535825367, + 0.543440256501371, + -0.6923078425578852, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 168 mm; move right 36 mm; move downward 0 mm; roll downward 5 degrees; pitch upward 5 degrees; yaw clockwise 18 degrees; open gripper;", + "subtask_movement_text": "move forward 123 mm; move right 36 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 0 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 198, + "segment_id": 20396, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned in direct contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned in direct contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 17 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 222 mm; move right 31 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 6 degrees; yaw clockwise 17 degrees; open gripper;\nSubtask Movement: move forward 106 mm; move right 31 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 44 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.016785714775323868, + -0.0053571430034935474, + 0.0, + -0.019999999552965164, + 0.0, + -0.017142856493592262, + 1.0 + ], + "delta_next_20": [ + -0.22178570926189423, + -0.03142857179045677, + 0.0, + -0.03999999910593033, + 0.1014285683631897, + -0.3042857050895691, + 1.0 + ], + "delta_full_state_norm": [ + 0.9799430865843188, + 0.423076152947615, + -1.0, + 0.2676108664000594, + 0.543440256501371, + -0.8461538209827214, + -1.0 + ], + "movement_text": "move forward 17 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 222 mm; move right 31 mm; move downward 0 mm; roll downward 2 degrees; pitch upward 6 degrees; yaw clockwise 17 degrees; open gripper;", + "subtask_movement_text": "move forward 106 mm; move right 31 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 9 degrees; open gripper;" + }, + { + "frame_index": 199, + "segment_id": 20396, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned in direct contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned in direct contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 277 mm; move right 26 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 7 degrees; yaw clockwise 17 degrees; open gripper;\nSubtask Movement: move forward 90 mm; move right 26 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 44 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01785714365541935, + -0.0053571430034935474, + 0.0, + -0.019999999552965164, + 0.0, + -0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + -0.2767857015132904, + -0.02607142925262451, + 0.0, + 0.014285709708929062, + 0.12428571283817291, + -0.29999998211860657, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.423076152947615, + -1.0, + 0.2676108664000594, + 0.543440256501371, + -1.0, + -1.0 + ], + "movement_text": "move forward 18 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 277 mm; move right 26 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 7 degrees; yaw clockwise 17 degrees; open gripper;", + "subtask_movement_text": "move forward 90 mm; move right 26 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 8 degrees; open gripper;" + }, + { + "frame_index": 200, + "segment_id": 20396, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned in direct contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned in direct contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 333 mm; move right 21 mm; move downward 0 mm; roll upward 4 degrees; pitch upward 9 degrees; yaw clockwise 17 degrees; open gripper;\nSubtask Movement: move forward 72 mm; move right 21 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 44 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01785714365541935, + -0.004285714589059353, + 0.0, + -0.019999999552965164, + 0.0, + -0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + -0.3328571319580078, + -0.0207142885774374, + 0.0, + 0.07000000774860382, + 0.15142856538295746, + -0.29428571462631226, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.5384606869143529, + -1.0, + 0.2676108664000594, + 0.543440256501371, + -1.0, + -1.0 + ], + "movement_text": "move forward 18 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 333 mm; move right 21 mm; move downward 0 mm; roll upward 4 degrees; pitch upward 9 degrees; yaw clockwise 17 degrees; open gripper;", + "subtask_movement_text": "move forward 72 mm; move right 21 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; open gripper;" + }, + { + "frame_index": 201, + "segment_id": 20396, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned in direct contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned in direct contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 389 mm; move right 16 mm; move downward 0 mm; roll upward 7 degrees; pitch upward 11 degrees; yaw clockwise 17 degrees; open gripper;\nSubtask Movement: move forward 54 mm; move right 16 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 43 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.017500000074505806, + -0.004285714589059353, + 0.0, + -0.015714285895228386, + 0.0, + -0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + -0.38892853260040283, + -0.016428573057055473, + 0.0, + 0.12857143580913544, + 0.18571427464485168, + -0.28857141733169556, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.5384606869143529, + -1.0, + 0.32426807789884404, + 0.543440256501371, + -1.0, + -1.0 + ], + "movement_text": "move forward 18 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 389 mm; move right 16 mm; move downward 0 mm; roll upward 7 degrees; pitch upward 11 degrees; yaw clockwise 17 degrees; open gripper;", + "subtask_movement_text": "move forward 54 mm; move right 16 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 202, + "segment_id": 20396, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned in direct contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned in direct contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 445 mm; move right 12 mm; move downward 0 mm; roll upward 11 degrees; pitch upward 13 degrees; yaw clockwise 16 degrees; open gripper;\nSubtask Movement: move forward 36 mm; move right 12 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 43 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01607142947614193, + -0.0039285714738070965, + 0.0, + -0.011428571306169033, + 0.0, + -0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + -0.4446428716182709, + -0.012142857536673546, + 0.0, + 0.18571427464485168, + 0.22285713255405426, + -0.28285714983940125, + 1.0 + ], + "delta_full_state_norm": [ + 0.9542295565509196, + 0.5769222316686724, + -1.0, + 0.38092530170973005, + 0.543440256501371, + -1.0, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 445 mm; move right 12 mm; move downward 0 mm; roll upward 11 degrees; pitch upward 13 degrees; yaw clockwise 16 degrees; open gripper;", + "subtask_movement_text": "move forward 36 mm; move right 12 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 203, + "segment_id": 20396, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned in direct contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned in direct contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 498 mm; move right 8 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 15 degrees; yaw clockwise 16 degrees; open gripper;\nSubtask Movement: move forward 20 mm; move right 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 42 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + -0.0039285714738070965, + 0.0, + -0.0071428571827709675, + 0.0, + -0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + -0.4982143044471741, + -0.007857142947614193, + 0.0, + 0.24142856895923615, + 0.26428571343421936, + -0.27714285254478455, + 1.0 + ], + "delta_full_state_norm": [ + 0.8385186043473296, + 0.5769222316686724, + -1.0, + 0.43758251936456527, + 0.543440256501371, + -1.0, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 498 mm; move right 8 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 15 degrees; yaw clockwise 16 degrees; open gripper;", + "subtask_movement_text": "move forward 20 mm; move right 8 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 204, + "segment_id": 20396, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned in direct contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned in direct contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 511 mm; move right 4 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 15 degrees; yaw clockwise 15 degrees; open gripper;\nSubtask Movement: move forward 8 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 42 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007500000298023224, + -0.0032142859417945147, + 0.0, + -0.0014285714132711291, + 0.0, + -0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + -0.5110714435577393, + -0.0039285714738070965, + 0.0, + 0.24857142567634583, + 0.26428571343421936, + -0.25857141613960266, + 1.0 + ], + "delta_full_state_norm": [ + 0.645666994990248, + 0.6538452459551458, + -1.0, + 0.5131254798287086, + 0.543440256501371, + -1.0, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 511 mm; move right 4 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 15 degrees; yaw clockwise 15 degrees; open gripper;", + "subtask_movement_text": "move forward 8 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 205, + "segment_id": 20396, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned in direct contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned in direct contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 519 mm; move right 1 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 15 degrees; yaw clockwise 14 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 42 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0010714286472648382, + 0.0, + 0.0, + 0.0, + -0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + -0.5185714960098267, + -0.0007142857648432255, + 0.0, + 0.25, + 0.26428571343421936, + -0.23999999463558197, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + 0.8846143640367319, + -1.0, + 0.5320112195599911, + 0.543440256501371, + -1.0, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 519 mm; move right 1 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 15 degrees; yaw clockwise 14 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 206, + "segment_id": 20396, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned in direct contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned in direct contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 519 mm; move left 0 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 15 degrees; yaw clockwise 13 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 193, + 42 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + -0.5185714960098267, + 0.0003571428533177823, + 0.0, + 0.25, + 0.26428571343421936, + -0.22142855823040009, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + 0.999998923077525, + -1.0, + 0.5320112195599911, + 0.543440256501371, + -0.6923078425578852, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 519 mm; move left 0 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 15 degrees; yaw clockwise 13 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 207, + "segment_id": 20396, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector is positioned in direct contact with the microwave control panel, maintaining a static pose consistent with holding down a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector is positioned in direct contact with the microwave control panel, maintaining a static pose consistent with holding down a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 519 mm; move left 0 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 15 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 193, + 42 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008571429178118706, + 0.0, + 0.0, + 0.0, + 0.0, + -0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + -0.5185714960098267, + 0.0003571428533177823, + 0.0, + 0.25, + 0.26428571343421936, + -0.20571427047252655, + 1.0 + ], + "delta_full_state_norm": [ + 0.0671122004456508, + 0.999998923077525, + -1.0, + 0.5320112195599911, + 0.543440256501371, + -0.3846156851157704, + -1.0 + ], + "movement_text": "move backward 9 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 519 mm; move left 0 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 15 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 208, + "segment_id": 20408, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector, which was previously interacting with the microwave, is retracting upwards and to the right. The arm moves out of the immediate vicinity of the appliance without further contact or manipulation.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector, which was previously interacting with the microwave, is retracting upwards and to the right. The arm moves out of the immediate vicinity of the appliance without further contact or manipulation.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 18 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 510 mm; move left 0 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 15 degrees; yaw clockwise 11 degrees; open gripper;\nSubtask Movement: move backward 281 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 5 degrees; yaw clockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 193, + 42 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01785714365541935, + 0.0, + 0.0, + 0.0, + 0.0, + -0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + -0.5099999904632568, + 0.0003571428533177823, + 0.0, + 0.25, + 0.26428571343421936, + -0.19285713136196136, + 1.0 + ], + "delta_full_state_norm": [ + -0.26716389114842, + 0.999998923077525, + -1.0, + 0.5320112195599911, + 0.543440256501371, + -0.230769606394713, + -1.0 + ], + "movement_text": "move backward 18 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 510 mm; move left 0 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 15 degrees; yaw clockwise 11 degrees; open gripper;", + "subtask_movement_text": "move backward 281 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 5 degrees; yaw clockwise 7 degrees; open gripper;" + }, + { + "frame_index": 209, + "segment_id": 20408, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector, which was previously interacting with the microwave, is retracting upwards and to the right. The arm moves out of the immediate vicinity of the appliance without further contact or manipulation.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector, which was previously interacting with the microwave, is retracting upwards and to the right. The arm moves out of the immediate vicinity of the appliance without further contact or manipulation.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 25 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 492 mm; move left 0 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 15 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move backward 264 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 5 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 193, + 42 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02500000037252903, + 0.0, + 0.0, + 0.0, + 0.0, + -0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + -0.4921428859233856, + 0.0003571428533177823, + 0.0, + 0.25, + 0.26428571343421936, + -0.18142855167388916, + 1.0 + ], + "delta_full_state_norm": [ + -0.5242993255889994, + 0.999998923077525, + -1.0, + 0.5320112195599911, + 0.543440256501371, + 0.2307685796203487, + -1.0 + ], + "movement_text": "move backward 25 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 492 mm; move left 0 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 15 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move backward 264 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 5 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 210, + "segment_id": 20408, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector, which was previously interacting with the microwave, is retracting upwards and to the right. The arm moves out of the immediate vicinity of the appliance without further contact or manipulation.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector, which was previously interacting with the microwave, is retracting upwards and to the right. The arm moves out of the immediate vicinity of the appliance without further contact or manipulation.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 30 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 467 mm; move left 0 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 15 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move backward 239 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 5 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 194, + 42 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.029642855748534203, + 0.0, + 0.0, + 0.0, + 0.0, + -0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + -0.46714282035827637, + 0.0003571428533177823, + 0.0, + 0.25, + 0.26428571343421936, + -0.17428569495677948, + 1.0 + ], + "delta_full_state_norm": [ + -0.691437304332741, + 0.999998923077525, + -1.0, + 0.5320112195599911, + 0.543440256501371, + 0.2307685796203487, + -1.0 + ], + "movement_text": "move backward 30 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 467 mm; move left 0 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 15 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move backward 239 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 5 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 211, + "segment_id": 20408, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector, which was previously interacting with the microwave, is retracting upwards and to the right. The arm moves out of the immediate vicinity of the appliance without further contact or manipulation.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector, which was previously interacting with the microwave, is retracting upwards and to the right. The arm moves out of the immediate vicinity of the appliance without further contact or manipulation.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 32 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 438 mm; move left 0 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 15 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move backward 209 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 5 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 195, + 43 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.032499998807907104, + 0.0, + 0.0, + 0.0, + 0.0014285714132711291, + -0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + -0.4375, + 0.0003571428533177823, + 0.0, + 0.25, + 0.26428571343421936, + -0.1671428382396698, + 1.0 + ], + "delta_full_state_norm": [ + -0.7942914915196315, + 0.999998923077525, + -1.0, + 0.5320112195599911, + 0.5683344537287955, + -0.3846156851157704, + -1.0 + ], + "movement_text": "move backward 32 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 438 mm; move left 0 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 15 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move backward 209 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 5 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 212, + "segment_id": 20408, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector, which was previously interacting with the microwave, is retracting upwards and to the right. The arm moves out of the immediate vicinity of the appliance without further contact or manipulation.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector, which was previously interacting with the microwave, is retracting upwards and to the right. The arm moves out of the immediate vicinity of the appliance without further contact or manipulation.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 34 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 405 mm; move left 0 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 15 degrees; yaw clockwise 9 degrees; open gripper;\nSubtask Movement: move backward 176 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 5 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 196, + 43 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.033571429550647736, + 0.0, + 0.0, + 0.0, + 0.014285714365541935, + -0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + -0.4049999713897705, + 0.0003571428533177823, + 0.0, + 0.25, + 0.2628571391105652, + -0.15428569912910461, + 1.0 + ], + "delta_full_state_norm": [ + -0.8328618871496709, + 0.999998923077525, + -1.0, + 0.5320112195599911, + 0.7923822328329093, + -0.6923078425578852, + -1.0 + ], + "movement_text": "move backward 34 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 405 mm; move left 0 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 15 degrees; yaw clockwise 9 degrees; open gripper;", + "subtask_movement_text": "move backward 176 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 5 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 213, + "segment_id": 20408, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector, which was previously interacting with the microwave, is retracting upwards and to the right. The arm moves out of the immediate vicinity of the appliance without further contact or manipulation.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector, which was previously interacting with the microwave, is retracting upwards and to the right. The arm moves out of the immediate vicinity of the appliance without further contact or manipulation.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 34 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 371 mm; move left 0 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 14 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move backward 143 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 4 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 44 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03392856940627098, + 0.0, + 0.0, + 0.0, + 0.018571428954601288, + -0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + -0.37142854928970337, + 0.0003571428533177823, + 0.0, + 0.25, + 0.24857141077518463, + -0.13857141137123108, + 1.0 + ], + "delta_full_state_norm": [ + -0.8457185515864298, + 0.999998923077525, + -1.0, + 0.5320112195599911, + 0.8670648306011217, + -0.6923078425578852, + -1.0 + ], + "movement_text": "move backward 34 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 371 mm; move left 0 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 14 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move backward 143 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 4 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 214, + "segment_id": 20408, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector, which was previously interacting with the microwave, is retracting upwards and to the right. The arm moves out of the immediate vicinity of the appliance without further contact or manipulation.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector, which was previously interacting with the microwave, is retracting upwards and to the right. The arm moves out of the immediate vicinity of the appliance without further contact or manipulation.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 35 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 338 mm; move left 0 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 13 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move backward 109 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 3 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 44 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03500000014901161, + 0.0, + 0.0, + 0.0014285714132711291, + 0.017142856493592262, + -0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + -0.3375000059604645, + 0.0003571428533177823, + 0.0, + 0.25, + 0.22999998927116394, + -0.12285712361335754, + 1.0 + ], + "delta_full_state_norm": [ + -0.8842889472164692, + 0.999998923077525, + -1.0, + 0.5508969592912738, + 0.8421706151158812, + -0.6923078425578852, + -1.0 + ], + "movement_text": "move backward 35 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 338 mm; move left 0 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 13 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move backward 109 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 3 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 215, + "segment_id": 20408, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector, which was previously interacting with the microwave, is retracting upwards and to the right. The arm moves out of the immediate vicinity of the appliance without further contact or manipulation.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector, which was previously interacting with the microwave, is retracting upwards and to the right. The arm moves out of the immediate vicinity of the appliance without further contact or manipulation.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 36 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 303 mm; move left 0 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 12 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move backward 74 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 2 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 199, + 45 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03607143089175224, + 0.0, + 0.0, + 0.0071428571827709675, + 0.017142856493592262, + -0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + -0.30250000953674316, + 0.0003571428533177823, + 0.0, + 0.24857142567634583, + 0.21285712718963623, + -0.1071428507566452, + 1.0 + ], + "delta_full_state_norm": [ + -0.9228593428465087, + 0.999998923077525, + -1.0, + 0.6264399197554169, + 0.8421706151158812, + -0.5384617638368279, + -1.0 + ], + "movement_text": "move backward 36 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 303 mm; move left 0 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 12 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move backward 74 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 2 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 216, + "segment_id": 20408, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector, which was previously interacting with the microwave, is retracting upwards and to the right. The arm moves out of the immediate vicinity of the appliance without further contact or manipulation.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector, which was previously interacting with the microwave, is retracting upwards and to the right. The arm moves out of the immediate vicinity of the appliance without further contact or manipulation.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 38 mm; move right 0 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 266 mm; move left 0 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 11 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move backward 38 mm; move right 0 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.037857141345739365, + 0.0, + 0.0, + 0.02142857201397419, + 0.014285714365541935, + -0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + -0.2664285898208618, + 0.0003571428533177823, + 0.0, + 0.24142856895923615, + 0.19571428000926971, + -0.09285713732242584, + 1.0 + ], + "delta_full_state_norm": [ + -0.9871430673500661, + 0.999998923077525, + -1.0, + 0.8152973263023195, + 0.7923822328329093, + -0.5384617638368279, + -1.0 + ], + "movement_text": "move backward 38 mm; move right 0 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 266 mm; move left 0 mm; move downward 0 mm; roll upward 14 degrees; pitch upward 11 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move backward 38 mm; move right 0 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 217, + "segment_id": 20408, + "subtask": "move away from the microwave", + "reason": "The robot's end-effector, which was previously interacting with the microwave, is retracting upwards and to the right. The arm moves out of the immediate vicinity of the appliance without further contact or manipulation.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's end-effector, which was previously interacting with the microwave, is retracting upwards and to the right. The arm moves out of the immediate vicinity of the appliance without further contact or manipulation.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 38 mm; move right 0 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 229 mm; move left 0 mm; move downward 0 mm; roll upward 13 degrees; pitch upward 10 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03821428865194321, + 0.0, + 0.0, + 0.025714285671710968, + 0.018571428954601288, + -0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + -0.22857144474983215, + 0.0003571428533177823, + 0.0, + 0.2199999988079071, + 0.18142856657505035, + -0.07857142388820648, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.999998923077525, + -1.0, + 0.8719545378011042, + 0.8670648306011217, + -0.5384617638368279, + -1.0 + ], + "movement_text": "move backward 38 mm; move right 0 mm; move downward 0 mm; roll upward 1 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 229 mm; move left 0 mm; move downward 0 mm; roll upward 13 degrees; pitch upward 10 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 218, + "segment_id": 408, + "subtask": "move away from the microwave", + "reason": "The robot arm is shown retracting and moving downward, increasing its distance from the microwave located in the upper right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is shown retracting and moving downward, increasing its distance from the microwave located in the upper right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 38 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 190 mm; move left 0 mm; move downward 0 mm; roll upward 11 degrees; pitch upward 9 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move backward 153 mm; move right 0 mm; move downward 0 mm; roll upward 9 degrees; pitch upward 7 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03821428865194321, + 0.0, + 0.0, + 0.034285712987184525, + 0.022857142612338066, + -0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + -0.19035714864730835, + 0.0003571428533177823, + 0.0, + 0.19428570568561554, + 0.16285713016986847, + -0.06428571045398712, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.999998923077525, + -1.0, + 0.9852689607986735, + 0.9417474121401643, + -0.3846156851157704, + -1.0 + ], + "movement_text": "move backward 38 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 190 mm; move left 0 mm; move downward 0 mm; roll upward 11 degrees; pitch upward 9 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 153 mm; move right 0 mm; move downward 0 mm; roll upward 9 degrees; pitch upward 7 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 219, + "segment_id": 408, + "subtask": "move away from the microwave", + "reason": "The robot arm is shown retracting and moving downward, increasing its distance from the microwave located in the upper right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is shown retracting and moving downward, increasing its distance from the microwave located in the upper right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 38 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 152 mm; move left 0 mm; move downward 0 mm; roll upward 9 degrees; pitch upward 8 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move backward 115 mm; move right 0 mm; move downward 0 mm; roll upward 7 degrees; pitch upward 6 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03821428865194321, + 0.0, + 0.0, + 0.0357142873108387, + 0.027142856270074844, + -0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + -0.15214286744594574, + 0.0003571428533177823, + 0.0, + 0.1599999964237213, + 0.14000000059604645, + -0.051428571343421936, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.999998923077525, + -1.0, + 1.0, + 1.0, + -0.3846156851157704, + -1.0 + ], + "movement_text": "move backward 38 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 152 mm; move left 0 mm; move downward 0 mm; roll upward 9 degrees; pitch upward 8 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move backward 115 mm; move right 0 mm; move downward 0 mm; roll upward 7 degrees; pitch upward 6 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 220, + "segment_id": 408, + "subtask": "move away from the microwave", + "reason": "The robot arm is shown retracting and moving downward, increasing its distance from the microwave located in the upper right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is shown retracting and moving downward, increasing its distance from the microwave located in the upper right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 38 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 114 mm; move left 0 mm; move downward 0 mm; roll upward 7 degrees; pitch upward 6 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move backward 76 mm; move right 0 mm; move downward 0 mm; roll upward 5 degrees; pitch upward 4 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03821428865194321, + 0.0, + 0.0, + 0.03857142850756645, + 0.034285712987184525, + -0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + -0.11392857879400253, + 0.0003571428533177823, + 0.0, + 0.12428571283817291, + 0.11285713315010071, + -0.03857142850756645, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.999998923077525, + -1.0, + 1.0, + 1.0, + -0.3846156851157704, + -1.0 + ], + "movement_text": "move backward 38 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 114 mm; move left 0 mm; move downward 0 mm; roll upward 7 degrees; pitch upward 6 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 76 mm; move right 0 mm; move downward 0 mm; roll upward 5 degrees; pitch upward 4 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 221, + "segment_id": 408, + "subtask": "move away from the microwave", + "reason": "The robot arm is shown retracting and moving downward, increasing its distance from the microwave located in the upper right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is shown retracting and moving downward, increasing its distance from the microwave located in the upper right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 38 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 76 mm; move left 0 mm; move downward 0 mm; roll upward 5 degrees; pitch upward 5 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 38 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03821428865194321, + 0.0, + 0.0, + 0.041428569704294205, + 0.037142857909202576, + -0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + -0.07571429014205933, + 0.0003571428533177823, + 0.0, + 0.08571428060531616, + 0.07857142388820648, + -0.025714285671710968, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.999998923077525, + -1.0, + 1.0, + 1.0, + -0.3846156851157704, + -1.0 + ], + "movement_text": "move backward 38 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 76 mm; move left 0 mm; move downward 0 mm; roll upward 5 degrees; pitch upward 5 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 38 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 222, + "segment_id": 408, + "subtask": "move away from the microwave", + "reason": "The robot arm is shown retracting and moving downward, increasing its distance from the microwave located in the upper right of the frame.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is shown retracting and moving downward, increasing its distance from the microwave located in the upper right of the frame.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 38 mm; move left 0 mm; move downward 0 mm; roll upward 3 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.03750000149011612, + 0.0003571428533177823, + 0.0, + 0.044285714626312256, + 0.041428569704294205, + -0.012857142835855484, + 1.0 + ], + "delta_full_state_norm": [ + 0.3756747620063223, + 0.999998923077525, + -1.0, + 0.5320112195599911, + 0.543440256501371, + 0.999998923077525, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 38 mm; move left 0 mm; move downward 0 mm; roll upward 3 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + } + ], + "all_object_names": [ + "obj" + ], + "obj_cat": "obj", + "distr_cats": [], + "grounding_camera": "robot0_agentview_left", + "grounding_method": "self_render_selfconsistent" +} \ No newline at end of file diff --git a/grounding_cot/TurnOffMicrowave/extras/episode_000045/cot_annotations.json b/grounding_cot/TurnOffMicrowave/extras/episode_000045/cot_annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..7e36327e8098cdca2f3f033a178af905171b544e --- /dev/null +++ b/grounding_cot/TurnOffMicrowave/extras/episode_000045/cot_annotations.json @@ -0,0 +1,7937 @@ +{ + "sample_key": "TurnOffMicrowave|45", + "subtask_list": [ + "approach the microwave", + "reach for the stop button", + "press the stop button", + "move away from the microwave" + ], + "segment_labels_raw": { + "1": [ + "approach the microwave", + "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory." + ], + "2": [ + "reach for the stop button", + "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the location of the stop button. The arm maintains a static reach pose relative to the appliance throughout the sequence, indicating preparation for contact rather than active pressing or retraction." + ], + "3": [ + "reach for the stop button", + "The robot's arm is positioned directly in front of the microwave control panel with the end-effector oriented towards the interface, indicating a reaching motion to make contact." + ], + "4": [ + "press the stop button", + "The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it." + ], + "5": [ + "press the stop button", + "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button." + ], + "6": [ + "move away from the microwave", + "The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it." + ], + "7": [ + "reach for the stop button", + "The robot's arm is extended towards the microwave control panel with the end-effector positioned directly in front of the buttons, indicating an approach to press them." + ], + "8": [ + "press the stop button", + "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action." + ], + "9": [ + "press the stop button", + "The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action." + ], + "10": [ + "press the stop button", + "The robot's arm is extended with the end-effector positioned directly against the microwave panel, indicating active contact and execution of the pressing action." + ], + "11": [ + "move away from the microwave", + "The robot's arm is retracted and moving away from the microwave, indicating the completion of the interaction phase." + ], + "12": [ + "move away from the microwave", + "The robot arm is positioned in front of the stove and appears to be retracted or moving away from the microwave located above it, consistent with a departure motion." + ] + }, + "instruction": "press the stop button on the microwave", + "suite": "TurnOffMicrowave", + "num_frames": 163, + "segment_count": 12, + "movement_statistics": { + "mean": [ + 0.0026205083209966977, + -0.007449605839471247, + 0.004842243857426066, + -0.038518843217467194, + -0.04241016620492986, + 0.017028922280096705, + 0.9141104294478528 + ], + "std": [ + 0.01777096767882122, + 0.006862130145590131, + 0.006370133195817704, + 0.03795343191547463, + 0.038047541102851225, + 0.030100196840297782, + 0.40546531636461963 + ], + "Q1": [ + -0.05000000074505806, + -0.02071428671479225, + -0.0033142858603969214, + -0.10197142660617828, + -0.10857142508029938, + -0.03734285779297352, + -1.0 + ], + "Q99": [ + 0.03464285656809807, + 0.0, + 0.01763571463525295, + 0.055828570723533526, + 0.020857142694294322, + 0.07911428675055503, + 1.0 + ] + }, + "frames": [ + { + "frame_index": 0, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 72 mm; move right 0 mm; move upward 73 mm; roll downward 10 degrees; pitch downward 13 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 203 mm; move right 5 mm; move upward 197 mm; roll downward 10 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 146, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.0014285714132711291, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.07178571820259094, + 0.0, + 0.07321428507566452, + -0.17142856121063232, + -0.22142857313156128, + 0.012857142835855484, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + 0.9999990344832712, + -0.6836005537004279, + 0.274307357702843, + 0.6777040580540401, + -0.358685038470251, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 72 mm; move right 0 mm; move upward 73 mm; roll downward 10 degrees; pitch downward 13 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 203 mm; move right 5 mm; move upward 197 mm; roll downward 10 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 1, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 87 mm; move right 0 mm; move upward 87 mm; roll downward 10 degrees; pitch downward 16 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 203 mm; move right 5 mm; move upward 197 mm; roll downward 10 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 146, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.012857142835855484, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.08678572624921799, + 0.0, + 0.08714286237955093, + -0.17000000178813934, + -0.27571427822113037, + 0.022857142612338066, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + 0.9999990344832712, + -0.6836005537004279, + 0.12945855045652666, + 0.6777040580540401, + -0.358685038470251, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 87 mm; move right 0 mm; move upward 87 mm; roll downward 10 degrees; pitch downward 16 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 203 mm; move right 5 mm; move upward 197 mm; roll downward 10 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 2, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 103 mm; move right 0 mm; move upward 103 mm; roll downward 9 degrees; pitch downward 19 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 203 mm; move right 5 mm; move upward 197 mm; roll downward 9 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 146, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.019999999552965164, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.10250001400709152, + 0.0, + 0.10250001400709152, + -0.15714284777641296, + -0.334285706281662, + 0.0357142835855484, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + 0.9999990344832712, + -0.6836005537004279, + 0.03892805127619159, + 0.6777040580540401, + -0.358685038470251, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 103 mm; move right 0 mm; move upward 103 mm; roll downward 9 degrees; pitch downward 19 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 203 mm; move right 5 mm; move upward 197 mm; roll downward 9 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 3, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 119 mm; move right 0 mm; move upward 118 mm; roll downward 8 degrees; pitch downward 23 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move backward 203 mm; move right 5 mm; move upward 197 mm; roll downward 8 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 146, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.02428571507334709, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.118571437895298, + 0.0, + 0.11821430176496506, + -0.1371428519487381, + -0.3928571343421936, + 0.05428571254014969, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + 0.9999990344832712, + -0.6836005537004279, + -0.015390267118144507, + 0.6777040580540401, + -0.358685038470251, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 119 mm; move right 0 mm; move upward 118 mm; roll downward 8 degrees; pitch downward 23 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move backward 203 mm; move right 5 mm; move upward 197 mm; roll downward 8 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 4, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 135 mm; move right 0 mm; move upward 134 mm; roll downward 6 degrees; pitch downward 26 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move backward 203 mm; move right 5 mm; move upward 197 mm; roll downward 6 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 147, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.02142857201397419, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.13535715639591217, + 0.0, + 0.13357143104076385, + -0.11285713315010071, + -0.4528571367263794, + 0.07571428269147873, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + 0.9999990344832712, + -0.6836005537004279, + 0.020821937275523172, + 0.6777040580540401, + -0.358685038470251, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 135 mm; move right 0 mm; move upward 134 mm; roll downward 6 degrees; pitch downward 26 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 203 mm; move right 5 mm; move upward 197 mm; roll downward 6 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 5, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 153 mm; move right 0 mm; move upward 149 mm; roll downward 5 degrees; pitch downward 29 degrees; yaw counterclockwise 6 degrees; open gripper;\nSubtask Movement: move backward 203 mm; move right 5 mm; move upward 197 mm; roll downward 5 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 147, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.011428571306169033, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.15250001847743988, + -0.0003571428533177823, + 0.14892856776714325, + -0.09142856299877167, + -0.5128571391105652, + 0.09857142716646194, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + 0.9999990344832712, + -0.6836005537004279, + 0.14756465265336072, + 0.6777040580540401, + -0.358685038470251, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 153 mm; move right 0 mm; move upward 149 mm; roll downward 5 degrees; pitch downward 29 degrees; yaw counterclockwise 6 degrees; open gripper;", + "subtask_movement_text": "move backward 203 mm; move right 5 mm; move upward 197 mm; roll downward 5 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 6, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;\nNext 20 Movement: move backward 169 mm; move right 1 mm; move upward 165 mm; roll downward 5 degrees; pitch downward 33 degrees; yaw counterclockwise 7 degrees; open gripper;\nSubtask Movement: move backward 203 mm; move right 5 mm; move upward 197 mm; roll downward 5 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 147, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.0071428571827709675, + 0.0, + 0.0, + -1.0 + ], + "delta_next_20": [ + -0.16928572952747345, + -0.0010714286472648382, + 0.16464285552501678, + -0.07999999821186066, + -0.572857141494751, + 0.12428571283817291, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + 0.9999990344832712, + -0.6836005537004279, + 0.20188295334194528, + 0.6777040580540401, + -0.358685038470251, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; close gripper;", + "next_20_movement_text": "move backward 169 mm; move right 1 mm; move upward 165 mm; roll downward 5 degrees; pitch downward 33 degrees; yaw counterclockwise 7 degrees; open gripper;", + "subtask_movement_text": "move backward 203 mm; move right 5 mm; move upward 197 mm; roll downward 5 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 7, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 186 mm; move right 3 mm; move upward 181 mm; roll downward 4 degrees; pitch downward 36 degrees; yaw counterclockwise 9 degrees; open gripper;\nSubtask Movement: move backward 203 mm; move right 5 mm; move upward 197 mm; roll downward 4 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 146, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.011428571306169033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.18642859160900116, + -0.002857143059372902, + 0.18071429431438446, + -0.07285714149475098, + -0.6342856884002686, + 0.15285713970661163, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + 0.9999990344832712, + -0.6836005537004279, + 0.14756465265336072, + 0.6777040580540401, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 186 mm; move right 3 mm; move upward 181 mm; roll downward 4 degrees; pitch downward 36 degrees; yaw counterclockwise 9 degrees; open gripper;", + "subtask_movement_text": "move backward 203 mm; move right 5 mm; move upward 197 mm; roll downward 4 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 8, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 203 mm; move right 5 mm; move upward 197 mm; roll downward 4 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;\nSubtask Movement: move backward 203 mm; move right 5 mm; move upward 197 mm; roll downward 4 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 146, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.012857142835855484, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.20321428775787354, + -0.005357143469154835, + 0.19678571820259094, + -0.06142856925725937, + -0.6985713839530945, + 0.18714284896850586, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + 0.9999990344832712, + -0.6836005537004279, + 0.12945855045652666, + 0.6777040580540401, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 203 mm; move right 5 mm; move upward 197 mm; roll downward 4 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;", + "subtask_movement_text": "move backward 203 mm; move right 5 mm; move upward 197 mm; roll downward 4 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 9, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 219 mm; move right 10 mm; move upward 213 mm; roll downward 3 degrees; pitch downward 44 degrees; yaw counterclockwise 13 degrees; open gripper;\nSubtask Movement: move backward 203 mm; move right 5 mm; move upward 197 mm; roll downward 3 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 146, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + -0.014285714365541935, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2192857265472412, + -0.009642857126891613, + 0.21250000596046448, + -0.04857143014669418, + -0.764285683631897, + 0.2271428406238556, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + 0.9999990344832712, + -0.6836005537004279, + 0.11135244825969282, + 0.6777040580540401, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 219 mm; move right 10 mm; move upward 213 mm; roll downward 3 degrees; pitch downward 44 degrees; yaw counterclockwise 13 degrees; open gripper;", + "subtask_movement_text": "move backward 203 mm; move right 5 mm; move upward 197 mm; roll downward 3 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 10, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 1 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 235 mm; move right 15 mm; move upward 228 mm; roll downward 2 degrees; pitch downward 48 degrees; yaw counterclockwise 16 degrees; open gripper;\nSubtask Movement: move backward 203 mm; move right 5 mm; move upward 197 mm; roll downward 2 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 146, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0014285714132711291, + -0.015714285895228386, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2346428632736206, + -0.015357143245637417, + 0.22785714268684387, + -0.03999999910593033, + -0.8342856764793396, + 0.2742857038974762, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + 0.9999990344832712, + -0.5472214894925354, + 0.09324634606285898, + 0.6777040580540401, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 1 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 235 mm; move right 15 mm; move upward 228 mm; roll downward 2 degrees; pitch downward 48 degrees; yaw counterclockwise 16 degrees; open gripper;", + "subtask_movement_text": "move backward 203 mm; move right 5 mm; move upward 197 mm; roll downward 2 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 11, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 3 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 249 mm; move right 22 mm; move upward 242 mm; roll downward 2 degrees; pitch downward 52 degrees; yaw counterclockwise 19 degrees; open gripper;\nSubtask Movement: move backward 203 mm; move right 5 mm; move upward 195 mm; roll downward 1 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 146, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.002500000176951289, + -0.012857142835855484, + -0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.24892857670783997, + -0.021785715594887733, + 0.24249999225139618, + -0.037142857909202576, + -0.9085713624954224, + 0.32999998331069946, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + 0.9999990344832712, + -0.44493717188776516, + 0.12945855045652666, + 0.6335539503163483, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 3 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 249 mm; move right 22 mm; move upward 242 mm; roll downward 2 degrees; pitch downward 52 degrees; yaw counterclockwise 19 degrees; open gripper;", + "subtask_movement_text": "move backward 203 mm; move right 5 mm; move upward 195 mm; roll downward 1 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 12, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 263 mm; move right 30 mm; move upward 256 mm; roll downward 3 degrees; pitch downward 56 degrees; yaw counterclockwise 23 degrees; open gripper;\nSubtask Movement: move backward 203 mm; move right 5 mm; move upward 193 mm; roll downward 0 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 146, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0003571428533177823, + 0.0, + 0.002500000176951289, + -0.0057142856530845165, + -0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.26250001788139343, + -0.030000001192092896, + 0.2564285695552826, + -0.05285714566707611, + -0.9814285635948181, + 0.3928571343421936, + 1.0 + ], + "delta_full_state_norm": [ + 0.17299565734404743, + 0.9999990344832712, + -0.44493717188776516, + 0.21998905553877912, + 0.6335539503163483, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 263 mm; move right 30 mm; move upward 256 mm; roll downward 3 degrees; pitch downward 56 degrees; yaw counterclockwise 23 degrees; open gripper;", + "subtask_movement_text": "move backward 203 mm; move right 5 mm; move upward 193 mm; roll downward 0 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 13, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 275 mm; move right 40 mm; move upward 271 mm; roll downward 5 degrees; pitch downward 61 degrees; yaw counterclockwise 27 degrees; open gripper;\nSubtask Movement: move backward 203 mm; move right 5 mm; move upward 190 mm; roll downward 0 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 146, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0053571430034935474, + 0.0, + 0.0057142856530845165, + 0.0, + -0.012857142835855484, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2750000059604645, + -0.04000000283122063, + 0.27071428298950195, + -0.09000000357627869, + -1.0585713386535645, + 0.4642857015132904, + 1.0 + ], + "delta_full_state_norm": [ + 0.0548522080755558, + 0.9999990344832712, + -0.1380842968688576, + 0.2924134584241975, + 0.47902857143551536, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move backward 5 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 275 mm; move right 40 mm; move upward 271 mm; roll downward 5 degrees; pitch downward 61 degrees; yaw counterclockwise 27 degrees; open gripper;", + "subtask_movement_text": "move backward 203 mm; move right 5 mm; move upward 190 mm; roll downward 0 degrees; pitch downward 40 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 14, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 282 mm; move right 52 mm; move upward 281 mm; roll downward 8 degrees; pitch downward 64 degrees; yaw counterclockwise 31 degrees; open gripper;\nSubtask Movement: move backward 198 mm; move right 5 mm; move upward 185 mm; roll downward 0 degrees; pitch downward 39 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 147, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007142857648432255, + 0.0, + 0.006428571883589029, + 0.0, + -0.017142856493592262, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2817857265472412, + -0.05178571492433548, + 0.28107142448425293, + -0.14000000059604645, + -1.1242856979370117, + 0.5414285659790039, + 1.0 + ], + "delta_full_state_norm": [ + 0.012658111830398111, + 0.9999990344832712, + -0.06989471475358089, + 0.2924134584241975, + 0.41280341882353877, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move backward 7 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 282 mm; move right 52 mm; move upward 281 mm; roll downward 8 degrees; pitch downward 64 degrees; yaw counterclockwise 31 degrees; open gripper;", + "subtask_movement_text": "move backward 198 mm; move right 5 mm; move upward 185 mm; roll downward 0 degrees; pitch downward 39 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 15, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 0 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 285 mm; move right 65 mm; move upward 290 mm; roll downward 11 degrees; pitch downward 68 degrees; yaw counterclockwise 36 degrees; open gripper;\nSubtask Movement: move backward 190 mm; move right 5 mm; move upward 178 mm; roll downward 0 degrees; pitch downward 38 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 147, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008571429178118706, + 0.0, + 0.007142857648432255, + 0.0, + -0.022857142612338066, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2849999964237213, + -0.06535714119672775, + 0.29035717248916626, + -0.1957142949104309, + -1.1828570365905762, + 0.6200000047683716, + 1.0 + ], + "delta_full_state_norm": [ + -0.0210971607645416, + 0.9999990344832712, + -0.0017051770928201426, + 0.2924134584241975, + 0.32450319615250667, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move backward 9 mm; move right 0 mm; move upward 7 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 285 mm; move right 65 mm; move upward 290 mm; roll downward 11 degrees; pitch downward 68 degrees; yaw counterclockwise 36 degrees; open gripper;", + "subtask_movement_text": "move backward 190 mm; move right 5 mm; move upward 178 mm; roll downward 0 degrees; pitch downward 38 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 16, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 286 mm; move right 79 mm; move upward 300 mm; roll downward 15 degrees; pitch downward 71 degrees; yaw counterclockwise 40 degrees; open gripper;\nSubtask Movement: move backward 182 mm; move right 5 mm; move upward 171 mm; roll downward 0 degrees; pitch downward 37 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 147, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.009642857126891613, + 0.0, + 0.008571429178118706, + 0.0, + -0.025714285671710968, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2864285707473755, + -0.07928571850061417, + 0.2996428906917572, + -0.25857144594192505, + -1.235714077949524, + 0.699999988079071, + 1.0 + ], + "delta_full_state_norm": [ + -0.04641359870629769, + 0.9999990344832712, + 0.13467389822870146, + 0.2924134584241975, + 0.2803530848169906, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move backward 10 mm; move right 0 mm; move upward 9 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 286 mm; move right 79 mm; move upward 300 mm; roll downward 15 degrees; pitch downward 71 degrees; yaw counterclockwise 40 degrees; open gripper;", + "subtask_movement_text": "move backward 182 mm; move right 5 mm; move upward 171 mm; roll downward 0 degrees; pitch downward 37 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 17, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 286 mm; move right 93 mm; move upward 308 mm; roll downward 19 degrees; pitch downward 74 degrees; yaw counterclockwise 45 degrees; open gripper;\nSubtask Movement: move backward 172 mm; move right 5 mm; move upward 163 mm; roll downward 0 degrees; pitch downward 35 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 147, + 98 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012142857536673546, + 0.0, + 0.011428571306169033, + 0.0, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2864285707473755, + -0.09321428835391998, + 0.30821430683135986, + -0.32428574562072754, + -1.2871427536010742, + 0.7799999713897705, + 1.0 + ], + "delta_full_state_norm": [ + -0.10548533124892523, + 0.9999990344832712, + 0.407431959962713, + 0.2924134584241975, + 0.12582768075138717, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move backward 12 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 286 mm; move right 93 mm; move upward 308 mm; roll downward 19 degrees; pitch downward 74 degrees; yaw counterclockwise 45 degrees; open gripper;", + "subtask_movement_text": "move backward 172 mm; move right 5 mm; move upward 163 mm; roll downward 0 degrees; pitch downward 35 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 18, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 0 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 284 mm; move right 108 mm; move upward 314 mm; roll downward 22 degrees; pitch downward 76 degrees; yaw counterclockwise 49 degrees; open gripper;\nSubtask Movement: move backward 160 mm; move right 5 mm; move upward 151 mm; roll downward 0 degrees; pitch downward 33 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 147, + 98 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01428571529686451, + 0.0, + 0.013214285485446453, + 0.0, + -0.05000000074505806, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + -0.28428569436073303, + -0.10785714536905289, + 0.3142857253551483, + -0.38857147097587585, + -1.3299998044967651, + 0.8585714101791382, + 1.0 + ], + "delta_full_state_norm": [ + -0.15611825114430067, + 0.9999990344832712, + 0.577905781887357, + 0.2924134584241975, + -0.094922847143598, + -0.26054962248000935, + 0.9999999900000001 + ], + "movement_text": "move backward 14 mm; move right 0 mm; move upward 13 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 284 mm; move right 108 mm; move upward 314 mm; roll downward 22 degrees; pitch downward 76 degrees; yaw counterclockwise 49 degrees; open gripper;", + "subtask_movement_text": "move backward 160 mm; move right 5 mm; move upward 151 mm; roll downward 0 degrees; pitch downward 33 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 19, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 280 mm; move right 123 mm; move upward 319 mm; roll downward 26 degrees; pitch downward 78 degrees; yaw counterclockwise 53 degrees; open gripper;\nSubtask Movement: move backward 146 mm; move right 5 mm; move upward 138 mm; roll downward 0 degrees; pitch downward 30 degrees; yaw counterclockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 148, + 98 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01428571529686451, + 0.0, + 0.01428571529686451, + 0.0, + -0.051428571343421936, + 0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + -0.28035715222358704, + -0.12285714596509933, + 0.318928599357605, + -0.4557143449783325, + -1.3628569841384888, + 0.9314285516738892, + 1.0 + ], + "delta_full_state_norm": [ + -0.15611825114430067, + 0.9999990344832712, + 0.6801901995147879, + 0.2924134584241975, + -0.11699788842005865, + -0.23601576648316736, + 0.9999999900000001 + ], + "movement_text": "move backward 14 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 280 mm; move right 123 mm; move upward 319 mm; roll downward 26 degrees; pitch downward 78 degrees; yaw counterclockwise 53 degrees; open gripper;", + "subtask_movement_text": "move backward 146 mm; move right 5 mm; move upward 138 mm; roll downward 0 degrees; pitch downward 30 degrees; yaw counterclockwise 10 degrees; open gripper;" + }, + { + "frame_index": 20, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 275 mm; move right 138 mm; move upward 323 mm; roll downward 30 degrees; pitch downward 80 degrees; yaw counterclockwise 57 degrees; open gripper;\nSubtask Movement: move backward 131 mm; move right 5 mm; move upward 124 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw counterclockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 148, + 97 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.015000000596046448, + 0.0, + 0.013928571715950966, + 0.0, + -0.05428571254014969, + 0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + -0.27535712718963623, + -0.13821427524089813, + 0.3225000500679016, + -0.5257143378257751, + -1.395714282989502, + 1.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.17299587643880476, + 0.9999990344832712, + 0.6460953640026337, + 0.2924134584241975, + -0.16114797097297995, + -0.18694806248660967, + 0.9999999900000001 + ], + "movement_text": "move backward 15 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 275 mm; move right 138 mm; move upward 323 mm; roll downward 30 degrees; pitch downward 80 degrees; yaw counterclockwise 57 degrees; open gripper;", + "subtask_movement_text": "move backward 131 mm; move right 5 mm; move upward 124 mm; roll downward 0 degrees; pitch downward 27 degrees; yaw counterclockwise 10 degrees; open gripper;" + }, + { + "frame_index": 21, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 268 mm; move right 156 mm; move upward 325 mm; roll downward 34 degrees; pitch downward 82 degrees; yaw counterclockwise 61 degrees; open gripper;\nSubtask Movement: move backward 116 mm; move right 5 mm; move upward 110 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw counterclockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 148, + 97 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.015714285895228386, + 0.0, + 0.015357143245637417, + 0.0, + -0.058571428060531616, + 0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + -0.26821425557136536, + -0.1557142734527588, + 0.3246428966522217, + -0.5857143402099609, + -1.425714373588562, + 1.0642857551574707, + 1.0 + ], + "delta_full_state_norm": [ + -0.18987350173330875, + 0.9999990344832712, + 0.7824744393241552, + 0.2924134584241975, + -0.2273731523675514, + -0.13788035049292569, + 0.9999999900000001 + ], + "movement_text": "move backward 16 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 268 mm; move right 156 mm; move upward 325 mm; roll downward 34 degrees; pitch downward 82 degrees; yaw counterclockwise 61 degrees; open gripper;", + "subtask_movement_text": "move backward 116 mm; move right 5 mm; move upward 110 mm; roll downward 0 degrees; pitch downward 24 degrees; yaw counterclockwise 9 degrees; open gripper;" + }, + { + "frame_index": 22, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 260 mm; move right 174 mm; move upward 324 mm; roll downward 37 degrees; pitch downward 83 degrees; yaw counterclockwise 64 degrees; open gripper;\nSubtask Movement: move backward 101 mm; move right 5 mm; move upward 94 mm; roll downward 0 degrees; pitch downward 21 degrees; yaw counterclockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 149, + 96 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01607142947614193, + 0.0, + 0.015714285895228386, + 0.0, + -0.058571428060531616, + 0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + -0.2596428394317627, + -0.17428569495677948, + 0.32357144355773926, + -0.6442857980728149, + -1.4500000476837158, + 1.1242856979370117, + 1.0 + ], + "delta_full_state_norm": [ + -0.19831233638649248, + 0.9999990344832712, + 0.8165691859272777, + 0.2924134584241975, + -0.2273731523675514, + -0.03974492650555772, + 0.9999999900000001 + ], + "movement_text": "move backward 16 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 260 mm; move right 174 mm; move upward 324 mm; roll downward 37 degrees; pitch downward 83 degrees; yaw counterclockwise 64 degrees; open gripper;", + "subtask_movement_text": "move backward 101 mm; move right 5 mm; move upward 94 mm; roll downward 0 degrees; pitch downward 21 degrees; yaw counterclockwise 9 degrees; open gripper;" + }, + { + "frame_index": 23, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 250 mm; move right 192 mm; move upward 321 mm; roll downward 40 degrees; pitch downward 84 degrees; yaw counterclockwise 68 degrees; open gripper;\nSubtask Movement: move backward 85 mm; move right 5 mm; move upward 79 mm; roll downward 0 degrees; pitch downward 18 degrees; yaw counterclockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 149, + 96 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.016785714775323868, + 0.0, + 0.015357143245637417, + 0.0, + -0.05999999865889549, + 0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + -0.25, + -0.19249998033046722, + 0.3214286267757416, + -0.7014286518096924, + -1.472857117652893, + 1.1785714626312256, + 1.0 + ], + "delta_full_state_norm": [ + -0.21518996168099647, + 0.9999990344832712, + 0.7824744393241552, + 0.2924134584241975, + -0.24944819364401205, + 0.009322785488126373, + 0.9999999900000001 + ], + "movement_text": "move backward 17 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 250 mm; move right 192 mm; move upward 321 mm; roll downward 40 degrees; pitch downward 84 degrees; yaw counterclockwise 68 degrees; open gripper;", + "subtask_movement_text": "move backward 85 mm; move right 5 mm; move upward 79 mm; roll downward 0 degrees; pitch downward 18 degrees; yaw counterclockwise 8 degrees; open gripper;" + }, + { + "frame_index": 24, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 238 mm; move right 213 mm; move upward 316 mm; roll downward 43 degrees; pitch downward 86 degrees; yaw counterclockwise 70 degrees; open gripper;\nSubtask Movement: move backward 68 mm; move right 5 mm; move upward 63 mm; roll downward 0 degrees; pitch downward 14 degrees; yaw counterclockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 150, + 96 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01714285835623741, + -0.0003571428533177823, + 0.015357143245637417, + 0.0, + -0.05999999865889549, + 0.022857142612338066, + 1.0 + ], + "delta_next_20": [ + -0.23821428418159485, + -0.21285712718963623, + 0.3157143294811249, + -0.7428572177886963, + -1.4928570985794067, + 1.2271429300308228, + 1.0 + ], + "delta_full_state_norm": [ + -0.2236287963341802, + 0.9655162945442664, + 0.7824744393241552, + 0.2924134584241975, + -0.24944819364401205, + 0.03385662549071555, + 0.9999999900000001 + ], + "movement_text": "move backward 17 mm; move right 0 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 238 mm; move right 213 mm; move upward 316 mm; roll downward 43 degrees; pitch downward 86 degrees; yaw counterclockwise 70 degrees; open gripper;", + "subtask_movement_text": "move backward 68 mm; move right 5 mm; move upward 63 mm; roll downward 0 degrees; pitch downward 14 degrees; yaw counterclockwise 6 degrees; open gripper;" + }, + { + "frame_index": 25, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 1 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 225 mm; move right 233 mm; move upward 309 mm; roll downward 45 degrees; pitch downward 87 degrees; yaw counterclockwise 73 degrees; open gripper;\nSubtask Movement: move backward 51 mm; move right 5 mm; move upward 48 mm; roll downward 0 degrees; pitch downward 11 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 150, + 95 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.016785714775323868, + -0.0007142857066355646, + 0.015714285895228386, + 0.0, + -0.05999999865889549, + 0.025714285671710968, + 1.0 + ], + "delta_next_20": [ + -0.22535715997219086, + -0.23321428894996643, + 0.30892860889434814, + -0.7828572392463684, + -1.51285719871521, + 1.2714285850524902, + 1.0 + ], + "delta_full_state_norm": [ + -0.21518996168099647, + 0.9310335546052615, + 0.8165691859272777, + 0.2924134584241975, + -0.24944819364401205, + 0.08292433748439976, + 0.9999999900000001 + ], + "movement_text": "move backward 17 mm; move right 1 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 3 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 225 mm; move right 233 mm; move upward 309 mm; roll downward 45 degrees; pitch downward 87 degrees; yaw counterclockwise 73 degrees; open gripper;", + "subtask_movement_text": "move backward 51 mm; move right 5 mm; move upward 48 mm; roll downward 0 degrees; pitch downward 11 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 26, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 2 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 213 mm; move right 253 mm; move upward 301 mm; roll downward 47 degrees; pitch downward 88 degrees; yaw counterclockwise 75 degrees; open gripper;\nSubtask Movement: move backward 34 mm; move right 4 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 151, + 95 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01714285835623741, + -0.0017857144121080637, + 0.01607142947614193, + 0.0, + -0.06142857298254967, + 0.02857142873108387, + 1.0 + ], + "delta_next_20": [ + -0.21285715699195862, + -0.2532142698764801, + 0.30142858624458313, + -0.8185715079307556, + -1.5328571796417236, + 1.3114285469055176, + 1.0 + ], + "delta_full_state_norm": [ + -0.2236287963341802, + 0.8275853207381292, + 0.8506640214394319, + 0.2924134584241975, + -0.2715232924856621, + 0.13199204947808374, + 0.9999999900000001 + ], + "movement_text": "move backward 17 mm; move right 2 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 213 mm; move right 253 mm; move upward 301 mm; roll downward 47 degrees; pitch downward 88 degrees; yaw counterclockwise 75 degrees; open gripper;", + "subtask_movement_text": "move backward 34 mm; move right 4 mm; move upward 32 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 27, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 3 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 200 mm; move right 272 mm; move upward 294 mm; roll downward 49 degrees; pitch downward 89 degrees; yaw counterclockwise 77 degrees; open gripper;\nSubtask Movement: move backward 17 mm; move right 3 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 151, + 94 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.016785714775323868, + -0.002500000176951289, + 0.01607142947614193, + 0.0, + -0.06428571790456772, + 0.034285712987184525, + 1.0 + ], + "delta_next_20": [ + -0.20000000298023224, + -0.271785706281662, + 0.29357144236564636, + -0.8471429347991943, + -1.5514286756515503, + 1.3471429347991943, + 1.0 + ], + "delta_full_state_norm": [ + -0.21518996168099647, + 0.7586198352400724, + 0.8506640214394319, + 0.2924134584241975, + -0.3156734326037728, + 0.23012744147694653, + 0.9999999900000001 + ], + "movement_text": "move backward 17 mm; move right 3 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 200 mm; move right 272 mm; move upward 294 mm; roll downward 49 degrees; pitch downward 89 degrees; yaw counterclockwise 77 degrees; open gripper;", + "subtask_movement_text": "move backward 17 mm; move right 3 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 28, + "segment_id": 10000, + "subtask": "approach the microwave", + "reason": "The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot arm is actively extending and positioning itself towards the microwave located above the stove, indicating an approach trajectory.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 4 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 188 mm; move right 291 mm; move upward 285 mm; roll downward 50 degrees; pitch downward 90 degrees; yaw counterclockwise 79 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 94 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01607142947614193, + -0.004285714589059353, + 0.015714285895228386, + 0.0, + -0.0657142847776413, + 0.03999999910593033, + 1.0 + ], + "delta_next_20": [ + -0.18785713613033295, + -0.29071423411369324, + 0.28535714745521545, + -0.8700000643730164, + -1.5671430826187134, + 1.3771429061889648, + 1.0 + ], + "delta_full_state_norm": [ + -0.19831233638649248, + 0.5862061214949303, + 0.8165691859272777, + 0.2924134584241975, + -0.33774841631504404, + 0.3282628654643145, + 0.9999999900000001 + ], + "movement_text": "move backward 16 mm; move right 4 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 188 mm; move right 291 mm; move upward 285 mm; roll downward 50 degrees; pitch downward 90 degrees; yaw counterclockwise 79 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 29, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the location of the stop button. The arm maintains a static reach pose relative to the appliance throughout the sequence, indicating preparation for contact rather than active pressing or retraction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the location of the stop button. The arm maintains a static reach pose relative to the appliance throughout the sequence, indicating preparation for contact rather than active pressing or retraction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 6 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 178 mm; move right 307 mm; move upward 279 mm; roll downward 51 degrees; pitch downward 91 degrees; yaw counterclockwise 80 degrees; open gripper;\nSubtask Movement: move backward 119 mm; move right 113 mm; move upward 165 mm; roll downward 26 degrees; pitch downward 44 degrees; yaw counterclockwise 41 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 152, + 94 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.015357143245637417, + -0.0057142856530845165, + 0.015357143245637417, + -0.0057142856530845165, + -0.07000000029802322, + 0.04714285582304001, + 1.0 + ], + "delta_next_20": [ + -0.1778571456670761, + -0.30714282393455505, + 0.2785714268684387, + -0.8942857980728149, + -1.58571457862854, + 1.4014286994934082, + 1.0 + ], + "delta_full_state_norm": [ + -0.18143468908605676, + 0.44827519545919303, + 0.7824744393241552, + 0.21998905553877912, + -0.4039735977096154, + 0.45093212945427164, + 0.9999999900000001 + ], + "movement_text": "move backward 15 mm; move right 6 mm; move upward 15 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 178 mm; move right 307 mm; move upward 279 mm; roll downward 51 degrees; pitch downward 91 degrees; yaw counterclockwise 80 degrees; open gripper;", + "subtask_movement_text": "move backward 119 mm; move right 113 mm; move upward 165 mm; roll downward 26 degrees; pitch downward 44 degrees; yaw counterclockwise 41 degrees; open gripper;" + }, + { + "frame_index": 30, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the location of the stop button. The arm maintains a static reach pose relative to the appliance throughout the sequence, indicating preparation for contact rather than active pressing or retraction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the location of the stop button. The arm maintains a static reach pose relative to the appliance throughout the sequence, indicating preparation for contact rather than active pressing or retraction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 6 mm; move upward 16 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 169 mm; move right 322 mm; move upward 271 mm; roll downward 52 degrees; pitch downward 92 degrees; yaw counterclockwise 81 degrees; open gripper;\nSubtask Movement: move backward 103 mm; move right 107 mm; move upward 150 mm; roll downward 26 degrees; pitch downward 40 degrees; yaw counterclockwise 38 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 93 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01428571529686451, + -0.006428571883589029, + 0.01607142947614193, + -0.012857142835855484, + -0.07428571581840515, + 0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + -0.16928571462631226, + -0.3221428096294403, + 0.27142855525016785, + -0.9085714817047119, + -1.600000262260437, + 1.4185715913772583, + 1.0 + ], + "delta_full_state_norm": [ + -0.15611825114430067, + 0.3793096650007599, + 0.8506640214394319, + 0.12945855045652666, + -0.4701987791041867, + 0.598135297423829, + 0.9999999900000001 + ], + "movement_text": "move backward 14 mm; move right 6 mm; move upward 16 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 169 mm; move right 322 mm; move upward 271 mm; roll downward 52 degrees; pitch downward 92 degrees; yaw counterclockwise 81 degrees; open gripper;", + "subtask_movement_text": "move backward 103 mm; move right 107 mm; move upward 150 mm; roll downward 26 degrees; pitch downward 40 degrees; yaw counterclockwise 38 degrees; open gripper;" + }, + { + "frame_index": 31, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the location of the stop button. The arm maintains a static reach pose relative to the appliance throughout the sequence, indicating preparation for contact rather than active pressing or retraction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the location of the stop button. The arm maintains a static reach pose relative to the appliance throughout the sequence, indicating preparation for contact rather than active pressing or retraction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 8 mm; move upward 16 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 162 mm; move right 336 mm; move upward 263 mm; roll downward 52 degrees; pitch downward 92 degrees; yaw counterclockwise 82 degrees; open gripper;\nSubtask Movement: move backward 89 mm; move right 101 mm; move upward 134 mm; roll downward 25 degrees; pitch downward 36 degrees; yaw counterclockwise 35 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 93 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013571429066359997, + -0.008214286528527737, + 0.016428573057055473, + -0.02857142873108387, + -0.07571428269147873, + 0.06285714358091354, + 1.0 + ], + "delta_next_20": [ + -0.16178572177886963, + -0.33642852306365967, + 0.26321426033973694, + -0.9128571152687073, + -1.6100002527236938, + 1.4257144927978516, + 1.0 + ], + "delta_full_state_norm": [ + -0.13924060384386494, + 0.20689592877542973, + 0.8847588569515861, + -0.0697085619048119, + -0.492273762815458, + 0.7208045614137861, + 0.9999999900000001 + ], + "movement_text": "move backward 14 mm; move right 8 mm; move upward 16 mm; roll downward 2 degrees; pitch downward 4 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 162 mm; move right 336 mm; move upward 263 mm; roll downward 52 degrees; pitch downward 92 degrees; yaw counterclockwise 82 degrees; open gripper;", + "subtask_movement_text": "move backward 89 mm; move right 101 mm; move upward 134 mm; roll downward 25 degrees; pitch downward 36 degrees; yaw counterclockwise 35 degrees; open gripper;" + }, + { + "frame_index": 32, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the location of the stop button. The arm maintains a static reach pose relative to the appliance throughout the sequence, indicating preparation for contact rather than active pressing or retraction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the location of the stop button. The arm maintains a static reach pose relative to the appliance throughout the sequence, indicating preparation for contact rather than active pressing or retraction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 10 mm; move upward 17 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 156 mm; move right 349 mm; move upward 255 mm; roll downward 52 degrees; pitch downward 93 degrees; yaw counterclockwise 82 degrees; open gripper;\nSubtask Movement: move backward 75 mm; move right 93 mm; move upward 118 mm; roll downward 23 degrees; pitch downward 31 degrees; yaw counterclockwise 31 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 155, + 92 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012857143767178059, + -0.010000000707805157, + 0.016785714775323868, + -0.04285714402794838, + -0.07999999821186066, + 0.0714285746216774, + 1.0 + ], + "delta_next_20": [ + -0.15571428835391998, + -0.3489285409450531, + 0.2546428143978119, + -0.9028571844100952, + -1.6185717582702637, + 1.424285888671875, + 1.0 + ], + "delta_full_state_norm": [ + -0.12236297854936085, + 0.034482237510475855, + 0.9188535146456769, + -0.25076958387315096, + -0.5584989442100293, + 0.8680077293833435, + 0.9999999900000001 + ], + "movement_text": "move backward 13 mm; move right 10 mm; move upward 17 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 156 mm; move right 349 mm; move upward 255 mm; roll downward 52 degrees; pitch downward 93 degrees; yaw counterclockwise 82 degrees; open gripper;", + "subtask_movement_text": "move backward 75 mm; move right 93 mm; move upward 118 mm; roll downward 23 degrees; pitch downward 31 degrees; yaw counterclockwise 31 degrees; open gripper;" + }, + { + "frame_index": 33, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the location of the stop button. The arm maintains a static reach pose relative to the appliance throughout the sequence, indicating preparation for contact rather than active pressing or retraction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the location of the stop button. The arm maintains a static reach pose relative to the appliance throughout the sequence, indicating preparation for contact rather than active pressing or retraction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 12 mm; move upward 16 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 150 mm; move right 359 mm; move upward 246 mm; roll downward 51 degrees; pitch downward 93 degrees; yaw counterclockwise 81 degrees; open gripper;\nSubtask Movement: move backward 62 mm; move right 83 mm; move upward 101 mm; roll downward 21 degrees; pitch downward 27 degrees; yaw counterclockwise 27 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 156, + 92 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012142857536673546, + -0.011785714887082577, + 0.01607142947614193, + -0.05000000074505806, + -0.07857143133878708, + 0.0771428570151329, + 1.0 + ], + "delta_next_20": [ + -0.15035715699195862, + -0.3592856824398041, + 0.2457142323255539, + -0.8828571438789368, + -1.6257144212722778, + 1.4142858982086182, + 1.0 + ], + "delta_full_state_norm": [ + -0.10548533124892523, + -0.13793145375447802, + 0.8506640214394319, + -0.34130008305348614, + -0.5364239604987582, + 0.9661430893937009, + 0.9999999900000001 + ], + "movement_text": "move backward 12 mm; move right 12 mm; move upward 16 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 150 mm; move right 359 mm; move upward 246 mm; roll downward 51 degrees; pitch downward 93 degrees; yaw counterclockwise 81 degrees; open gripper;", + "subtask_movement_text": "move backward 62 mm; move right 83 mm; move upward 101 mm; roll downward 21 degrees; pitch downward 27 degrees; yaw counterclockwise 27 degrees; open gripper;" + }, + { + "frame_index": 34, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the location of the stop button. The arm maintains a static reach pose relative to the appliance throughout the sequence, indicating preparation for contact rather than active pressing or retraction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the location of the stop button. The arm maintains a static reach pose relative to the appliance throughout the sequence, indicating preparation for contact rather than active pressing or retraction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 14 mm; move upward 16 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move backward 146 mm; move right 368 mm; move upward 238 mm; roll downward 49 degrees; pitch downward 94 degrees; yaw counterclockwise 80 degrees; open gripper;\nSubtask Movement: move backward 50 mm; move right 71 mm; move upward 85 mm; roll downward 18 degrees; pitch downward 22 degrees; yaw counterclockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 91 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.010357143357396126, + -0.013571429066359997, + 0.015714285895228386, + -0.055714286863803864, + -0.07571428269147873, + 0.07857143133878708, + 1.0 + ], + "delta_next_20": [ + -0.14571431279182434, + -0.36785709857940674, + 0.23821428418159485, + -0.8571428060531616, + -1.6371428966522217, + 1.3985713720321655, + 1.0 + ], + "delta_full_state_norm": [ + -0.06329124600673341, + -0.3103451450194319, + 0.8165691859272777, + -0.41372449184082183, + -0.492273762815458, + 0.9906769933733008, + 0.9999999900000001 + ], + "movement_text": "move backward 10 mm; move right 14 mm; move upward 16 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move backward 146 mm; move right 368 mm; move upward 238 mm; roll downward 49 degrees; pitch downward 94 degrees; yaw counterclockwise 80 degrees; open gripper;", + "subtask_movement_text": "move backward 50 mm; move right 71 mm; move upward 85 mm; roll downward 18 degrees; pitch downward 22 degrees; yaw counterclockwise 23 degrees; open gripper;" + }, + { + "frame_index": 35, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the location of the stop button. The arm maintains a static reach pose relative to the appliance throughout the sequence, indicating preparation for contact rather than active pressing or retraction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the location of the stop button. The arm maintains a static reach pose relative to the appliance throughout the sequence, indicating preparation for contact rather than active pressing or retraction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 14 mm; move upward 16 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move backward 142 mm; move right 374 mm; move upward 231 mm; roll downward 48 degrees; pitch downward 95 degrees; yaw counterclockwise 79 degrees; open gripper;\nSubtask Movement: move backward 40 mm; move right 58 mm; move upward 69 mm; roll downward 15 degrees; pitch downward 18 degrees; yaw counterclockwise 18 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 158, + 90 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.010000000707805157, + -0.013928571715950966, + 0.016428573057055473, + -0.06285714358091354, + -0.07571428269147873, + 0.07999999821186066, + 1.0 + ], + "delta_next_20": [ + -0.14178574085235596, + -0.37357139587402344, + 0.23071430623531342, + -0.8328571319580078, + -1.6514285802841187, + 1.382857084274292, + 1.0 + ], + "delta_full_state_norm": [ + -0.05485243335948131, + -0.34482786528827214, + 0.8847588569515861, + -0.504254991021157, + -0.492273762815458, + 1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 10 mm; move right 14 mm; move upward 16 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move backward 142 mm; move right 374 mm; move upward 231 mm; roll downward 48 degrees; pitch downward 95 degrees; yaw counterclockwise 79 degrees; open gripper;", + "subtask_movement_text": "move backward 40 mm; move right 58 mm; move upward 69 mm; roll downward 15 degrees; pitch downward 18 degrees; yaw counterclockwise 18 degrees; open gripper;" + }, + { + "frame_index": 36, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the location of the stop button. The arm maintains a static reach pose relative to the appliance throughout the sequence, indicating preparation for contact rather than active pressing or retraction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the location of the stop button. The arm maintains a static reach pose relative to the appliance throughout the sequence, indicating preparation for contact rather than active pressing or retraction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 14 mm; move upward 17 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move backward 137 mm; move right 379 mm; move upward 222 mm; roll downward 46 degrees; pitch downward 96 degrees; yaw counterclockwise 78 degrees; open gripper;\nSubtask Movement: move backward 30 mm; move right 44 mm; move upward 52 mm; roll downward 11 degrees; pitch downward 14 degrees; yaw counterclockwise 14 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 159, + 90 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.009642857126891613, + -0.013928571715950966, + 0.01714285835623741, + -0.0657142847776413, + -0.0771428570151329, + 0.07999999821186066, + 1.0 + ], + "delta_next_20": [ + -0.13714289665222168, + -0.37857142090797424, + 0.2224999964237213, + -0.7971428632736206, + -1.6671427488327026, + 1.3671427965164185, + 1.0 + ], + "delta_full_state_norm": [ + -0.04641359870629769, + -0.34482786528827214, + 0.9529483501578311, + -0.5404671718071561, + -0.5143488616571081, + 1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 10 mm; move right 14 mm; move upward 17 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move backward 137 mm; move right 379 mm; move upward 222 mm; roll downward 46 degrees; pitch downward 96 degrees; yaw counterclockwise 78 degrees; open gripper;", + "subtask_movement_text": "move backward 30 mm; move right 44 mm; move upward 52 mm; roll downward 11 degrees; pitch downward 14 degrees; yaw counterclockwise 14 degrees; open gripper;" + }, + { + "frame_index": 37, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the location of the stop button. The arm maintains a static reach pose relative to the appliance throughout the sequence, indicating preparation for contact rather than active pressing or retraction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the location of the stop button. The arm maintains a static reach pose relative to the appliance throughout the sequence, indicating preparation for contact rather than active pressing or retraction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 15 mm; move upward 18 mm; roll downward 4 degrees; pitch downward 5 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move backward 131 mm; move right 384 mm; move upward 212 mm; roll downward 44 degrees; pitch downward 96 degrees; yaw counterclockwise 77 degrees; open gripper;\nSubtask Movement: move backward 20 mm; move right 30 mm; move upward 35 mm; roll downward 8 degrees; pitch downward 9 degrees; yaw counterclockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 160, + 89 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.010000000707805157, + -0.014642857015132904, + 0.017500000074505806, + -0.06428571790456772, + -0.07857143133878708, + 0.07857143133878708, + 1.0 + ], + "delta_next_20": [ + -0.13107146322727203, + -0.3839285373687744, + 0.21214285492897034, + -0.7599999904632568, + -1.6814284324645996, + 1.351428508758545, + 1.0 + ], + "delta_full_state_norm": [ + -0.05485243335948131, + -0.41379330582595275, + 0.9870430078519217, + -0.522361128629494, + -0.5364239604987582, + 0.9906769933733008, + 0.9999999900000001 + ], + "movement_text": "move backward 10 mm; move right 15 mm; move upward 18 mm; roll downward 4 degrees; pitch downward 5 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move backward 131 mm; move right 384 mm; move upward 212 mm; roll downward 44 degrees; pitch downward 96 degrees; yaw counterclockwise 77 degrees; open gripper;", + "subtask_movement_text": "move backward 20 mm; move right 30 mm; move upward 35 mm; roll downward 8 degrees; pitch downward 9 degrees; yaw counterclockwise 9 degrees; open gripper;" + }, + { + "frame_index": 38, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the location of the stop button. The arm maintains a static reach pose relative to the appliance throughout the sequence, indicating preparation for contact rather than active pressing or retraction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the location of the stop button. The arm maintains a static reach pose relative to the appliance throughout the sequence, indicating preparation for contact rather than active pressing or retraction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 15 mm; move upward 18 mm; roll downward 4 degrees; pitch downward 5 degrees; yaw counterclockwise 5 degrees; open gripper;\nNext 20 Movement: move backward 123 mm; move right 388 mm; move upward 202 mm; roll downward 42 degrees; pitch downward 97 degrees; yaw counterclockwise 77 degrees; open gripper;\nSubtask Movement: move backward 10 mm; move right 15 mm; move upward 18 mm; roll downward 4 degrees; pitch downward 5 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 161, + 88 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.010357143357396126, + -0.015000000596046448, + 0.01785714365541935, + -0.06714285910129547, + -0.08285713940858841, + 0.07857143133878708, + 1.0 + ], + "delta_next_20": [ + -0.12250001728534698, + -0.3878571093082428, + 0.20178571343421936, + -0.7285714149475098, + -1.69428551197052, + 1.337142825126648, + 1.0 + ], + "delta_full_state_norm": [ + -0.06329124600673341, + -0.4482761160155455, + 1.0, + -0.5585733094154931, + -0.6026490267629506, + 0.9906769933733008, + 0.9999999900000001 + ], + "movement_text": "move backward 10 mm; move right 15 mm; move upward 18 mm; roll downward 4 degrees; pitch downward 5 degrees; yaw counterclockwise 5 degrees; open gripper;", + "next_20_movement_text": "move backward 123 mm; move right 388 mm; move upward 202 mm; roll downward 42 degrees; pitch downward 97 degrees; yaw counterclockwise 77 degrees; open gripper;", + "subtask_movement_text": "move backward 10 mm; move right 15 mm; move upward 18 mm; roll downward 4 degrees; pitch downward 5 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 39, + "segment_id": 20000, + "subtask": "reach for the stop button", + "reason": "The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the location of the stop button. The arm maintains a static reach pose relative to the appliance throughout the sequence, indicating preparation for contact rather than active pressing or retraction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's end-effector is positioned directly in front of the microwave control panel, aligning with the location of the stop button. The arm maintains a static reach pose relative to the appliance throughout the sequence, indicating preparation for contact rather than active pressing or retraction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 15 mm; move upward 18 mm; roll downward 4 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 112 mm; move right 391 mm; move upward 191 mm; roll downward 40 degrees; pitch downward 98 degrees; yaw counterclockwise 76 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 163, + 88 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.009285714477300644, + -0.015357143245637417, + 0.01785714365541935, + -0.07000000029802322, + -0.08428571373224258, + 0.07571428269147873, + 1.0 + ], + "delta_next_20": [ + -0.11214286088943481, + -0.39142856001853943, + 0.19107143580913544, + -0.691428542137146, + -1.7057141065597534, + 1.3228572607040405, + 1.0 + ], + "delta_full_state_norm": [ + -0.037974786059045695, + -0.48275883628438576, + 1.0, + -0.5947854902014922, + -0.6247241256046008, + 0.9416091854141011, + 0.9999999900000001 + ], + "movement_text": "move backward 9 mm; move right 15 mm; move upward 18 mm; roll downward 4 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 112 mm; move right 391 mm; move upward 191 mm; roll downward 40 degrees; pitch downward 98 degrees; yaw counterclockwise 76 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 40, + "segment_id": 20100, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel with the end-effector oriented towards the interface, indicating a reaching motion to make contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel with the end-effector oriented towards the interface, indicating a reaching motion to make contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 18 mm; move upward 16 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 103 mm; move right 394 mm; move upward 179 mm; roll downward 37 degrees; pitch downward 98 degrees; yaw counterclockwise 75 degrees; open gripper;\nSubtask Movement: move backward 21 mm; move right 54 mm; move upward 44 mm; roll downward 10 degrees; pitch downward 14 degrees; yaw counterclockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 164, + 87 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007857142947614193, + -0.017500000074505806, + 0.01607142947614193, + -0.05999999865889549, + -0.08428571373224258, + 0.07428571581840515, + 1.0 + ], + "delta_next_20": [ + -0.10285713523626328, + -0.39392855763435364, + 0.1792857050895691, + -0.6457142233848572, + -1.7157142162322998, + 1.3114286661148071, + 1.0 + ], + "delta_full_state_norm": [ + -0.004219513464105873, + -0.6896552478181799, + 0.8506640214394319, + -0.4680427630198205, + -0.6247241256046008, + 0.9170754093885221, + 0.9999999900000001 + ], + "movement_text": "move backward 8 mm; move right 18 mm; move upward 16 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 103 mm; move right 394 mm; move upward 179 mm; roll downward 37 degrees; pitch downward 98 degrees; yaw counterclockwise 75 degrees; open gripper;", + "subtask_movement_text": "move backward 21 mm; move right 54 mm; move upward 44 mm; roll downward 10 degrees; pitch downward 14 degrees; yaw counterclockwise 13 degrees; open gripper;" + }, + { + "frame_index": 41, + "segment_id": 20100, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel with the end-effector oriented towards the interface, indicating a reaching motion to make contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel with the end-effector oriented towards the interface, indicating a reaching motion to make contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 19 mm; move upward 14 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 95 mm; move right 393 mm; move upward 170 mm; roll downward 36 degrees; pitch downward 99 degrees; yaw counterclockwise 74 degrees; open gripper;\nSubtask Movement: move backward 14 mm; move right 37 mm; move upward 28 mm; roll downward 7 degrees; pitch downward 9 degrees; yaw counterclockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 165, + 86 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007142857648432255, + -0.018571428954601288, + 0.01428571529686451, + -0.058571428060531616, + -0.08285713940858841, + 0.07285714149475098, + 1.0 + ], + "delta_next_20": [ + -0.09499999135732651, + -0.392857164144516, + 0.1696428507566452, + -0.6228570938110352, + -1.7300000190734863, + 1.3000000715255737, + 1.0 + ], + "delta_full_state_norm": [ + 0.012658111830398111, + -0.7931034985454533, + 0.6801901995147879, + -0.4499366726268209, + -0.6026490267629506, + 0.8925415054089223, + 0.9999999900000001 + ], + "movement_text": "move backward 7 mm; move right 19 mm; move upward 14 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 95 mm; move right 393 mm; move upward 170 mm; roll downward 36 degrees; pitch downward 99 degrees; yaw counterclockwise 74 degrees; open gripper;", + "subtask_movement_text": "move backward 14 mm; move right 37 mm; move upward 28 mm; roll downward 7 degrees; pitch downward 9 degrees; yaw counterclockwise 8 degrees; open gripper;" + }, + { + "frame_index": 42, + "segment_id": 20100, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel with the end-effector oriented towards the interface, indicating a reaching motion to make contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel with the end-effector oriented towards the interface, indicating a reaching motion to make contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 18 mm; move upward 14 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 88 mm; move right 390 mm; move upward 161 mm; roll downward 35 degrees; pitch downward 100 degrees; yaw counterclockwise 74 degrees; open gripper;\nSubtask Movement: move backward 6 mm; move right 18 mm; move upward 14 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 167, + 85 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006428571883589029, + -0.018214285373687744, + 0.013571429066359997, + -0.05714285746216774, + -0.08142857253551483, + 0.07285714149475098, + 1.0 + ], + "delta_next_20": [ + -0.08785714209079742, + -0.390357106924057, + 0.1614285707473755, + -0.6114286184310913, + -1.7485713958740234, + 1.2871428728103638, + 1.0 + ], + "delta_full_state_norm": [ + 0.02953574812786819, + -0.7586206883558605, + 0.6120006173995112, + -0.4318305822338214, + -0.5805740430516795, + 0.8925415054089223, + 0.9999999900000001 + ], + "movement_text": "move backward 6 mm; move right 18 mm; move upward 14 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 88 mm; move right 390 mm; move upward 161 mm; roll downward 35 degrees; pitch downward 100 degrees; yaw counterclockwise 74 degrees; open gripper;", + "subtask_movement_text": "move backward 6 mm; move right 18 mm; move upward 14 mm; roll downward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 43, + "segment_id": 20100, + "subtask": "reach for the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel with the end-effector oriented towards the interface, indicating a reaching motion to make contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: reach for the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel with the end-effector oriented towards the interface, indicating a reaching motion to make contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 20 mm; move upward 10 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 81 mm; move right 389 mm; move upward 153 mm; roll downward 35 degrees; pitch downward 101 degrees; yaw counterclockwise 73 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 168, + 84 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.005000000353902578, + -0.020357143133878708, + 0.009642857126891613, + -0.041428569704294205, + -0.07999999821186066, + 0.07000000029802322, + 1.0 + ], + "delta_next_20": [ + -0.08142857253551483, + -0.3885714113712311, + 0.1525000035762787, + -0.6114285588264465, + -1.7699999809265137, + 1.2699998617172241, + 1.0 + ], + "delta_full_state_norm": [ + 0.0632910207228079, + -0.9655171898104071, + 0.23695813803806876, + -0.23266344626481406, + -0.5584989442100293, + 0.8434738254037435, + 0.9999999900000001 + ], + "movement_text": "move backward 5 mm; move right 20 mm; move upward 10 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 81 mm; move right 389 mm; move upward 153 mm; roll downward 35 degrees; pitch downward 101 degrees; yaw counterclockwise 73 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 44, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 21 mm; move upward 9 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 76 mm; move right 384 mm; move upward 147 mm; roll downward 36 degrees; pitch downward 103 degrees; yaw counterclockwise 72 degrees; open gripper;\nSubtask Movement: move backward 71 mm; move right 245 mm; move upward 99 mm; roll downward 18 degrees; pitch downward 58 degrees; yaw counterclockwise 44 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 170, + 84 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.004285714589059353, + -0.02071428671479225, + 0.008571429178118706, + -0.03999999910593033, + -0.07999999821186066, + 0.06714285910129547, + 1.0 + ], + "delta_next_20": [ + -0.07642856985330582, + -0.38357141613960266, + 0.146785706281662, + -0.6328571438789368, + -1.7957141399383545, + 1.2557140588760376, + 1.0 + ], + "delta_full_state_norm": [ + 0.08016865702027776, + -1.0, + 0.13467389822870146, + -0.21455735587181446, + -0.5584989442100293, + 0.7944061453985649, + 0.9999999900000001 + ], + "movement_text": "move backward 4 mm; move right 21 mm; move upward 9 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 76 mm; move right 384 mm; move upward 147 mm; roll downward 36 degrees; pitch downward 103 degrees; yaw counterclockwise 72 degrees; open gripper;", + "subtask_movement_text": "move backward 71 mm; move right 245 mm; move upward 99 mm; roll downward 18 degrees; pitch downward 58 degrees; yaw counterclockwise 44 degrees; open gripper;" + }, + { + "frame_index": 45, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 21 mm; move upward 8 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 72 mm; move right 377 mm; move upward 142 mm; roll downward 38 degrees; pitch downward 104 degrees; yaw counterclockwise 71 degrees; open gripper;\nSubtask Movement: move backward 67 mm; move right 224 mm; move upward 90 mm; roll downward 16 degrees; pitch downward 54 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 171, + 83 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.004285714589059353, + -0.02071428671479225, + 0.008214286528527737, + -0.0357142873108387, + -0.07999999821186066, + 0.0657142847776413, + 1.0 + ], + "delta_next_20": [ + -0.07214285433292389, + -0.3767857253551483, + 0.14178569614887238, + -0.6714286208152771, + -1.8228570222854614, + 1.2442854642868042, + 1.0 + ], + "delta_full_state_norm": [ + 0.08016865702027776, + -1.0, + 0.10057915162557896, + -0.16023908469281578, + -0.5584989442100293, + 0.7698722414189649, + 0.9999999900000001 + ], + "movement_text": "move backward 4 mm; move right 21 mm; move upward 8 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 72 mm; move right 377 mm; move upward 142 mm; roll downward 38 degrees; pitch downward 104 degrees; yaw counterclockwise 71 degrees; open gripper;", + "subtask_movement_text": "move backward 67 mm; move right 224 mm; move upward 90 mm; roll downward 16 degrees; pitch downward 54 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 46, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 20 mm; move upward 8 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 68 mm; move right 370 mm; move upward 136 mm; roll downward 41 degrees; pitch downward 106 degrees; yaw counterclockwise 71 degrees; open gripper;\nSubtask Movement: move backward 63 mm; move right 204 mm; move upward 82 mm; roll downward 14 degrees; pitch downward 49 degrees; yaw counterclockwise 36 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 173, + 83 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.004285714589059353, + -0.020357143133878708, + 0.008214286528527737, + -0.02857142873108387, + -0.07999999821186066, + 0.06428571790456772, + 1.0 + ], + "delta_next_20": [ + -0.06785713881254196, + -0.37035712599754333, + 0.13571427762508392, + -0.7185714244842529, + -1.851428508758545, + 1.2328569889068604, + 1.0 + ], + "delta_full_state_norm": [ + 0.08016865702027776, + -0.9655171898104071, + 0.10057915162557896, + -0.0697085619048119, + -0.5584989442100293, + 0.7453384653933861, + 0.9999999900000001 + ], + "movement_text": "move backward 4 mm; move right 20 mm; move upward 8 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 68 mm; move right 370 mm; move upward 136 mm; roll downward 41 degrees; pitch downward 106 degrees; yaw counterclockwise 71 degrees; open gripper;", + "subtask_movement_text": "move backward 63 mm; move right 204 mm; move upward 82 mm; roll downward 14 degrees; pitch downward 49 degrees; yaw counterclockwise 36 degrees; open gripper;" + }, + { + "frame_index": 47, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 21 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 64 mm; move right 364 mm; move upward 129 mm; roll downward 44 degrees; pitch downward 108 degrees; yaw counterclockwise 70 degrees; open gripper;\nSubtask Movement: move backward 59 mm; move right 183 mm; move upward 74 mm; roll downward 12 degrees; pitch downward 44 degrees; yaw counterclockwise 32 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 174, + 82 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.004642857238650322, + -0.02142857201397419, + 0.007857142947614193, + -0.022857142612338066, + -0.07999999821186066, + 0.06428571790456772, + 1.0 + ], + "delta_next_20": [ + -0.06357142329216003, + -0.36392858624458313, + 0.12857143580913544, + -0.7757142782211304, + -1.8799999952316284, + 1.2214285135269165, + 1.0 + ], + "delta_full_state_norm": [ + 0.07172984437302565, + -1.0, + 0.06648431611342476, + 0.002715846882523687, + -0.5584989442100293, + 0.7453384653933861, + 0.9999999900000001 + ], + "movement_text": "move backward 5 mm; move right 21 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 64 mm; move right 364 mm; move upward 129 mm; roll downward 44 degrees; pitch downward 108 degrees; yaw counterclockwise 70 degrees; open gripper;", + "subtask_movement_text": "move backward 59 mm; move right 183 mm; move upward 74 mm; roll downward 12 degrees; pitch downward 44 degrees; yaw counterclockwise 32 degrees; open gripper;" + }, + { + "frame_index": 48, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 21 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 59 mm; move right 356 mm; move upward 122 mm; roll downward 48 degrees; pitch downward 109 degrees; yaw counterclockwise 69 degrees; open gripper;\nSubtask Movement: move backward 54 mm; move right 162 mm; move upward 66 mm; roll downward 11 degrees; pitch downward 40 degrees; yaw counterclockwise 29 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 176, + 82 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006071428768336773, + -0.02071428671479225, + 0.008928571827709675, + -0.02428571507334709, + -0.08428571373224258, + 0.06428571790456772, + 1.0 + ], + "delta_next_20": [ + -0.05892857536673546, + -0.3564285933971405, + 0.1217857152223587, + -0.8400000333786011, + -1.9085712432861328, + 1.2100000381469727, + 1.0 + ], + "delta_full_state_norm": [ + 0.03797457177808594, + -1.0, + 0.16876864483182397, + -0.015390267118144507, + -0.6247241256046008, + 0.7453384653933861, + 0.9999999900000001 + ], + "movement_text": "move backward 6 mm; move right 21 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 59 mm; move right 356 mm; move upward 122 mm; roll downward 48 degrees; pitch downward 109 degrees; yaw counterclockwise 69 degrees; open gripper;", + "subtask_movement_text": "move backward 54 mm; move right 162 mm; move upward 66 mm; roll downward 11 degrees; pitch downward 40 degrees; yaw counterclockwise 29 degrees; open gripper;" + }, + { + "frame_index": 49, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 21 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 53 mm; move right 350 mm; move upward 113 mm; roll downward 52 degrees; pitch downward 111 degrees; yaw counterclockwise 69 degrees; open gripper;\nSubtask Movement: move backward 48 mm; move right 141 mm; move upward 57 mm; roll downward 9 degrees; pitch downward 35 degrees; yaw counterclockwise 25 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 177, + 81 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006785714533179998, + -0.02071428671479225, + 0.008214286528527737, + -0.019999999552965164, + -0.08428571373224258, + 0.06428571790456772, + 1.0 + ], + "delta_next_20": [ + -0.05285714939236641, + -0.34964287281036377, + 0.1128571555018425, + -0.9014285206794739, + -1.9314285516738892, + 1.1957143545150757, + 1.0 + ], + "delta_full_state_norm": [ + 0.021096935480616086, + -1.0, + 0.10057915162557896, + 0.03892805127619159, + -0.6247241256046008, + 0.7453384653933861, + 0.9999999900000001 + ], + "movement_text": "move backward 7 mm; move right 21 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 53 mm; move right 350 mm; move upward 113 mm; roll downward 52 degrees; pitch downward 111 degrees; yaw counterclockwise 69 degrees; open gripper;", + "subtask_movement_text": "move backward 48 mm; move right 141 mm; move upward 57 mm; roll downward 9 degrees; pitch downward 35 degrees; yaw counterclockwise 25 degrees; open gripper;" + }, + { + "frame_index": 50, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 21 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 46 mm; move right 343 mm; move upward 105 mm; roll downward 55 degrees; pitch downward 112 degrees; yaw counterclockwise 68 degrees; open gripper;\nSubtask Movement: move backward 41 mm; move right 120 mm; move upward 49 mm; roll downward 8 degrees; pitch downward 30 degrees; yaw counterclockwise 21 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 179, + 81 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006785714533179998, + -0.02071428671479225, + 0.007857142947614193, + -0.017142856493592262, + -0.08428571373224258, + 0.06285714358091354, + 1.0 + ], + "delta_next_20": [ + -0.04607143625617027, + -0.34250006079673767, + 0.10464286804199219, + -0.964285671710968, + -1.9528571367263794, + 1.1800000667572021, + 1.0 + ], + "delta_full_state_norm": [ + 0.021096935480616086, + -1.0, + 0.06648431611342476, + 0.07514025566985927, + -0.6247241256046008, + 0.7208045614137861, + 0.9999999900000001 + ], + "movement_text": "move backward 7 mm; move right 21 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 46 mm; move right 343 mm; move upward 105 mm; roll downward 55 degrees; pitch downward 112 degrees; yaw counterclockwise 68 degrees; open gripper;", + "subtask_movement_text": "move backward 41 mm; move right 120 mm; move upward 49 mm; roll downward 8 degrees; pitch downward 30 degrees; yaw counterclockwise 21 degrees; open gripper;" + }, + { + "frame_index": 51, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 21 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 39 mm; move right 336 mm; move upward 97 mm; roll downward 59 degrees; pitch downward 113 degrees; yaw counterclockwise 67 degrees; open gripper;\nSubtask Movement: move backward 34 mm; move right 100 mm; move upward 41 mm; roll downward 7 degrees; pitch downward 25 degrees; yaw counterclockwise 18 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 180, + 80 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007500000298023224, + -0.02071428671479225, + 0.007857142947614193, + -0.018571428954601288, + -0.08428571373224258, + 0.06142857298254967, + 1.0 + ], + "delta_next_20": [ + -0.03928571566939354, + -0.33642861247062683, + 0.09678572416305542, + -1.0257141590118408, + -1.9742857217788696, + 1.162857174873352, + 1.0 + ], + "delta_full_state_norm": [ + 0.00421929918314623, + -1.0, + 0.06648431611342476, + 0.057034141669191074, + -0.6247241256046008, + 0.696270721411197, + 0.9999999900000001 + ], + "movement_text": "move backward 8 mm; move right 21 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 39 mm; move right 336 mm; move upward 97 mm; roll downward 59 degrees; pitch downward 113 degrees; yaw counterclockwise 67 degrees; open gripper;", + "subtask_movement_text": "move backward 34 mm; move right 100 mm; move upward 41 mm; roll downward 7 degrees; pitch downward 25 degrees; yaw counterclockwise 18 degrees; open gripper;" + }, + { + "frame_index": 52, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 20 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 32 mm; move right 331 mm; move upward 89 mm; roll downward 62 degrees; pitch downward 114 degrees; yaw counterclockwise 65 degrees; open gripper;\nSubtask Movement: move backward 27 mm; move right 79 mm; move upward 33 mm; roll downward 6 degrees; pitch downward 21 degrees; yaw counterclockwise 14 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 182, + 80 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007500000298023224, + -0.020357143133878708, + 0.007857142947614193, + -0.022857142612338066, + -0.08714285492897034, + 0.06142857298254967, + 1.0 + ], + "delta_next_20": [ + -0.031785719096660614, + -0.33071431517601013, + 0.0892857238650322, + -1.0842856168746948, + -1.9957143068313599, + 1.142857313156128, + 1.0 + ], + "delta_full_state_norm": [ + 0.00421929918314623, + -0.9655171898104071, + 0.06648431611342476, + 0.002715846882523687, + -0.6688742081575221, + 0.696270721411197, + 0.9999999900000001 + ], + "movement_text": "move backward 8 mm; move right 20 mm; move upward 8 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 32 mm; move right 331 mm; move upward 89 mm; roll downward 62 degrees; pitch downward 114 degrees; yaw counterclockwise 65 degrees; open gripper;", + "subtask_movement_text": "move backward 27 mm; move right 79 mm; move upward 33 mm; roll downward 6 degrees; pitch downward 21 degrees; yaw counterclockwise 14 degrees; open gripper;" + }, + { + "frame_index": 53, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 20 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 24 mm; move right 325 mm; move upward 83 mm; roll downward 65 degrees; pitch downward 115 degrees; yaw counterclockwise 64 degrees; open gripper;\nSubtask Movement: move backward 19 mm; move right 59 mm; move upward 25 mm; roll downward 5 degrees; pitch downward 16 degrees; yaw counterclockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 184, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007500000298023224, + -0.020357143133878708, + 0.008571429178118706, + -0.02428571507334709, + -0.09000000357627869, + 0.06142857298254967, + 1.0 + ], + "delta_next_20": [ + -0.02428571507334709, + -0.3246428966522217, + 0.08250000327825546, + -1.1357144117355347, + -2.0114285945892334, + 1.117142915725708, + 1.0 + ], + "delta_full_state_norm": [ + 0.00421929918314623, + -0.9655171898104071, + 0.13467389822870146, + -0.015390267118144507, + -0.7130244058408222, + 0.696270721411197, + 0.9999999900000001 + ], + "movement_text": "move backward 8 mm; move right 20 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 24 mm; move right 325 mm; move upward 83 mm; roll downward 65 degrees; pitch downward 115 degrees; yaw counterclockwise 64 degrees; open gripper;", + "subtask_movement_text": "move backward 19 mm; move right 59 mm; move upward 25 mm; roll downward 5 degrees; pitch downward 16 degrees; yaw counterclockwise 11 degrees; open gripper;" + }, + { + "frame_index": 54, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 19 mm; move upward 8 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 17 mm; move right 318 mm; move upward 76 mm; roll downward 68 degrees; pitch downward 116 degrees; yaw counterclockwise 62 degrees; open gripper;\nSubtask Movement: move backward 12 mm; move right 38 mm; move upward 16 mm; roll downward 3 degrees; pitch downward 10 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 185, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006428571883589029, + -0.019285714253783226, + 0.008214286528527737, + -0.03142857179045677, + -0.09000000357627869, + 0.06285714358091354, + 1.0 + ], + "delta_next_20": [ + -0.016785714775323868, + -0.31785717606544495, + 0.07642857730388641, + -1.1857143640518188, + -2.022857189178467, + 1.085714340209961, + 1.0 + ], + "delta_full_state_norm": [ + 0.02953574812786819, + -0.8620689390831339, + 0.10057915162557896, + -0.10592076629847968, + -0.7130244058408222, + 0.7208045614137861, + 0.9999999900000001 + ], + "movement_text": "move backward 6 mm; move right 19 mm; move upward 8 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 17 mm; move right 318 mm; move upward 76 mm; roll downward 68 degrees; pitch downward 116 degrees; yaw counterclockwise 62 degrees; open gripper;", + "subtask_movement_text": "move backward 12 mm; move right 38 mm; move upward 16 mm; roll downward 3 degrees; pitch downward 10 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 55, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 19 mm; move upward 8 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 10 mm; move right 309 mm; move upward 76 mm; roll downward 71 degrees; pitch downward 116 degrees; yaw counterclockwise 60 degrees; open gripper;\nSubtask Movement: move backward 5 mm; move right 19 mm; move upward 8 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 187, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0053571430034935474, + -0.018928570672869682, + 0.008214286528527737, + -0.027142856270074844, + -0.09142857044935226, + 0.06428571790456772, + 1.0 + ], + "delta_next_20": [ + -0.010357143357396126, + -0.3092857301235199, + 0.07607143372297287, + -1.234285831451416, + -2.0299999713897705, + 1.041428565979004, + 1.0 + ], + "delta_full_state_norm": [ + 0.0548522080755558, + -0.827586128893541, + 0.10057915162557896, + -0.05160244790414359, + -0.7350993895520934, + 0.7453384653933861, + 0.9999999900000001 + ], + "movement_text": "move backward 5 mm; move right 19 mm; move upward 8 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 10 mm; move right 309 mm; move upward 76 mm; roll downward 71 degrees; pitch downward 116 degrees; yaw counterclockwise 60 degrees; open gripper;", + "subtask_movement_text": "move backward 5 mm; move right 19 mm; move upward 8 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 56, + "segment_id": 30100, + "subtask": "press the stop button", + "reason": "The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is shown in direct contact with the microwave control panel, maintaining a pressing posture on the interface to deactivate it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 19 mm; move upward 7 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 5 mm; move right 300 mm; move upward 78 mm; roll downward 74 degrees; pitch downward 116 degrees; yaw counterclockwise 57 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 188, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0035714288242161274, + -0.019285714253783226, + 0.006785714533179998, + -0.02857142873108387, + -0.09142857044935226, + 0.06428571790456772, + 1.0 + ], + "delta_next_20": [ + -0.005000000353902578, + -0.2996428906917572, + 0.07785715162754059, + -1.2871428728103638, + -2.0328569412231445, + 0.9928570985794067, + 1.0 + ], + "delta_full_state_norm": [ + 0.09704629331774761, + -0.8620689390831339, + -0.035799968150458494, + -0.0697085619048119, + -0.7350993895520934, + 0.7453384653933861, + 0.9999999900000001 + ], + "movement_text": "move backward 4 mm; move right 19 mm; move upward 7 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 5 mm; move right 300 mm; move upward 78 mm; roll downward 74 degrees; pitch downward 116 degrees; yaw counterclockwise 57 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 57, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move right 19 mm; move upward 7 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 1 mm; move right 291 mm; move upward 83 mm; roll downward 77 degrees; pitch downward 116 degrees; yaw counterclockwise 54 degrees; open gripper;\nSubtask Movement: move forward 45 mm; move right 422 mm; move upward 235 mm; roll downward 134 degrees; pitch downward 160 degrees; yaw counterclockwise 55 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 190, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0014285714132711291, + -0.018571428954601288, + 0.007142857648432255, + -0.03285714238882065, + -0.09142857044935226, + 0.06428571790456772, + 1.0 + ], + "delta_next_20": [ + -0.0014285714132711291, + -0.2907142639160156, + 0.0828571543097496, + -1.335714340209961, + -2.0299999713897705, + 0.941428542137146, + 1.0 + ], + "delta_full_state_norm": [ + 0.1476792049608988, + -0.7931034985454533, + -0.0017051770928201426, + -0.12402685669147928, + -0.7350993895520934, + 0.7453384653933861, + 0.9999999900000001 + ], + "movement_text": "move backward 1 mm; move right 19 mm; move upward 7 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 1 mm; move right 291 mm; move upward 83 mm; roll downward 77 degrees; pitch downward 116 degrees; yaw counterclockwise 54 degrees; open gripper;", + "subtask_movement_text": "move forward 45 mm; move right 422 mm; move upward 235 mm; roll downward 134 degrees; pitch downward 160 degrees; yaw counterclockwise 55 degrees; open gripper;" + }, + { + "frame_index": 58, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 19 mm; move upward 7 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 282 mm; move upward 90 mm; roll downward 80 degrees; pitch downward 116 degrees; yaw counterclockwise 51 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 404 mm; move upward 227 mm; roll downward 132 degrees; pitch downward 155 degrees; yaw counterclockwise 51 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 191, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.018571428954601288, + 0.007142857648432255, + -0.029999999329447746, + -0.09428571164608002, + 0.06428571790456772, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.28214284777641296, + 0.09000000357627869, + -1.3885715007781982, + -2.022857189178467, + 0.8857142329216003, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + -0.7931034985454533, + -0.0017051770928201426, + -0.08781465229781149, + -0.7792494721050147, + 0.7453384653933861, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 19 mm; move upward 7 mm; roll downward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 282 mm; move upward 90 mm; roll downward 80 degrees; pitch downward 116 degrees; yaw counterclockwise 51 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 404 mm; move upward 227 mm; roll downward 132 degrees; pitch downward 155 degrees; yaw counterclockwise 51 degrees; open gripper;" + }, + { + "frame_index": 59, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 274 mm; move upward 99 mm; roll downward 83 degrees; pitch downward 115 degrees; yaw counterclockwise 47 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 385 mm; move upward 220 mm; roll downward 131 degrees; pitch downward 149 degrees; yaw counterclockwise 47 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 193, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01785714365541935, + 0.006071428768336773, + -0.02428571507334709, + -0.09428571164608002, + 0.06428571790456772, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.27392858266830444, + 0.09857144206762314, + -1.4542858600616455, + -2.009999990463257, + 0.8257141709327698, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + -0.7241380580077728, + -0.10398950581121924, + -0.015390267118144507, + -0.7792494721050147, + 0.7453384653933861, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move upward 6 mm; roll downward 1 degrees; pitch downward 5 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 274 mm; move upward 99 mm; roll downward 83 degrees; pitch downward 115 degrees; yaw counterclockwise 47 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 385 mm; move upward 220 mm; roll downward 131 degrees; pitch downward 149 degrees; yaw counterclockwise 47 degrees; open gripper;" + }, + { + "frame_index": 60, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 16 mm; move upward 6 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 268 mm; move upward 109 mm; roll downward 88 degrees; pitch downward 114 degrees; yaw counterclockwise 44 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 367 mm; move upward 214 mm; roll downward 129 degrees; pitch downward 144 degrees; yaw counterclockwise 44 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 194, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.016428573057055473, + 0.006428571883589029, + -0.037142857909202576, + -0.09857142716646194, + 0.06285714358091354, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.26821428537368774, + 0.10892858356237411, + -1.528571605682373, + -1.9914284944534302, + 0.7614284753799438, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + -0.5862071769324118, + -0.06989471475358089, + -0.17834517508581538, + -0.8454746534995861, + 0.7208045614137861, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 16 mm; move upward 6 mm; roll downward 2 degrees; pitch downward 6 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 268 mm; move upward 109 mm; roll downward 88 degrees; pitch downward 114 degrees; yaw counterclockwise 44 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 367 mm; move upward 214 mm; roll downward 129 degrees; pitch downward 144 degrees; yaw counterclockwise 44 degrees; open gripper;" + }, + { + "frame_index": 61, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 16 mm; move upward 6 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 265 mm; move upward 118 mm; roll downward 91 degrees; pitch downward 113 degrees; yaw counterclockwise 40 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 351 mm; move upward 208 mm; roll downward 127 degrees; pitch downward 138 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 195, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01607142947614193, + 0.006071428768336773, + -0.04714285582304001, + -0.1014285683631897, + 0.05999999865889549, + 1.0 + ], + "delta_next_20": [ + 0.0, + -0.26499995589256287, + 0.11785715073347092, + -1.587143063545227, + -1.9671427011489868, + 0.6985713243484497, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + -0.5517243667428189, + -0.10398950581121924, + -0.30508785505214964, + -0.8896247360525074, + 0.671736817431597, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 16 mm; move upward 6 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 265 mm; move upward 118 mm; roll downward 91 degrees; pitch downward 113 degrees; yaw counterclockwise 40 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 351 mm; move upward 208 mm; roll downward 127 degrees; pitch downward 138 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 62, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 16 mm; move upward 5 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 2 mm; move right 260 mm; move upward 128 mm; roll downward 94 degrees; pitch downward 111 degrees; yaw counterclockwise 37 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 335 mm; move upward 202 mm; roll downward 124 degrees; pitch downward 133 degrees; yaw counterclockwise 37 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 196, + 75 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.016428573057055473, + 0.004642857238650322, + -0.05714285746216774, + -0.10285714268684387, + 0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + 0.0021428572945296764, + -0.2603571116924286, + 0.12785714864730835, + -1.632857322692871, + -1.9385713338851929, + 0.6385713815689087, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + -0.5862071769324118, + -0.24036858113274084, + -0.4318305822338214, + -0.9116998348941574, + 0.598135297423829, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 16 mm; move upward 5 mm; roll downward 3 degrees; pitch downward 6 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 2 mm; move right 260 mm; move upward 128 mm; roll downward 94 degrees; pitch downward 111 degrees; yaw counterclockwise 37 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 335 mm; move upward 202 mm; roll downward 124 degrees; pitch downward 133 degrees; yaw counterclockwise 37 degrees; open gripper;" + }, + { + "frame_index": 63, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move upward 4 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 6 mm; move right 255 mm; move upward 139 mm; roll downward 95 degrees; pitch downward 109 degrees; yaw counterclockwise 33 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 318 mm; move upward 197 mm; roll downward 121 degrees; pitch downward 127 degrees; yaw counterclockwise 33 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 75 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.015357143245637417, + 0.0039285714738070965, + -0.06285714358091354, + -0.10571428388357162, + 0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + 0.006428571883589029, + -0.25535711646080017, + 0.1389285773038864, + -1.6657143831253052, + -1.9071427583694458, + 0.5828571915626526, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + -0.48275883628438576, + -0.3085581187935016, + -0.504254991021157, + -0.9558499174470787, + 0.598135297423829, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move upward 4 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 6 mm; move right 255 mm; move upward 139 mm; roll downward 95 degrees; pitch downward 109 degrees; yaw counterclockwise 33 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 318 mm; move upward 197 mm; roll downward 121 degrees; pitch downward 127 degrees; yaw counterclockwise 33 degrees; open gripper;" + }, + { + "frame_index": 64, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move upward 4 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 13 mm; move right 251 mm; move upward 150 mm; roll downward 97 degrees; pitch downward 107 degrees; yaw counterclockwise 30 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 303 mm; move upward 193 mm; roll downward 118 degrees; pitch downward 121 degrees; yaw counterclockwise 30 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 74 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.013928571715950966, + 0.0035714288242161274, + -0.07857143133878708, + -0.1071428582072258, + 0.055714286863803864, + 1.0 + ], + "delta_next_20": [ + 0.012500000186264515, + -0.25107142329216003, + 0.15035715699195862, + -1.692857265472412, + -1.869999885559082, + 0.5271428823471069, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + -0.34482786528827214, + -0.342652865396624, + -0.7034221269901644, + -0.9779250162887287, + 0.598135297423829, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move upward 4 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 13 mm; move right 251 mm; move upward 150 mm; roll downward 97 degrees; pitch downward 107 degrees; yaw counterclockwise 30 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 303 mm; move upward 193 mm; roll downward 118 degrees; pitch downward 121 degrees; yaw counterclockwise 30 degrees; open gripper;" + }, + { + "frame_index": 65, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move upward 2 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 21 mm; move right 249 mm; move upward 160 mm; roll downward 98 degrees; pitch downward 105 degrees; yaw counterclockwise 27 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 289 mm; move upward 190 mm; roll downward 113 degrees; pitch downward 115 degrees; yaw counterclockwise 27 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 199, + 74 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01428571529686451, + 0.0021428572945296764, + -0.08285713940858841, + -0.10857142508029938, + 0.05428571254014969, + 1.0 + ], + "delta_next_20": [ + 0.02071428671479225, + -0.24928569793701172, + 0.16035714745521545, + -1.702857255935669, + -1.8285713195800781, + 0.4714285731315613, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + -0.379310675477865, + -0.4790319407181456, + -0.7577403509538255, + -1.0, + 0.573601393444229, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move upward 2 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 21 mm; move right 249 mm; move upward 160 mm; roll downward 98 degrees; pitch downward 105 degrees; yaw counterclockwise 27 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 289 mm; move upward 190 mm; roll downward 113 degrees; pitch downward 115 degrees; yaw counterclockwise 27 degrees; open gripper;" + }, + { + "frame_index": 66, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move upward 1 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 29 mm; move right 247 mm; move upward 170 mm; roll downward 98 degrees; pitch downward 102 degrees; yaw counterclockwise 24 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 275 mm; move upward 188 mm; roll downward 108 degrees; pitch downward 108 degrees; yaw counterclockwise 24 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.013928571715950966, + 0.0010714286472648382, + -0.08571428805589676, + -0.10857142508029938, + 0.05285714194178581, + 1.0 + ], + "delta_next_20": [ + 0.029285714030265808, + -0.2474999874830246, + 0.1696428507566452, + -1.7100000381469727, + -1.7814284563064575, + 0.4171428680419922, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + -0.34482786528827214, + -0.5813162472092868, + -0.7939526261704996, + -1.0, + 0.5490675534416396, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move upward 1 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 29 mm; move right 247 mm; move upward 170 mm; roll downward 98 degrees; pitch downward 102 degrees; yaw counterclockwise 24 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 275 mm; move upward 188 mm; roll downward 108 degrees; pitch downward 108 degrees; yaw counterclockwise 24 degrees; open gripper;" + }, + { + "frame_index": 67, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move upward 1 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 38 mm; move right 247 mm; move upward 179 mm; roll downward 98 degrees; pitch downward 99 degrees; yaw counterclockwise 21 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 261 mm; move upward 186 mm; roll downward 103 degrees; pitch downward 102 degrees; yaw counterclockwise 21 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.013928571715950966, + 0.0010714286472648382, + -0.08714285492897034, + -0.10857142508029938, + 0.05285714194178581, + 1.0 + ], + "delta_next_20": [ + 0.037857141345739365, + -0.24714286625385284, + 0.1785714328289032, + -1.7128572463989258, + -1.7299998998641968, + 0.36428573727607727, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + -0.34482786528827214, + -0.5813162472092868, + -0.8120586693481616, + -1.0, + 0.5490675534416396, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move upward 1 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 38 mm; move right 247 mm; move upward 179 mm; roll downward 98 degrees; pitch downward 99 degrees; yaw counterclockwise 21 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 261 mm; move upward 186 mm; roll downward 103 degrees; pitch downward 102 degrees; yaw counterclockwise 21 degrees; open gripper;" + }, + { + "frame_index": 68, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 46 mm; move right 247 mm; move upward 185 mm; roll downward 98 degrees; pitch downward 96 degrees; yaw counterclockwise 18 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 247 mm; move upward 185 mm; roll downward 98 degrees; pitch downward 96 degrees; yaw counterclockwise 18 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.013928571715950966, + 0.0, + -0.08571428805589676, + -0.1071428582072258, + 0.05000000074505806, + 1.0 + ], + "delta_next_20": [ + 0.04642857238650322, + -0.2467857152223587, + 0.18535713851451874, + -1.718571424484253, + -1.6728570461273193, + 0.31142857670783997, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + -0.34482786528827214, + -0.6836005537004279, + -0.7939526261704996, + -0.9779250162887287, + 0.499999873436461, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 46 mm; move right 247 mm; move upward 185 mm; roll downward 98 degrees; pitch downward 96 degrees; yaw counterclockwise 18 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 247 mm; move upward 185 mm; roll downward 98 degrees; pitch downward 96 degrees; yaw counterclockwise 18 degrees; open gripper;" + }, + { + "frame_index": 69, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 55 mm; move right 247 mm; move upward 192 mm; roll downward 99 degrees; pitch downward 93 degrees; yaw counterclockwise 15 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 233 mm; move upward 185 mm; roll downward 94 degrees; pitch downward 90 degrees; yaw counterclockwise 15 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.013571429066359997, + 0.0, + -0.08285713940858841, + -0.10571428388357162, + 0.04857143014669418, + 1.0 + ], + "delta_next_20": [ + 0.05535713955760002, + -0.24678575992584229, + 0.19214285910129547, + -1.7242857217788696, + -1.6171427965164185, + 0.261428564786911, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + -0.3103451450194319, + -0.6836005537004279, + -0.7577403509538255, + -0.9558499174470787, + 0.4754660334338716, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 55 mm; move right 247 mm; move upward 192 mm; roll downward 99 degrees; pitch downward 93 degrees; yaw counterclockwise 15 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 233 mm; move upward 185 mm; roll downward 94 degrees; pitch downward 90 degrees; yaw counterclockwise 15 degrees; open gripper;" + }, + { + "frame_index": 70, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move forward 65 mm; move right 245 mm; move upward 197 mm; roll downward 99 degrees; pitch downward 89 degrees; yaw counterclockwise 12 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 219 mm; move upward 185 mm; roll downward 89 degrees; pitch downward 84 degrees; yaw counterclockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.014642857015132904, + 0.0, + -0.07857143133878708, + -0.10571428388357162, + 0.04571428522467613, + 1.0 + ], + "delta_next_20": [ + 0.06499999761581421, + -0.24535715579986572, + 0.19678571820259094, + -1.734285593032837, + -1.561428427696228, + 0.21285712718963623, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + -0.41379330582595275, + -0.6836005537004279, + -0.7034221269901644, + -0.9558499174470787, + 0.42639828945168246, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move forward 65 mm; move right 245 mm; move upward 197 mm; roll downward 99 degrees; pitch downward 89 degrees; yaw counterclockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 219 mm; move upward 185 mm; roll downward 89 degrees; pitch downward 84 degrees; yaw counterclockwise 12 degrees; open gripper;" + }, + { + "frame_index": 71, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 15 mm; move upward 0 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 75 mm; move right 243 mm; move upward 200 mm; roll downward 100 degrees; pitch downward 86 degrees; yaw counterclockwise 10 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 205 mm; move upward 185 mm; roll downward 84 degrees; pitch downward 78 degrees; yaw counterclockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.015000000596046448, + 0.0003571428533177823, + -0.0771428570151329, + -0.10571428388357162, + 0.041428569704294205, + 1.0 + ], + "delta_next_20": [ + 0.07535713911056519, + -0.24285714328289032, + 0.20035715401172638, + -1.7471427917480469, + -1.5028570890426636, + 0.167142853140831, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + -0.4482761160155455, + -0.6495057876484548, + -0.6853159893818274, + -0.9558499174470787, + 0.35279670546690367, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 15 mm; move upward 0 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 75 mm; move right 243 mm; move upward 200 mm; roll downward 100 degrees; pitch downward 86 degrees; yaw counterclockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 205 mm; move upward 185 mm; roll downward 84 degrees; pitch downward 78 degrees; yaw counterclockwise 10 degrees; open gripper;" + }, + { + "frame_index": 72, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move upward 1 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 86 mm; move right 239 mm; move upward 200 mm; roll downward 101 degrees; pitch downward 83 degrees; yaw counterclockwise 7 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 190 mm; move upward 185 mm; roll downward 80 degrees; pitch downward 72 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01428571529686451, + 0.0010714286472648382, + -0.07428571581840515, + -0.10285714268684387, + 0.0357142873108387, + 1.0 + ], + "delta_next_20": [ + 0.08642857521772385, + -0.23928570747375488, + 0.20000003278255463, + -1.7585712671279907, + -1.4399999380111694, + 0.1257142871618271, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + -0.379310675477865, + -0.5813162472092868, + -0.6491038085958283, + -0.9116998348941574, + 0.2546613454565463, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move upward 1 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 86 mm; move right 239 mm; move upward 200 mm; roll downward 101 degrees; pitch downward 83 degrees; yaw counterclockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 190 mm; move upward 185 mm; roll downward 80 degrees; pitch downward 72 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 73, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move upward 3 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move forward 99 mm; move right 235 mm; move upward 199 mm; roll downward 101 degrees; pitch downward 79 degrees; yaw counterclockwise 5 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 175 mm; move upward 184 mm; roll downward 76 degrees; pitch downward 66 degrees; yaw counterclockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.013571429066359997, + 0.002500000176951289, + -0.07428571581840515, + -0.1014285683631897, + 0.029999999329447746, + 1.0 + ], + "delta_next_20": [ + 0.09928571432828903, + -0.2353571504354477, + 0.1989285796880722, + -1.7714284658432007, + -1.3714284896850586, + 0.09000001102685928, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + -0.3103451450194319, + -0.44493717188776516, + -0.6491038085958283, + -0.8896247360525074, + 0.15652588948067314, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move upward 3 mm; roll downward 4 degrees; pitch downward 6 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move forward 99 mm; move right 235 mm; move upward 199 mm; roll downward 101 degrees; pitch downward 79 degrees; yaw counterclockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 175 mm; move upward 184 mm; roll downward 76 degrees; pitch downward 66 degrees; yaw counterclockwise 5 degrees; open gripper;" + }, + { + "frame_index": 74, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 11 mm; move upward 8 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 114 mm; move right 231 mm; move upward 196 mm; roll downward 102 degrees; pitch downward 75 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 162 mm; move upward 181 mm; roll downward 71 degrees; pitch downward 60 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.010714286006987095, + 0.007857142947614193, + -0.07999999821186066, + -0.09714286029338837, + 0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + 0.11357142776250839, + -0.2314285784959793, + 0.196428582072258, + -1.7871427536010742, + -1.3014285564422607, + 0.06000000238418579, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + -0.034483203027204645, + 0.06648431611342476, + -0.7215281701678264, + -0.8233996697883148, + -0.03974492650555772, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 11 mm; move upward 8 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 114 mm; move right 231 mm; move upward 196 mm; roll downward 102 degrees; pitch downward 75 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 162 mm; move upward 181 mm; roll downward 71 degrees; pitch downward 60 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 75, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 9 mm; move upward 10 mm; roll downward 5 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 129 mm; move right 230 mm; move upward 189 mm; roll downward 103 degrees; pitch downward 71 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 151 mm; move upward 174 mm; roll downward 67 degrees; pitch downward 54 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.009285714477300644, + 0.010000000707805157, + -0.07999999821186066, + -0.09428571164608002, + 0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + 0.12928572297096252, + -0.2296428680419922, + 0.18857143819332123, + -1.8014284372329712, + -1.2314285039901733, + 0.0414285734295845, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + 0.10344776796890898, + 0.2710529735502232, + -0.7215281701678264, + -0.7792494721050147, + -0.0888126384992417, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 9 mm; move upward 10 mm; roll downward 5 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 129 mm; move right 230 mm; move upward 189 mm; roll downward 103 degrees; pitch downward 71 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 151 mm; move upward 174 mm; roll downward 67 degrees; pitch downward 54 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 76, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 10 mm; move upward 12 mm; roll downward 4 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 146 mm; move right 230 mm; move upward 179 mm; roll downward 104 degrees; pitch downward 67 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 142 mm; move upward 164 mm; roll downward 62 degrees; pitch downward 49 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.010357143357396126, + 0.011785714887082577, + -0.0771428570151329, + -0.08857142925262451, + 0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + 0.1460714340209961, + -0.23000001907348633, + 0.1785714328289032, + -1.8185713291168213, + -1.164285659790039, + 0.02571428380906582, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + -4.827583643951527e-07, + 0.4415267954748672, + -0.6853159893818274, + -0.6909493069991721, + -0.13788035049292569, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 10 mm; move upward 12 mm; roll downward 4 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 146 mm; move right 230 mm; move upward 179 mm; roll downward 104 degrees; pitch downward 67 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 142 mm; move upward 164 mm; roll downward 62 degrees; pitch downward 49 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 77, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 10 mm; move upward 14 mm; roll downward 5 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 163 mm; move right 230 mm; move upward 167 mm; roll downward 105 degrees; pitch downward 63 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 131 mm; move upward 152 mm; roll downward 58 degrees; pitch downward 44 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.010000000707805157, + 0.01428571529686451, + -0.08571428805589676, + -0.08428571373224258, + 0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + 0.1632142961025238, + -0.229642853140831, + 0.16678571701049805, + -1.838571310043335, + -1.1014286279678345, + 0.012857142835855484, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + 0.034482237510475855, + 0.6801901995147879, + -0.7939526261704996, + -0.6247241256046008, + -0.21148191848345166, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 10 mm; move upward 14 mm; roll downward 5 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 163 mm; move right 230 mm; move upward 167 mm; roll downward 105 degrees; pitch downward 63 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 131 mm; move upward 152 mm; roll downward 58 degrees; pitch downward 44 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 78, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 10 mm; move upward 16 mm; roll downward 5 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 181 mm; move right 229 mm; move upward 153 mm; roll downward 106 degrees; pitch downward 60 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 121 mm; move upward 138 mm; roll downward 53 degrees; pitch downward 39 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.010357143357396126, + 0.015714285895228386, + -0.09571428596973419, + -0.08142857253551483, + 0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.18071429431438446, + -0.22928570210933685, + 0.1525000035762787, + -1.8499997854232788, + -1.041428565979004, + 0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + -4.827583643951527e-07, + 0.8165691859272777, + -0.9206953061368338, + -0.5805740430516795, + -0.28508347847685134, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 10 mm; move upward 16 mm; roll downward 5 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 181 mm; move right 229 mm; move upward 153 mm; roll downward 106 degrees; pitch downward 60 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 121 mm; move upward 138 mm; roll downward 53 degrees; pitch downward 39 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 79, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 12 mm; move upward 16 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 199 mm; move right 228 mm; move upward 137 mm; roll downward 106 degrees; pitch downward 57 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 111 mm; move upward 122 mm; roll downward 47 degrees; pitch downward 34 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.012142857536673546, + 0.016428573057055473, + -0.09857142716646194, + -0.07571428269147873, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.1989285796880722, + -0.22821426391601562, + 0.13678573071956635, + -1.852856993675232, + -0.9871429800987244, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + -0.17241417402331827, + 0.8847588569515861, + -0.9569074869228329, + -0.492273762815458, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 12 mm; move upward 16 mm; roll downward 6 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 199 mm; move right 228 mm; move upward 137 mm; roll downward 106 degrees; pitch downward 57 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 111 mm; move upward 122 mm; roll downward 47 degrees; pitch downward 34 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 80, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 13 mm; move upward 15 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 218 mm; move right 225 mm; move upward 120 mm; roll downward 106 degrees; pitch downward 54 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 99 mm; move upward 105 mm; roll downward 42 degrees; pitch downward 30 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.013214285485446453, + 0.015357143245637417, + -0.09571428596973419, + -0.07428571581840515, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.21785715222358704, + -0.22535713016986847, + 0.12035714834928513, + -1.8557140827178955, + -0.938571572303772, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + -0.27586233482983913, + 0.7824744393241552, + -0.9206953061368338, + -0.4701987791041867, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 13 mm; move upward 15 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 218 mm; move right 225 mm; move upward 120 mm; roll downward 106 degrees; pitch downward 54 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 99 mm; move upward 105 mm; roll downward 42 degrees; pitch downward 30 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 81, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 11 mm; move upward 16 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 238 mm; move right 220 mm; move upward 105 mm; roll downward 107 degrees; pitch downward 51 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 46 mm; move right 86 mm; move upward 90 mm; roll downward 36 degrees; pitch downward 26 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0021428572945296764, + -0.011428571306169033, + 0.01607142947614193, + -0.09285714477300644, + -0.07285714149475098, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2378571480512619, + -0.22035713493824005, + 0.10500001162290573, + -1.8628571033477783, + -0.8942858576774597, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.23206738369750668, + -0.10344864356488515, + 0.8506640214394319, + -0.8844831253508347, + -0.4481236802625367, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 2 mm; move right 11 mm; move upward 16 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 238 mm; move right 220 mm; move upward 105 mm; roll downward 107 degrees; pitch downward 51 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 46 mm; move right 86 mm; move upward 90 mm; roll downward 36 degrees; pitch downward 26 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 82, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 11 mm; move upward 16 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 255 mm; move right 218 mm; move upward 89 mm; roll downward 107 degrees; pitch downward 49 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 44 mm; move right 74 mm; move upward 74 mm; roll downward 31 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004285714589059353, + -0.011428571306169033, + 0.015714285895228386, + -0.09000000357627869, + -0.0714285746216774, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.25535714626312256, + -0.21785712242126465, + 0.08892857283353806, + -1.8714284896850586, + -0.8514286875724792, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.28270029258991625, + -0.10344864356488515, + 0.8165691859272777, + -0.8482709445648356, + -0.4260486965512654, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 4 mm; move right 11 mm; move upward 16 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 255 mm; move right 218 mm; move upward 89 mm; roll downward 107 degrees; pitch downward 49 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 44 mm; move right 74 mm; move upward 74 mm; roll downward 31 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 83, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 11 mm; move upward 15 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 270 mm; move right 216 mm; move upward 73 mm; roll downward 108 degrees; pitch downward 47 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 40 mm; move right 63 mm; move upward 58 mm; roll downward 26 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006071428768336773, + -0.011071428656578064, + 0.015357143245637417, + -0.09000000357627869, + -0.06857142597436905, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.27000001072883606, + -0.2157142609357834, + 0.07321428507566452, + -1.8842854499816895, + -0.8157142996788025, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.32489437783210806, + -0.0689659232960449, + 0.7824744393241552, + -0.8482709445648356, + -0.38189849886796534, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 6 mm; move right 11 mm; move upward 15 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 270 mm; move right 216 mm; move upward 73 mm; roll downward 108 degrees; pitch downward 47 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 40 mm; move right 63 mm; move upward 58 mm; roll downward 26 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 84, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 12 mm; move upward 14 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 282 mm; move right 214 mm; move upward 58 mm; roll downward 109 degrees; pitch downward 45 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 34 mm; move right 52 mm; move upward 43 mm; roll downward 21 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008214286528527737, + -0.012142857536673546, + 0.013571429066359997, + -0.08857142925262451, + -0.0657142847776413, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.28214287757873535, + -0.21392856538295746, + 0.05785714462399483, + -1.8957140445709229, + -0.7842857837677002, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3755272977274837, + -0.17241417402331827, + 0.6120006173995112, + -0.8301648069564986, + -0.33774841631504404, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 8 mm; move right 12 mm; move upward 14 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 282 mm; move right 214 mm; move upward 58 mm; roll downward 109 degrees; pitch downward 45 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 34 mm; move right 52 mm; move upward 43 mm; roll downward 21 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 85, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 13 mm; move upward 11 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 291 mm; move right 211 mm; move upward 44 mm; roll downward 109 degrees; pitch downward 43 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 26 mm; move right 40 mm; move upward 29 mm; roll downward 16 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008571429178118706, + -0.012500000186264515, + 0.011428571306169033, + -0.09000000357627869, + -0.06142857298254967, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2914285957813263, + -0.21071426570415497, + 0.044285714626312256, + -1.90142822265625, + -0.7542857527732849, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3839661103747356, + -0.20689689429215852, + 0.407431959962713, + -0.8482709445648356, + -0.2715232924856621, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 13 mm; move upward 11 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 291 mm; move right 211 mm; move upward 44 mm; roll downward 109 degrees; pitch downward 43 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 26 mm; move right 40 mm; move upward 29 mm; roll downward 16 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 86, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 14 mm; move upward 10 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 299 mm; move right 205 mm; move upward 33 mm; roll downward 109 degrees; pitch downward 42 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 17 mm; move right 27 mm; move upward 18 mm; roll downward 10 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008571429178118706, + -0.013571429066359997, + 0.010000000707805157, + -0.08857142925262451, + -0.05714285746216774, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.29928573966026306, + -0.2053571194410324, + 0.03285714611411095, + -1.895714282989502, + -0.7285712957382202, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3839661103747356, + -0.3103451450194319, + 0.2710529735502232, + -0.8301648069564986, + -0.20529811109109075, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 14 mm; move upward 10 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 299 mm; move right 205 mm; move upward 33 mm; roll downward 109 degrees; pitch downward 42 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 17 mm; move right 27 mm; move upward 18 mm; roll downward 10 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 87, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 14 mm; move upward 8 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 307 mm; move right 199 mm; move upward 23 mm; roll downward 108 degrees; pitch downward 41 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 9 mm; move right 14 mm; move upward 8 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008571429178118706, + -0.013571429066359997, + 0.007857142947614193, + -0.09285714477300644, + -0.051428571343421936, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3067857325077057, + -0.19857141375541687, + 0.022857144474983215, + -1.8899998664855957, + -0.7071427702903748, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3839661103747356, + -0.3103451450194319, + 0.06648431611342476, + -0.8844831253508347, + -0.11699788842005865, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 14 mm; move upward 8 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 307 mm; move right 199 mm; move upward 23 mm; roll downward 108 degrees; pitch downward 41 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 9 mm; move right 14 mm; move upward 8 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 88, + "segment_id": 50100, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned at the microwave interface with the end-effector making contact with the control panel, indicating an active interaction consistent with pressing a button.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 14 mm; move upward 7 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 314 mm; move right 190 mm; move upward 15 mm; roll downward 108 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008928571827709675, + -0.013928571715950966, + 0.006785714533179998, + -0.09142857044935226, + -0.051428571343421936, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3142857253551483, + -0.19035714864730835, + 0.015000000596046448, + -1.8771427869796753, + -0.6914284825325012, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.3924049230219877, + -0.34482786528827214, + -0.035799968150458494, + -0.8663769877424977, + -0.11699788842005865, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 9 mm; move right 14 mm; move upward 7 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 314 mm; move right 190 mm; move upward 15 mm; roll downward 108 degrees; pitch downward 40 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 89, + "segment_id": 50200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 12 mm; move upward 5 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 321 mm; move right 182 mm; move upward 8 mm; roll downward 107 degrees; pitch downward 39 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 183 mm; move right 121 mm; move upward 8 mm; roll downward 65 degrees; pitch downward 23 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + -0.012142857536673546, + 0.004642857238650322, + -0.09285714477300644, + -0.05000000074505806, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3214285969734192, + -0.1817857176065445, + 0.008214286528527737, + -1.8614284992218018, + -0.6742856502532959, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4092825483164917, + -0.17241417402331827, + -0.24036858113274084, + -0.8844831253508347, + -0.094922847143598, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 12 mm; move upward 5 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 321 mm; move right 182 mm; move upward 8 mm; roll downward 107 degrees; pitch downward 39 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 183 mm; move right 121 mm; move upward 8 mm; roll downward 65 degrees; pitch downward 23 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 90, + "segment_id": 50200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 12 mm; move upward 4 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 328 mm; move right 175 mm; move upward 4 mm; roll downward 105 degrees; pitch downward 38 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 173 mm; move right 109 mm; move upward 4 mm; roll downward 60 degrees; pitch downward 20 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + -0.012142857536673546, + 0.0035714288242161274, + -0.09142857044935226, + -0.04714285582304001, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.32785719633102417, + -0.17500001192092896, + 0.0035714288242161274, + -1.8399999141693115, + -0.6585714221000671, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4261601956169274, + -0.17241417402331827, + -0.342652865396624, + -0.8663769877424977, + -0.05077270702548731, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 10 mm; move right 12 mm; move upward 4 mm; roll downward 5 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 328 mm; move right 175 mm; move upward 4 mm; roll downward 105 degrees; pitch downward 38 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 173 mm; move right 109 mm; move upward 4 mm; roll downward 60 degrees; pitch downward 20 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 91, + "segment_id": 50200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 11 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 334 mm; move right 168 mm; move downward 0 mm; roll downward 104 degrees; pitch downward 37 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 163 mm; move right 96 mm; move downward 0 mm; roll downward 55 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + -0.011428571306169033, + 0.0, + -0.08857142925262451, + -0.04285714402794838, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3339286148548126, + -0.16750000417232513, + 0.0, + -1.8114285469055176, + -0.6428571939468384, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.4430378209114316, + -0.10344864356488515, + -0.6836005537004279, + -0.8301648069564986, + 0.015452416803894531, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 11 mm; move right 11 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 334 mm; move right 168 mm; move downward 0 mm; roll downward 104 degrees; pitch downward 37 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 163 mm; move right 96 mm; move downward 0 mm; roll downward 55 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 92, + "segment_id": 50200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 10 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 340 mm; move right 160 mm; move downward 0 mm; roll downward 102 degrees; pitch downward 36 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 151 mm; move right 85 mm; move downward 0 mm; roll downward 50 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + -0.010357143357396126, + 0.0, + -0.08714285492897034, + -0.034285712987184525, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.33964288234710693, + -0.16035714745521545, + 0.0, + -1.7842857837677002, + -0.6300000548362732, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.48523192815955496, + -4.827583643951527e-07, + -0.6836005537004279, + -0.8120586693481616, + 0.14790277959303744, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 13 mm; move right 10 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 340 mm; move right 160 mm; move downward 0 mm; roll downward 102 degrees; pitch downward 36 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 151 mm; move right 85 mm; move downward 0 mm; roll downward 50 degrees; pitch downward 15 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 93, + "segment_id": 50200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 10 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 344 mm; move right 154 mm; move downward 0 mm; roll downward 101 degrees; pitch downward 36 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 139 mm; move right 75 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.009642857126891613, + 0.0, + -0.09000000357627869, + -0.03142857179045677, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3442857563495636, + -0.15392857789993286, + 0.0, + -1.7542856931686401, + -0.6242857575416565, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5189872007544947, + 0.06896504770006873, + -0.6836005537004279, + -0.8482709445648356, + 0.19205286214595874, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 14 mm; move right 10 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 344 mm; move right 154 mm; move downward 0 mm; roll downward 101 degrees; pitch downward 36 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 139 mm; move right 75 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 94, + "segment_id": 50200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 9 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 348 mm; move right 148 mm; move downward 0 mm; roll downward 98 degrees; pitch downward 36 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 124 mm; move right 65 mm; move downward 0 mm; roll downward 39 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015714285895228386, + -0.008928571827709675, + 0.0, + -0.09428571164608002, + -0.027142856270074844, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3475000560283661, + -0.14750000834465027, + 0.0, + -1.7171428203582764, + -0.6214286088943481, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5527424513435029, + 0.13793048823774923, + -0.6836005537004279, + -0.9025891685284968, + 0.2582780435405301, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move right 9 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 348 mm; move right 148 mm; move downward 0 mm; roll downward 98 degrees; pitch downward 36 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 124 mm; move right 65 mm; move downward 0 mm; roll downward 39 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 95, + "segment_id": 50200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 17 mm; move right 10 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 350 mm; move right 141 mm; move downward 0 mm; roll downward 96 degrees; pitch downward 36 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 109 mm; move right 56 mm; move downward 0 mm; roll downward 34 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.016785714775323868, + -0.009642857126891613, + 0.0, + -0.09714286029338837, + -0.027142856270074844, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.35035717487335205, + -0.14142858982086182, + 0.0, + -1.6714285612106323, + -0.6214286088943481, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5780589112911907, + 0.06896504770006873, + -0.6836005537004279, + -0.9388014437451708, + 0.2582780435405301, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 17 mm; move right 10 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 350 mm; move right 141 mm; move downward 0 mm; roll downward 96 degrees; pitch downward 36 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 109 mm; move right 56 mm; move downward 0 mm; roll downward 34 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 96, + "segment_id": 50200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 17 mm; move right 10 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 353 mm; move right 133 mm; move downward 0 mm; roll downward 93 degrees; pitch downward 35 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 92 mm; move right 46 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01714285835623741, + -0.010000000707805157, + 0.0, + -0.09714286029338837, + -0.025714285671710968, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.35285717248916626, + -0.13250002264976501, + 0.0, + -1.6157143115997314, + -0.6185715198516846, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5864977459443743, + 0.034482237510475855, + -0.6836005537004279, + -0.9388014437451708, + 0.2803530848169906, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 17 mm; move right 10 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 353 mm; move right 133 mm; move downward 0 mm; roll downward 93 degrees; pitch downward 35 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 92 mm; move right 46 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 97, + "segment_id": 50200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 10 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 356 mm; move right 123 mm; move downward 0 mm; roll downward 89 degrees; pitch downward 35 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 75 mm; move right 36 mm; move downward 0 mm; roll downward 23 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.017500000074505806, + -0.009642857126891613, + 0.0, + -0.09714286029338837, + -0.02428571507334709, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.35607144236564636, + -0.12250000238418579, + 0.0, + -1.5571428537368774, + -0.6142858266830444, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5949365365856947, + 0.06896504770006873, + -0.6836005537004279, + -0.9388014437451708, + 0.3024281260934514, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 18 mm; move right 10 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 356 mm; move right 123 mm; move downward 0 mm; roll downward 89 degrees; pitch downward 35 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 75 mm; move right 36 mm; move downward 0 mm; roll downward 23 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 98, + "segment_id": 50200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 9 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 359 mm; move right 113 mm; move downward 0 mm; roll downward 86 degrees; pitch downward 35 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 57 mm; move right 27 mm; move downward 0 mm; roll downward 17 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018214285373687744, + -0.009285714477300644, + 0.0, + -0.09857142716646194, + -0.027142856270074844, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.35892850160598755, + -0.1128571555018425, + 0.0, + -1.4942857027053833, + -0.6128572821617126, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6118141618801987, + 0.10344776796890898, + -0.6836005537004279, + -0.9569074869228329, + 0.2582780435405301, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 18 mm; move right 9 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 359 mm; move right 113 mm; move downward 0 mm; roll downward 86 degrees; pitch downward 35 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 57 mm; move right 27 mm; move downward 0 mm; roll downward 17 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 99, + "segment_id": 50200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 9 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 362 mm; move right 104 mm; move downward 0 mm; roll downward 82 degrees; pitch downward 35 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 39 mm; move right 18 mm; move downward 0 mm; roll downward 12 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018928570672869682, + -0.009285714477300644, + 0.0, + -0.1014285683631897, + -0.027142856270074844, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3617856502532959, + -0.10357143729925156, + 0.0, + -1.4228571653366089, + -0.6057143211364746, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6286917871747029, + 0.10344776796890898, + -0.6836005537004279, + -0.993119667708832, + 0.2582780435405301, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 19 mm; move right 9 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 362 mm; move right 104 mm; move downward 0 mm; roll downward 82 degrees; pitch downward 35 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 39 mm; move right 18 mm; move downward 0 mm; roll downward 12 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 100, + "segment_id": 50200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 8 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 364 mm; move right 94 mm; move downward 0 mm; roll downward 77 degrees; pitch downward 34 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 20 mm; move right 8 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.020000001415610313, + -0.008214286528527737, + 0.0, + -0.10285714268684387, + -0.029999999329447746, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3642856776714325, + -0.09428571909666061, + 0.0, + -1.3457143306732178, + -0.5971428751945496, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6540082911342537, + 0.20689592877542973, + -0.6836005537004279, + -1.0, + 0.21412793220501403, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 20 mm; move right 8 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 364 mm; move right 94 mm; move downward 0 mm; roll downward 77 degrees; pitch downward 34 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 20 mm; move right 8 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 101, + "segment_id": 50200, + "subtask": "press the stop button", + "reason": "The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is retracted and moving downwards and to the left, physically separating from the appliance after having interacted with it.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 9 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 366 mm; move right 86 mm; move downward 0 mm; roll downward 72 degrees; pitch downward 33 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01964285783469677, + -0.008928571827709675, + 0.0, + -0.1014285683631897, + -0.029999999329447746, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3657142221927643, + -0.0860714241862297, + 0.0, + -1.264285683631897, + -0.5842856764793396, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6455694564810701, + 0.13793048823774923, + -0.6836005537004279, + -0.993119667708832, + 0.21412793220501403, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 20 mm; move right 9 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 366 mm; move right 86 mm; move downward 0 mm; roll downward 72 degrees; pitch downward 33 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 102, + "segment_id": 60200, + "subtask": "press the stop button", + "reason": "The robot's arm is extended towards the microwave control panel with the end-effector positioned directly in front of the buttons, indicating an approach to press them.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is extended towards the microwave control panel with the end-effector positioned directly in front of the buttons, indicating an approach to press them.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 9 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 368 mm; move right 77 mm; move downward 0 mm; roll downward 68 degrees; pitch downward 32 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 37 mm; move right 19 mm; move downward 0 mm; roll downward 12 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018928570672869682, + -0.009285714477300644, + 0.0, + -0.10285714268684387, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.36785709857940674, + -0.0771428570151329, + 0.0, + -1.1800000667572021, + -0.5671427845954895, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6286917871747029, + 0.10344776796890898, + -0.6836005537004279, + -1.0, + 0.12582768075138717, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 19 mm; move right 9 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 368 mm; move right 77 mm; move downward 0 mm; roll downward 68 degrees; pitch downward 32 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 37 mm; move right 19 mm; move downward 0 mm; roll downward 12 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 103, + "segment_id": 60200, + "subtask": "press the stop button", + "reason": "The robot's arm is extended towards the microwave control panel with the end-effector positioned directly in front of the buttons, indicating an approach to press them.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is extended towards the microwave control panel with the end-effector positioned directly in front of the buttons, indicating an approach to press them.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 9 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 371 mm; move right 68 mm; move downward 0 mm; roll downward 63 degrees; pitch downward 31 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 18 mm; move right 9 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018214285373687744, + -0.009285714477300644, + 0.0, + -0.1014285683631897, + -0.037142857909202576, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.37107139825820923, + -0.0682142898440361, + 0.0, + -1.091428518295288, + -0.5428571105003357, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6118141618801987, + 0.10344776796890898, + -0.6836005537004279, + -0.993119667708832, + 0.10375263947492663, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 18 mm; move right 9 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 371 mm; move right 68 mm; move downward 0 mm; roll downward 63 degrees; pitch downward 31 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 18 mm; move right 9 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 104, + "segment_id": 60200, + "subtask": "press the stop button", + "reason": "The robot's arm is extended towards the microwave control panel with the end-effector positioned directly in front of the buttons, indicating an approach to press them.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is extended towards the microwave control panel with the end-effector positioned directly in front of the buttons, indicating an approach to press them.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 9 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 375 mm; move right 60 mm; move downward 0 mm; roll downward 57 degrees; pitch downward 30 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.017500000074505806, + -0.008928571827709675, + 0.0, + -0.09428571164608002, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.37464281916618347, + -0.06035714969038963, + 0.0, + -1.0028572082519531, + -0.5171428918838501, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5949365365856947, + 0.13793048823774923, + -0.6836005537004279, + -0.9025891685284968, + 0.12582768075138717, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 18 mm; move right 9 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 375 mm; move right 60 mm; move downward 0 mm; roll downward 57 degrees; pitch downward 30 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 105, + "segment_id": 60300, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 7 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 378 mm; move right 53 mm; move downward 0 mm; roll downward 53 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 313 mm; move right 50 mm; move downward 0 mm; roll downward 51 degrees; pitch downward 26 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.016428573057055473, + -0.007142857648432255, + 0.0, + -0.08428571373224258, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3778570890426636, + -0.05285714939236641, + 0.0, + -0.9214286208152771, + -0.4928571283817291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5696201206498701, + 0.3103441795027031, + -0.6836005537004279, + -0.7758464885621625, + 0.12582768075138717, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move right 7 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 378 mm; move right 53 mm; move downward 0 mm; roll downward 53 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 313 mm; move right 50 mm; move downward 0 mm; roll downward 51 degrees; pitch downward 26 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 106, + "segment_id": 60300, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 7 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 382 mm; move right 49 mm; move downward 0 mm; roll downward 49 degrees; pitch downward 27 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 297 mm; move right 43 mm; move downward 0 mm; roll downward 46 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01607142947614193, + -0.006785714533179998, + 0.0, + -0.08285713940858841, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.38178569078445435, + -0.04892857000231743, + 0.0, + -0.8500000238418579, + -0.46714285016059875, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5611812859966865, + 0.34482694473191966, + -0.6836005537004279, + -0.7577403509538255, + 0.12582768075138717, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move right 7 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 382 mm; move right 49 mm; move downward 0 mm; roll downward 49 degrees; pitch downward 27 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 297 mm; move right 43 mm; move downward 0 mm; roll downward 46 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 107, + "segment_id": 60300, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 5 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 386 mm; move right 46 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 281 mm; move right 36 mm; move downward 0 mm; roll downward 41 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01607142947614193, + -0.0053571430034935474, + 0.0, + -0.07999999821186066, + -0.0357142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.38571426272392273, + -0.046071428805589676, + 0.0, + -0.7785714864730835, + -0.4399999678134918, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5611812859966865, + 0.4827579157280333, + -0.6836005537004279, + -0.7215281701678264, + 0.12582768075138717, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move right 5 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 386 mm; move right 46 mm; move downward 0 mm; roll downward 45 degrees; pitch downward 25 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 281 mm; move right 36 mm; move downward 0 mm; roll downward 41 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 108, + "segment_id": 60300, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 5 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 389 mm; move right 45 mm; move downward 0 mm; roll downward 41 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 265 mm; move right 30 mm; move downward 0 mm; roll downward 36 degrees; pitch downward 20 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01607142947614193, + -0.0053571430034935474, + 0.0, + -0.07571428269147873, + -0.034285712987184525, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3885714113712311, + -0.04535714164376259, + 0.0, + -0.7114286422729492, + -0.41428565979003906, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5611812859966865, + 0.4827579157280333, + -0.6836005537004279, + -0.6672098517734903, + 0.14790277959303744, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move right 5 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 389 mm; move right 45 mm; move downward 0 mm; roll downward 41 degrees; pitch downward 24 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 265 mm; move right 30 mm; move downward 0 mm; roll downward 36 degrees; pitch downward 20 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 109, + "segment_id": 60300, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 5 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 392 mm; move right 45 mm; move downward 0 mm; roll downward 37 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 249 mm; move right 25 mm; move downward 0 mm; roll downward 32 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01607142947614193, + -0.0053571430034935474, + 0.0, + -0.0714285746216774, + -0.034285712987184525, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3921428322792053, + -0.04500000178813934, + 0.0, + -0.6500000357627869, + -0.3871428370475769, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5611812859966865, + 0.4827579157280333, + -0.6836005537004279, + -0.6128916278098292, + 0.14790277959303744, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move right 5 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 392 mm; move right 45 mm; move downward 0 mm; roll downward 37 degrees; pitch downward 22 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 249 mm; move right 25 mm; move downward 0 mm; roll downward 32 degrees; pitch downward 18 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 110, + "segment_id": 60300, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 5 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 396 mm; move right 45 mm; move downward 0 mm; roll downward 34 degrees; pitch downward 20 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 233 mm; move right 20 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 16 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.016428573057055473, + -0.004642857238650322, + 0.0, + -0.06285714358091354, + -0.03142857179045677, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.39571428298950195, + -0.0446428619325161, + 0.0, + -0.5914286375045776, + -0.357142835855484, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5696201206498701, + 0.5517234012260901, + -0.6836005537004279, + -0.504254991021157, + 0.19205286214595874, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 16 mm; move right 5 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 396 mm; move right 45 mm; move downward 0 mm; roll downward 34 degrees; pitch downward 20 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 233 mm; move right 20 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 16 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 111, + "segment_id": 60300, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 17 mm; move right 4 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 399 mm; move right 45 mm; move downward 0 mm; roll downward 31 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 216 mm; move right 15 mm; move downward 0 mm; roll downward 24 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.016785714775323868, + -0.004285714589059353, + 0.0, + -0.06142857298254967, + -0.029999999329447746, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.39892858266830444, + -0.0446428619325161, + 0.0, + -0.5414285659790039, + -0.32999998331069946, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5780589112911907, + 0.5862061214949303, + -0.6836005537004279, + -0.4861489006281574, + 0.21412793220501403, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 17 mm; move right 4 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 399 mm; move right 45 mm; move downward 0 mm; roll downward 31 degrees; pitch downward 19 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 216 mm; move right 15 mm; move downward 0 mm; roll downward 24 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 112, + "segment_id": 60300, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 4 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 402 mm; move right 45 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 199 mm; move right 11 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.017500000074505806, + -0.0039285714738070965, + 0.0, + -0.05714285746216774, + -0.02857142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.40214285254478455, + -0.04500000178813934, + 0.0, + -0.4957142472267151, + -0.3028571307659149, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5949365365856947, + 0.6206888867241469, + -0.6836005537004279, + -0.4318305822338214, + 0.23620297348147457, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 18 mm; move right 4 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 402 mm; move right 45 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 17 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 199 mm; move right 11 mm; move downward 0 mm; roll downward 21 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 113, + "segment_id": 60300, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 3 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 405 mm; move right 46 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 16 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 182 mm; move right 7 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.017500000074505806, + -0.0032142859417945147, + 0.0, + -0.05285714194178581, + -0.02857142873108387, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.4050000309944153, + -0.04571428522467613, + 0.0, + -0.4585714042186737, + -0.27571430802345276, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.5949365365856947, + 0.6896543497420156, + -0.6836005537004279, + -0.37751226383948533, + 0.23620297348147457, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 18 mm; move right 3 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 405 mm; move right 46 mm; move downward 0 mm; roll downward 26 degrees; pitch downward 16 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 182 mm; move right 7 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 114, + "segment_id": 60300, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 3 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 409 mm; move right 47 mm; move downward 0 mm; roll downward 24 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 164 mm; move right 4 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018571428954601288, + -0.0028571428265422583, + 0.0, + -0.04857143014669418, + -0.027142856270074844, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.40857139229774475, + -0.046785712242126465, + 0.0, + -0.42571428418159485, + -0.24714285135269165, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6202529965333825, + 0.7241371149712321, + -0.6836005537004279, + -0.32319399266048665, + 0.2582780435405301, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 19 mm; move right 3 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 409 mm; move right 47 mm; move downward 0 mm; roll downward 24 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 164 mm; move right 4 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 115, + "segment_id": 60300, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 411 mm; move right 48 mm; move downward 0 mm; roll downward 23 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 146 mm; move right 1 mm; move downward 0 mm; roll downward 12 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.019285714253783226, + -0.0007142857066355646, + 0.0, + -0.041428569704294205, + -0.02428571507334709, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.41107138991355896, + -0.04821428284049034, + 0.0, + -0.39714285731315613, + -0.2199999839067459, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6371306218278865, + 0.9310335546052615, + -0.6836005537004279, + -0.23266344626481406, + 0.3024281260934514, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 19 mm; move right 1 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 411 mm; move right 48 mm; move downward 0 mm; roll downward 23 degrees; pitch downward 13 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 146 mm; move right 1 mm; move downward 0 mm; roll downward 12 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 116, + "segment_id": 60300, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 414 mm; move right 51 mm; move downward 0 mm; roll downward 22 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 126 mm; move right 0 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.020357143133878708, + 0.0, + 0.0, + -0.03857142850756645, + -0.02142857201397419, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.41428571939468384, + -0.05142856761813164, + 0.0, + -0.3757143020629883, + -0.19571428000926971, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6624470817755743, + 0.9999990344832712, + -0.6836005537004279, + -0.19645126547881486, + 0.3465782374289672, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 20 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 414 mm; move right 51 mm; move downward 0 mm; roll downward 22 degrees; pitch downward 11 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 126 mm; move right 0 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 117, + "segment_id": 60300, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 417 mm; move right 55 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 106 mm; move right 0 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.020357143133878708, + 0.0, + 0.0, + -0.034285712987184525, + -0.022857142612338066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.41749998927116394, + -0.05499999597668648, + 0.0, + -0.3571428656578064, + -0.17428570985794067, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6624470817755743, + 0.9999990344832712, + -0.6836005537004279, + -0.14213294708447877, + 0.32450319615250667, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 20 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 417 mm; move right 55 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 10 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 106 mm; move right 0 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 118, + "segment_id": 60300, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 21 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 422 mm; move right 58 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 86 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.021071428433060646, + 0.0, + 0.0, + -0.027142856270074844, + -0.019999999552965164, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.4221428334712982, + -0.05785713717341423, + 0.0, + -0.34142857789993286, + -0.15142858028411865, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6793247070700783, + 0.9999990344832712, + -0.6836005537004279, + -0.05160244790414359, + 0.3686533074880227, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 21 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 422 mm; move right 58 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 9 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 86 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 119, + "segment_id": 60300, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 21 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 429 mm; move right 61 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 65 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.02142857201397419, + 0.0, + 0.0, + -0.02428571507334709, + -0.018571428954601288, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.4285714626312256, + -0.061071425676345825, + 0.0, + -0.3285714387893677, + -0.1314285695552826, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6877635417232619, + 0.9999990344832712, + -0.6836005537004279, + -0.015390267118144507, + 0.39072834876448326, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 21 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 429 mm; move right 61 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 8 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 65 mm; move right 0 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 120, + "segment_id": 60300, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 21 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 436 mm; move right 64 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 43 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.02142857201397419, + 0.0, + 0.0, + -0.02142857201397419, + -0.017142856493592262, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.4364285469055176, + -0.06428571790456772, + 0.0, + -0.3214285671710968, + -0.11571428179740906, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.6877635417232619, + 0.9999990344832712, + -0.6836005537004279, + 0.020821937275523172, + 0.41280341882353877, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 21 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 436 mm; move right 64 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 43 mm; move right 0 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 121, + "segment_id": 60300, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 447 mm; move right 67 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.021785713732242584, + 0.0, + 0.0, + -0.017142856493592262, + -0.012857142835855484, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.44714289903640747, + -0.06678571552038193, + 0.0, + -0.3142856955528259, + -0.10285715013742447, + -0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + 0.6962023323645823, + 0.9999990344832712, + -0.6836005537004279, + 0.07514025566985927, + 0.47902857143551536, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 447 mm; move right 67 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 122, + "segment_id": 60300, + "subtask": "press the stop button", + "reason": "The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is positioned directly in front of the microwave control panel, and the end-effector is making contact with the buttons, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 459 mm; move right 69 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 5 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.022142857313156128, + -0.0003571428533177823, + 0.0, + -0.014285714365541935, + -0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.4592857360839844, + -0.06892856955528259, + 0.0, + -0.31285712122917175, + -0.09428571909666061, + -0.01428571343421936, + 1.0 + ], + "delta_full_state_norm": [ + 0.7046411670177661, + 0.9655162945442664, + -0.6836005537004279, + 0.11135244825969282, + 0.5011036271032734, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 22 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 459 mm; move right 69 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 5 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 123, + "segment_id": 40300, + "subtask": "press the stop button", + "reason": "The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 22 mm; move right 1 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 472 mm; move right 71 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 5 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 266 mm; move right 51 mm; move downward 0 mm; roll downward 11 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.021785713732242584, + -0.0014285714132711291, + 0.0, + -0.012857142835855484, + -0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.4717857539653778, + -0.07107142359018326, + 0.0, + -0.3142856955528259, + -0.08714286237955093, + -0.024285713210701942, + 1.0 + ], + "delta_full_state_norm": [ + 0.6962023323645823, + 0.8620680747272516, + -0.6836005537004279, + 0.12945855045652666, + 0.5011036271032734, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 22 mm; move right 1 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 472 mm; move right 71 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 5 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 266 mm; move right 51 mm; move downward 0 mm; roll downward 11 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 124, + "segment_id": 40300, + "subtask": "press the stop button", + "reason": "The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 21 mm; move right 1 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 485 mm; move right 71 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 5 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 244 mm; move right 50 mm; move downward 0 mm; roll downward 11 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.02071428671479225, + -0.0014285714132711291, + 0.0, + -0.012857142835855484, + -0.011428571306169033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.48464280366897583, + -0.0714285671710968, + 0.0, + -0.31857141852378845, + -0.08000000566244125, + -0.034285712987184525, + 1.0 + ], + "delta_full_state_norm": [ + 0.670885916428758, + 0.8620680747272516, + -0.6836005537004279, + 0.12945855045652666, + 0.5011036271032734, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 21 mm; move right 1 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 485 mm; move right 71 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 5 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 244 mm; move right 50 mm; move downward 0 mm; roll downward 11 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 125, + "segment_id": 40300, + "subtask": "press the stop button", + "reason": "The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 499 mm; move right 72 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 4 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 223 mm; move right 48 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.020357143133878708, + -0.0032142859417945147, + 0.0, + -0.012857142835855484, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.49857136607170105, + -0.07178571075201035, + 0.0, + -0.32428571581840515, + -0.07428571581840515, + -0.04285714030265808, + 1.0 + ], + "delta_full_state_norm": [ + 0.6624470817755743, + 0.6896543497420156, + -0.6836005537004279, + 0.12945855045652666, + 0.5231786827710314, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 20 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 499 mm; move right 72 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 4 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 223 mm; move right 48 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 126, + "segment_id": 40300, + "subtask": "press the stop button", + "reason": "The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 513 mm; move right 72 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 4 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 203 mm; move right 45 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.020000001415610313, + -0.0039285714738070965, + 0.0, + -0.011428571306169033, + -0.008571428246796131, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.5132142305374146, + -0.07178571820259094, + 0.0, + -0.331428587436676, + -0.06857142597436905, + -0.05142856761813164, + 1.0 + ], + "delta_full_state_norm": [ + 0.6540082911342537, + 0.6206888867241469, + -0.6836005537004279, + 0.14756465265336072, + 0.5452537384387894, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 20 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 513 mm; move right 72 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 4 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 203 mm; move right 45 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 127, + "segment_id": 40300, + "subtask": "press the stop button", + "reason": "The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 527 mm; move right 71 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 4 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 183 mm; move right 41 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018928570672869682, + -0.004642857238650322, + 0.0, + -0.012857142835855484, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.5267857313156128, + -0.07107143849134445, + 0.0, + -0.33571431040763855, + -0.06428571790456772, + -0.05857142433524132, + 1.0 + ], + "delta_full_state_norm": [ + 0.6286917871747029, + 0.5517234012260901, + -0.6836005537004279, + 0.12945855045652666, + 0.5231786827710314, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 19 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 527 mm; move right 71 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 4 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 183 mm; move right 41 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 128, + "segment_id": 40300, + "subtask": "press the stop button", + "reason": "The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 537 mm; move right 70 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 3 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 164 mm; move right 36 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01964285783469677, + -0.005000000353902578, + 0.0, + -0.014285714365541935, + -0.0071428571827709675, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.5367857217788696, + -0.07035714387893677, + 0.0, + -0.3371428847312927, + -0.05857143551111221, + -0.0657142847776413, + 1.0 + ], + "delta_full_state_norm": [ + 0.6455694564810701, + 0.5172406359968735, + -0.6836005537004279, + 0.11135244825969282, + 0.5673287869108987, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 20 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 537 mm; move right 70 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 3 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 164 mm; move right 36 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 129, + "segment_id": 40300, + "subtask": "press the stop button", + "reason": "The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 536 mm; move right 69 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 3 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 144 mm; move right 31 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01964285783469677, + -0.005000000353902578, + 0.0, + -0.012857142835855484, + -0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.535714328289032, + -0.06928572058677673, + 0.0, + -0.32285717129707336, + -0.051428575068712234, + -0.08285713940858841, + 1.0 + ], + "delta_full_state_norm": [ + 0.6455694564810701, + 0.5172406359968735, + -0.6836005537004279, + 0.12945855045652666, + 0.6114788982464148, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 20 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 536 mm; move right 69 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 3 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 144 mm; move right 31 mm; move downward 0 mm; roll downward 7 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 130, + "segment_id": 40300, + "subtask": "press the stop button", + "reason": "The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 518 mm; move right 67 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 3 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move forward 125 mm; move right 26 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01964285783469677, + -0.004642857238650322, + 0.0, + -0.012857142835855484, + -0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.5178571343421936, + -0.06678571552038193, + 0.0, + -0.3100000321865082, + -0.04714285954833031, + -0.12285713851451874, + 1.0 + ], + "delta_full_state_norm": [ + 0.6455694564810701, + 0.5517234012260901, + -0.6836005537004279, + 0.12945855045652666, + 0.6114788982464148, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 20 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 518 mm; move right 67 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 3 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 125 mm; move right 26 mm; move downward 0 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 131, + "segment_id": 40300, + "subtask": "press the stop button", + "reason": "The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 498 mm; move right 64 mm; move downward 0 mm; roll downward 17 degrees; pitch downward 2 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move forward 105 mm; move right 22 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.020000001415610313, + -0.004642857238650322, + 0.0, + -0.015714285895228386, + -0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.4982143044471741, + -0.06428571790456772, + 0.0, + -0.297142893075943, + -0.04285714402794838, + -0.16999998688697815, + 1.0 + ], + "delta_full_state_norm": [ + 0.6540082911342537, + 0.5517234012260901, + -0.6836005537004279, + 0.09324634606285898, + 0.6335539503163483, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 20 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 498 mm; move right 64 mm; move downward 0 mm; roll downward 17 degrees; pitch downward 2 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 105 mm; move right 22 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 132, + "segment_id": 40300, + "subtask": "press the stop button", + "reason": "The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 20 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 467 mm; move right 60 mm; move downward 0 mm; roll downward 16 degrees; pitch downward 2 degrees; yaw clockwise 11 degrees; open gripper;\nSubtask Movement: move forward 85 mm; move right 17 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.020357143133878708, + -0.004642857238650322, + 0.0, + -0.019999999552965164, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.4667856693267822, + -0.05999999865889549, + 0.0, + -0.28142860531806946, + -0.04000000283122063, + -0.19571426510810852, + 1.0 + ], + "delta_full_state_norm": [ + 0.6624470817755743, + 0.5517234012260901, + -0.6836005537004279, + 0.03892805127619159, + 0.6556290041851942, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 20 mm; move right 5 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 467 mm; move right 60 mm; move downward 0 mm; roll downward 16 degrees; pitch downward 2 degrees; yaw clockwise 11 degrees; open gripper;", + "subtask_movement_text": "move forward 85 mm; move right 17 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 133, + "segment_id": 40300, + "subtask": "press the stop button", + "reason": "The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 21 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 425 mm; move right 55 mm; move downward 0 mm; roll downward 15 degrees; pitch downward 2 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 65 mm; move right 13 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.021071428433060646, + -0.004285714589059353, + 0.0, + -0.019999999552965164, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.4249999523162842, + -0.05535713955760002, + 0.0, + -0.2614285945892334, + -0.03857142850756645, + -0.20571427047252655, + 1.0 + ], + "delta_full_state_norm": [ + 0.6793247070700783, + 0.5862061214949303, + -0.6836005537004279, + 0.03892805127619159, + 0.6777040580540401, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 21 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 425 mm; move right 55 mm; move downward 0 mm; roll downward 15 degrees; pitch downward 2 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 65 mm; move right 13 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 134, + "segment_id": 40300, + "subtask": "press the stop button", + "reason": "The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 21 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 375 mm; move right 51 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 2 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 44 mm; move right 8 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.021071428433060646, + -0.004285714589059353, + 0.0, + -0.019999999552965164, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3749999701976776, + -0.05107143148779869, + 0.0, + -0.24142856895923615, + -0.03857142850756645, + -0.20714284479618073, + 1.0 + ], + "delta_full_state_norm": [ + 0.6793247070700783, + 0.5862061214949303, + -0.6836005537004279, + 0.03892805127619159, + 0.6777040580540401, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 21 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 375 mm; move right 51 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 2 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 44 mm; move right 8 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 135, + "segment_id": 40300, + "subtask": "press the stop button", + "reason": "The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 22 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 321 mm; move right 47 mm; move downward 1 mm; roll downward 13 degrees; pitch downward 2 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 22 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 199, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.022499999031424522, + -0.0039285714738070965, + 0.0, + -0.019999999552965164, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3207143247127533, + -0.04678571596741676, + -0.0007142857066355646, + -0.22142855823040009, + -0.03857142850756645, + -0.20714284479618073, + 1.0 + ], + "delta_full_state_norm": [ + 0.7130799576590865, + 0.6206888867241469, + -0.6836005537004279, + 0.03892805127619159, + 0.6777040580540401, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 22 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 321 mm; move right 47 mm; move downward 1 mm; roll downward 13 degrees; pitch downward 2 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 22 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 136, + "segment_id": 40300, + "subtask": "press the stop button", + "reason": "The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's right arm is positioned with its gripper directly contacting the microwave interface, indicating the execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 24 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 258 mm; move right 43 mm; move downward 2 mm; roll downward 12 degrees; pitch downward 2 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 199, + 45 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.023571429774165154, + -0.0035714288242161274, + 0.0, + -0.019999999552965164, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2582142949104309, + -0.04285714775323868, + -0.0021428572945296764, + -0.2014285773038864, + -0.03857142850756645, + -0.20714284479618073, + 1.0 + ], + "delta_full_state_norm": [ + 0.7383964616186374, + 0.6551716069929872, + -0.6836005537004279, + 0.03892805127619159, + 0.6777040580540401, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 24 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 258 mm; move right 43 mm; move downward 2 mm; roll downward 12 degrees; pitch downward 2 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 137, + "segment_id": 300, + "subtask": "press the stop button", + "reason": "The robot's arm is extended with the end-effector positioned directly against the microwave panel, indicating active contact and execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is extended with the end-effector positioned directly against the microwave panel, indicating active contact and execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 25 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 190 mm; move right 39 mm; move downward 2 mm; roll downward 10 degrees; pitch downward 2 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 148 mm; move right 14 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 45 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.02500000037252903, + -0.0028571428265422583, + 0.0, + -0.018571428954601288, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.18964286148548126, + -0.03928571939468384, + -0.0021428572945296764, + -0.17714285850524902, + -0.03857142850756645, + -0.20714284479618073, + 1.0 + ], + "delta_full_state_norm": [ + 0.7721517122076456, + 0.7241371149712321, + -0.6836005537004279, + 0.057034141669191074, + 0.6777040580540401, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 25 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 190 mm; move right 39 mm; move downward 2 mm; roll downward 10 degrees; pitch downward 2 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 148 mm; move right 14 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 138, + "segment_id": 300, + "subtask": "press the stop button", + "reason": "The robot's arm is extended with the end-effector positioned directly against the microwave panel, indicating active contact and execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is extended with the end-effector positioned directly against the microwave panel, indicating active contact and execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 28 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 115 mm; move right 36 mm; move downward 2 mm; roll downward 8 degrees; pitch downward 2 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 123 mm; move right 11 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 45 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.027500001713633537, + -0.0032142859417945147, + 0.0, + -0.014285714365541935, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.11535715311765671, + -0.036428578197956085, + -0.0021428572945296764, + -0.1428571492433548, + -0.03857142850756645, + -0.20999999344348907, + 1.0 + ], + "delta_full_state_norm": [ + 0.8312234667562046, + 0.6896543497420156, + -0.6836005537004279, + 0.11135244825969282, + 0.6777040580540401, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 28 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 115 mm; move right 36 mm; move downward 2 mm; roll downward 8 degrees; pitch downward 2 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 123 mm; move right 11 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 139, + "segment_id": 300, + "subtask": "press the stop button", + "reason": "The robot's arm is extended with the end-effector positioned directly against the microwave panel, indicating active contact and execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is extended with the end-effector positioned directly against the microwave panel, indicating active contact and execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 29 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 38 mm; move right 33 mm; move downward 2 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 13 degrees; open gripper;\nSubtask Movement: move forward 95 mm; move right 8 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 44 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.029285714030265808, + -0.0032142859417945147, + 0.0, + -0.017142856493592262, + -0.0028571428265422583, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.037857163697481155, + -0.03321428969502449, + -0.0021428572945296764, + -0.09857143461704254, + -0.03857142850756645, + -0.22285713255405426, + 1.0 + ], + "delta_full_state_norm": [ + 0.8734175079865332, + 0.6896543497420156, + -0.6836005537004279, + 0.07514025566985927, + 0.6335539503163483, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move forward 29 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 38 mm; move right 33 mm; move downward 2 mm; roll downward 6 degrees; pitch downward 2 degrees; yaw clockwise 13 degrees; open gripper;", + "subtask_movement_text": "move forward 95 mm; move right 8 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 140, + "segment_id": 300, + "subtask": "press the stop button", + "reason": "The robot's arm is extended with the end-effector positioned directly against the microwave panel, indicating active contact and execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is extended with the end-effector positioned directly against the microwave panel, indicating active contact and execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 32 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 41 mm; move right 30 mm; move downward 5 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 14 degrees; open gripper;\nSubtask Movement: move forward 66 mm; move right 5 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 44 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.03214285895228386, + -0.002500000176951289, + 0.0, + -0.014285714365541935, + -0.004285714123398066, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + -0.04142855480313301, + -0.030000001192092896, + -0.004642857238650322, + -0.03428571671247482, + -0.025714287534356117, + -0.24285712838172913, + 1.0 + ], + "delta_full_state_norm": [ + 0.9409280971882761, + 0.7586198352400724, + -0.6836005537004279, + 0.11135244825969282, + 0.6114788982464148, + -0.4568204544604926, + 0.9999999900000001 + ], + "movement_text": "move forward 32 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 41 mm; move right 30 mm; move downward 5 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 14 degrees; open gripper;", + "subtask_movement_text": "move forward 66 mm; move right 5 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 141, + "segment_id": 300, + "subtask": "press the stop button", + "reason": "The robot's arm is extended with the end-effector positioned directly against the microwave panel, indicating active contact and execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is extended with the end-effector positioned directly against the microwave panel, indicating active contact and execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 34 mm; move right 2 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 124 mm; move right 28 mm; move downward 9 mm; roll upward 3 degrees; pitch upward 1 degrees; yaw clockwise 15 degrees; open gripper;\nSubtask Movement: move forward 34 mm; move right 2 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 44 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.03392856940627098, + -0.0021428572945296764, + 0.0, + -0.015714285895228386, + -0.004285714123398066, + -0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + -0.12357141822576523, + -0.027500003576278687, + -0.009285714477300644, + 0.05000000447034836, + 0.017142856493592262, + -0.2685714364051819, + 1.0 + ], + "delta_full_state_norm": [ + 0.9831220944067414, + 0.7931025779891008, + -0.6836005537004279, + 0.09324634606285898, + 0.6114788982464148, + -0.5058881584570503, + 0.9999999900000001 + ], + "movement_text": "move forward 34 mm; move right 2 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 124 mm; move right 28 mm; move downward 9 mm; roll upward 3 degrees; pitch upward 1 degrees; yaw clockwise 15 degrees; open gripper;", + "subtask_movement_text": "move forward 34 mm; move right 2 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 142, + "segment_id": 300, + "subtask": "press the stop button", + "reason": "The robot's arm is extended with the end-effector positioned directly against the microwave panel, indicating active contact and execution of the pressing action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's arm is extended with the end-effector positioned directly against the microwave panel, indicating active contact and execution of the pressing action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 35 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 208 mm; move right 25 mm; move downward 15 mm; roll upward 8 degrees; pitch upward 4 degrees; yaw clockwise 17 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 43 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.03464285656809807, + -0.002500000176951289, + 0.0, + -0.015714285895228386, + -0.004285714123398066, + -0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + -0.20750002562999725, + -0.025357145816087723, + -0.015000000596046448, + 0.14571428298950195, + 0.0714285746216774, + -0.29571428894996643, + 1.0 + ], + "delta_full_state_norm": [ + 0.9999997637131086, + 0.7586198352400724, + -0.6836005537004279, + 0.09324634606285898, + 0.6114788982464148, + -0.5304220144538923, + 0.9999999900000001 + ], + "movement_text": "move forward 35 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 208 mm; move right 25 mm; move downward 15 mm; roll upward 8 degrees; pitch upward 4 degrees; yaw clockwise 17 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 143, + "segment_id": 443, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving away from the microwave, indicating the completion of the interaction phase.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving away from the microwave, indicating the completion of the interaction phase.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 35 mm; move right 2 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 291 mm; move right 23 mm; move downward 22 mm; roll upward 15 degrees; pitch upward 7 degrees; yaw clockwise 19 degrees; open gripper;\nSubtask Movement: move forward 187 mm; move right 23 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 43 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.03464285656809807, + -0.0017857144121080637, + 0.0, + -0.017142856493592262, + -0.004285714123398066, + -0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + -0.2914285659790039, + -0.022857146337628365, + -0.022142857313156128, + 0.25857144594192505, + 0.12999999523162842, + -0.32428571581840515, + 1.0 + ], + "delta_full_state_norm": [ + 0.9999997637131086, + 0.8275853207381292, + -0.6836005537004279, + 0.07514025566985927, + 0.6114788982464148, + -0.5304220144538923, + 0.9999999900000001 + ], + "movement_text": "move forward 35 mm; move right 2 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 291 mm; move right 23 mm; move downward 22 mm; roll upward 15 degrees; pitch upward 7 degrees; yaw clockwise 19 degrees; open gripper;", + "subtask_movement_text": "move forward 187 mm; move right 23 mm; move downward 0 mm; roll downward 5 degrees; pitch downward 1 degrees; yaw clockwise 8 degrees; open gripper;" + }, + { + "frame_index": 144, + "segment_id": 443, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving away from the microwave, indicating the completion of the interaction phase.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving away from the microwave, indicating the completion of the interaction phase.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 35 mm; move right 2 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 326 mm; move right 21 mm; move downward 22 mm; roll upward 16 degrees; pitch upward 8 degrees; yaw clockwise 18 degrees; open gripper;\nSubtask Movement: move forward 153 mm; move right 21 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 42 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.03464285656809807, + -0.0017857144121080637, + 0.0, + -0.018571428954601288, + -0.0057142856530845165, + -0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + -0.32607144117355347, + -0.021071432158350945, + -0.022142857313156128, + 0.27571427822113037, + 0.13428571820259094, + -0.3142857253551483, + 1.0 + ], + "delta_full_state_norm": [ + 0.9999997637131086, + 0.8275853207381292, + -0.6836005537004279, + 0.057034141669191074, + 0.5894038425786567, + -0.5058881584570503, + 0.9999999900000001 + ], + "movement_text": "move forward 35 mm; move right 2 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 326 mm; move right 21 mm; move downward 22 mm; roll upward 16 degrees; pitch upward 8 degrees; yaw clockwise 18 degrees; open gripper;", + "subtask_movement_text": "move forward 153 mm; move right 21 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 1 degrees; yaw clockwise 8 degrees; open gripper;" + }, + { + "frame_index": 145, + "segment_id": 443, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving away from the microwave, indicating the completion of the interaction phase.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving away from the microwave, indicating the completion of the interaction phase.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 35 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 361 mm; move right 19 mm; move downward 22 mm; roll upward 17 degrees; pitch upward 8 degrees; yaw clockwise 18 degrees; open gripper;\nSubtask Movement: move forward 118 mm; move right 19 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 42 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.03500000014901161, + -0.0032142859417945147, + 0.0, + -0.019999999552965164, + -0.004285714123398066, + -0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + -0.36071428656578064, + -0.019285716116428375, + -0.022142857313156128, + 0.29428571462631226, + 0.13999998569488525, + -0.30571427941322327, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + 0.6896543497420156, + -0.6836005537004279, + 0.03892805127619159, + 0.6114788982464148, + -0.5058881584570503, + 0.9999999900000001 + ], + "movement_text": "move forward 35 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 361 mm; move right 19 mm; move downward 22 mm; roll upward 17 degrees; pitch upward 8 degrees; yaw clockwise 18 degrees; open gripper;", + "subtask_movement_text": "move forward 118 mm; move right 19 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 1 degrees; yaw clockwise 7 degrees; open gripper;" + }, + { + "frame_index": 146, + "segment_id": 443, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving away from the microwave, indicating the completion of the interaction phase.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving away from the microwave, indicating the completion of the interaction phase.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 34 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 396 mm; move right 16 mm; move downward 22 mm; roll upward 18 degrees; pitch upward 8 degrees; yaw clockwise 17 degrees; open gripper;\nSubtask Movement: move forward 83 mm; move right 16 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 41 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.033571429550647736, + -0.0032142859417945147, + 0.0, + -0.015714285895228386, + -0.004285714123398066, + -0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + -0.39571431279182434, + -0.01607142947614193, + -0.022142857313156128, + 0.3142856955528259, + 0.14428570866584778, + -0.2971428632736206, + 1.0 + ], + "delta_full_state_norm": [ + 0.9746833477772843, + 0.6896543497420156, + -0.6836005537004279, + 0.09324634606285898, + 0.6114788982464148, + -0.48135431045733457, + 0.9999999900000001 + ], + "movement_text": "move forward 34 mm; move right 3 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 396 mm; move right 16 mm; move downward 22 mm; roll upward 18 degrees; pitch upward 8 degrees; yaw clockwise 17 degrees; open gripper;", + "subtask_movement_text": "move forward 83 mm; move right 16 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; open gripper;" + }, + { + "frame_index": 147, + "segment_id": 443, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving away from the microwave, indicating the completion of the interaction phase.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving away from the microwave, indicating the completion of the interaction phase.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 29 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 429 mm; move right 13 mm; move downward 22 mm; roll upward 19 degrees; pitch upward 9 degrees; yaw clockwise 17 degrees; open gripper;\nSubtask Movement: move forward 49 mm; move right 13 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 41 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.028928572311997414, + -0.0039285714738070965, + 0.0, + -0.014285714365541935, + -0.004285714123398066, + -0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + -0.4292856752872467, + -0.012857143767178059, + -0.022142857313156128, + 0.32999998331069946, + 0.1485714316368103, + -0.28999999165534973, + 1.0 + ], + "delta_full_state_norm": [ + 0.8649787173452128, + 0.6206888867241469, + -0.6836005537004279, + 0.11135244825969282, + 0.6114788982464148, + -0.48135431045733457, + 0.9999999900000001 + ], + "movement_text": "move forward 29 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 429 mm; move right 13 mm; move downward 22 mm; roll upward 19 degrees; pitch upward 9 degrees; yaw clockwise 17 degrees; open gripper;", + "subtask_movement_text": "move forward 49 mm; move right 13 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 148, + "segment_id": 443, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving away from the microwave, indicating the completion of the interaction phase.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving away from the microwave, indicating the completion of the interaction phase.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 458 mm; move right 9 mm; move downward 22 mm; roll upward 20 degrees; pitch upward 9 degrees; yaw clockwise 16 degrees; open gripper;\nSubtask Movement: move forward 20 mm; move right 9 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 41 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018571428954601288, + -0.0039285714738070965, + 0.0, + 0.0, + 0.0, + -0.017142856493592262, + 1.0 + ], + "delta_next_20": [ + -0.45821428298950195, + -0.008928571827709675, + -0.022142857313156128, + 0.3442857265472412, + 0.15285715460777283, + -0.28285714983940125, + 1.0 + ], + "delta_full_state_norm": [ + 0.6202529965333825, + 0.6206888867241469, + -0.6836005537004279, + 0.2924134584241975, + 0.6777040580540401, + -0.6530912784438496, + 0.9999999900000001 + ], + "movement_text": "move forward 19 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 458 mm; move right 9 mm; move downward 22 mm; roll upward 20 degrees; pitch upward 9 degrees; yaw clockwise 16 degrees; open gripper;", + "subtask_movement_text": "move forward 20 mm; move right 9 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 149, + "segment_id": 443, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving away from the microwave, indicating the completion of the interaction phase.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving away from the microwave, indicating the completion of the interaction phase.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 477 mm; move right 5 mm; move downward 22 mm; roll upward 20 degrees; pitch upward 9 degrees; yaw clockwise 15 degrees; open gripper;\nSubtask Movement: move forward 2 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 41 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0017857144121080637, + -0.002500000176951289, + 0.0, + 0.0, + 0.0, + -0.03999999910593033, + 1.0 + ], + "delta_next_20": [ + -0.47678571939468384, + -0.005000000353902578, + -0.022142857313156128, + 0.3442857265472412, + 0.15285715460777283, + -0.26571428775787354, + 1.0 + ], + "delta_full_state_norm": [ + 0.22362856554877175, + 0.7586198352400724, + -0.6836005537004279, + 0.2924134584241975, + 0.6777040580540401, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move forward 2 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 477 mm; move right 5 mm; move downward 22 mm; roll upward 20 degrees; pitch upward 9 degrees; yaw clockwise 15 degrees; open gripper;", + "subtask_movement_text": "move forward 2 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 150, + "segment_id": 443, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving away from the microwave, indicating the completion of the interaction phase.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving away from the microwave, indicating the completion of the interaction phase.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 479 mm; move right 3 mm; move downward 22 mm; roll upward 20 degrees; pitch upward 9 degrees; yaw clockwise 13 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 41 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0021428572945296764, + 0.0, + 0.0, + 0.0, + -0.04714285582304001, + 1.0 + ], + "delta_next_20": [ + -0.47857141494750977, + -0.002500000176951289, + -0.022142857313156128, + 0.3442857265472412, + 0.15285715460777283, + -0.2257142812013626, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + 0.7931025779891008, + -0.6836005537004279, + 0.2924134584241975, + 0.6777040580540401, + -1.0, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 479 mm; move right 3 mm; move downward 22 mm; roll upward 20 degrees; pitch upward 9 degrees; yaw clockwise 13 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 151, + "segment_id": 443, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving away from the microwave, indicating the completion of the interaction phase.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving away from the microwave, indicating the completion of the interaction phase.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 479 mm; move right 0 mm; move downward 22 mm; roll upward 20 degrees; pitch upward 9 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 41 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011428571306169033, + -0.0003571428533177823, + 0.0, + 0.0, + 0.0, + -0.025714285671710968, + 1.0 + ], + "delta_next_20": [ + -0.47857141494750977, + -0.0003571428533177823, + -0.022142857313156128, + 0.3442857265472412, + 0.15285715460777283, + -0.1785714328289032, + 1.0 + ], + "delta_full_state_norm": [ + -0.0886076839484895, + 0.9655162945442664, + -0.6836005537004279, + 0.2924134584241975, + 0.6777040580540401, + -0.8002944144249016, + 0.9999999900000001 + ], + "movement_text": "move backward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 479 mm; move right 0 mm; move downward 22 mm; roll upward 20 degrees; pitch upward 9 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 152, + "segment_id": 452, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned in front of the stove and appears to be retracted or moving away from the microwave located above it, consistent with a departure motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned in front of the stove and appears to be retracted or moving away from the microwave located above it, consistent with a departure motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 467 mm; move right 0 mm; move downward 22 mm; roll upward 20 degrees; pitch upward 9 degrees; yaw clockwise 9 degrees; open gripper;\nSubtask Movement: move backward 418 mm; move right 0 mm; move downward 15 mm; roll upward 14 degrees; pitch upward 6 degrees; yaw clockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 41 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02142857201397419, + 0.0, + 0.0, + 0.0, + 0.0, + -0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + -0.46714287996292114, + 0.0, + -0.022142857313156128, + 0.3442857265472412, + 0.15285715460777283, + -0.15285713970661163, + 1.0 + ], + "delta_full_state_norm": [ + -0.3248945921130678, + 0.9999990344832712, + -0.6836005537004279, + 0.2924134584241975, + 0.6777040580540401, + -0.5304220144538923, + 0.9999999900000001 + ], + "movement_text": "move backward 21 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 467 mm; move right 0 mm; move downward 22 mm; roll upward 20 degrees; pitch upward 9 degrees; yaw clockwise 9 degrees; open gripper;", + "subtask_movement_text": "move backward 418 mm; move right 0 mm; move downward 15 mm; roll upward 14 degrees; pitch upward 6 degrees; yaw clockwise 7 degrees; open gripper;" + }, + { + "frame_index": 153, + "segment_id": 452, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned in front of the stove and appears to be retracted or moving away from the microwave located above it, consistent with a departure motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned in front of the stove and appears to be retracted or moving away from the microwave located above it, consistent with a departure motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 29 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 446 mm; move right 0 mm; move downward 22 mm; roll upward 20 degrees; pitch upward 9 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move backward 396 mm; move right 0 mm; move downward 15 mm; roll upward 14 degrees; pitch upward 6 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 199, + 41 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.028928572311997414, + 0.0, + 0.0, + 0.0, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + -0.4457142949104309, + 0.0, + -0.022142857313156128, + 0.3442857265472412, + 0.15285715460777283, + -0.1428571492433548, + 1.0 + ], + "delta_full_state_norm": [ + -0.5021097677350188, + 0.9999990344832712, + -0.6836005537004279, + 0.2924134584241975, + 0.6777040580540401, + -0.3832188924678114, + 0.9999999900000001 + ], + "movement_text": "move backward 29 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 446 mm; move right 0 mm; move downward 22 mm; roll upward 20 degrees; pitch upward 9 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move backward 396 mm; move right 0 mm; move downward 15 mm; roll upward 14 degrees; pitch upward 6 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 154, + "segment_id": 452, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned in front of the stove and appears to be retracted or moving away from the microwave located above it, consistent with a departure motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned in front of the stove and appears to be retracted or moving away from the microwave located above it, consistent with a departure motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 33 mm; move right 0 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 417 mm; move right 0 mm; move downward 22 mm; roll upward 20 degrees; pitch upward 9 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move backward 368 mm; move right 0 mm; move downward 15 mm; roll upward 14 degrees; pitch upward 6 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 199, + 41 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03321428596973419, + 0.0, + -0.0007142857066355646, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.41678571701049805, + 0.0, + -0.022142857313156128, + 0.3442857265472412, + 0.15285715460777283, + -0.14142857491970062, + 1.0 + ], + "delta_full_state_norm": [ + -0.6033755635139064, + 0.9999990344832712, + -0.7517900858043742, + 0.2924134584241975, + 0.6777040580540401, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move backward 33 mm; move right 0 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 417 mm; move right 0 mm; move downward 22 mm; roll upward 20 degrees; pitch upward 9 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move backward 368 mm; move right 0 mm; move downward 15 mm; roll upward 14 degrees; pitch upward 6 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 155, + "segment_id": 452, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned in front of the stove and appears to be retracted or moving away from the microwave located above it, consistent with a departure motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned in front of the stove and appears to be retracted or moving away from the microwave located above it, consistent with a departure motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 40 mm; move right 0 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 384 mm; move right 0 mm; move downward 21 mm; roll upward 20 degrees; pitch upward 9 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move backward 334 mm; move right 0 mm; move downward 14 mm; roll upward 14 degrees; pitch upward 6 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 42 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.04000000283122063, + 0.0, + -0.0014285714132711291, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.38357144594192505, + 0.0, + -0.02142857387661934, + 0.3442857265472412, + 0.15285715460777283, + -0.14142857491970062, + 1.0 + ], + "delta_full_state_norm": [ + -0.7637131578532165, + 0.9999990344832712, + -0.8199796179083205, + 0.2924134584241975, + 0.6777040580540401, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move backward 40 mm; move right 0 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 384 mm; move right 0 mm; move downward 21 mm; roll upward 20 degrees; pitch upward 9 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move backward 334 mm; move right 0 mm; move downward 14 mm; roll upward 14 degrees; pitch upward 6 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 156, + "segment_id": 452, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned in front of the stove and appears to be retracted or moving away from the microwave located above it, consistent with a departure motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned in front of the stove and appears to be retracted or moving away from the microwave located above it, consistent with a departure motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 45 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 344 mm; move right 0 mm; move downward 20 mm; roll upward 20 degrees; pitch upward 9 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move backward 294 mm; move right 0 mm; move downward 13 mm; roll upward 14 degrees; pitch upward 6 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 42 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.044999998062849045, + 0.0, + 0.0, + 0.004285714123398066, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3435714542865753, + 0.0, + -0.020000001415610313, + 0.3442857265472412, + 0.15285715460777283, + -0.14142857491970062, + 1.0 + ], + "delta_full_state_norm": [ + -0.8818564909028818, + 0.9999990344832712, + -0.6836005537004279, + 0.3467317591127821, + 0.6777040580540401, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move backward 45 mm; move right 0 mm; move downward 0 mm; roll upward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 344 mm; move right 0 mm; move downward 20 mm; roll upward 20 degrees; pitch upward 9 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move backward 294 mm; move right 0 mm; move downward 13 mm; roll upward 14 degrees; pitch upward 6 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 157, + "segment_id": 452, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned in front of the stove and appears to be retracted or moving away from the microwave located above it, consistent with a departure motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned in front of the stove and appears to be retracted or moving away from the microwave located above it, consistent with a departure motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 49 mm; move right 0 mm; move downward 0 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 299 mm; move right 0 mm; move downward 20 mm; roll upward 19 degrees; pitch upward 9 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move backward 249 mm; move right 0 mm; move downward 13 mm; roll upward 14 degrees; pitch upward 6 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 43 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.04928571358323097, + 0.0, + 0.0, + 0.015714285895228386, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + -0.2985714375972748, + 0.0, + -0.020000001415610313, + 0.3400000035762787, + 0.15285715460777283, + -0.14142857491970062, + 1.0 + ], + "delta_full_state_norm": [ + -0.9831223306936328, + 0.9999990344832712, + -0.6836005537004279, + 0.4915805707855361, + 0.6777040580540401, + -0.40775274646537174, + 0.9999999900000001 + ], + "movement_text": "move backward 49 mm; move right 0 mm; move downward 0 mm; roll upward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 299 mm; move right 0 mm; move downward 20 mm; roll upward 19 degrees; pitch upward 9 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move backward 249 mm; move right 0 mm; move downward 13 mm; roll upward 14 degrees; pitch upward 6 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 158, + "segment_id": 452, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned in front of the stove and appears to be retracted or moving away from the microwave located above it, consistent with a departure motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned in front of the stove and appears to be retracted or moving away from the microwave located above it, consistent with a departure motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 50 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 249 mm; move right 0 mm; move downward 20 mm; roll upward 19 degrees; pitch upward 9 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move backward 200 mm; move right 0 mm; move downward 13 mm; roll upward 13 degrees; pitch upward 6 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 44 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.05000000074505806, + 0.0, + 0.0, + 0.029999999329447746, + 0.0, + -0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + -0.2492857277393341, + 0.0, + -0.020000001415610313, + 0.32428571581840515, + 0.15285715460777283, + -0.13857142627239227, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.9999990344832712, + -0.6836005537004279, + 0.6726415691462067, + 0.6777040580540401, + -0.5794897264475762, + 0.9999999900000001 + ], + "movement_text": "move backward 50 mm; move right 0 mm; move downward 0 mm; roll upward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 249 mm; move right 0 mm; move downward 20 mm; roll upward 19 degrees; pitch upward 9 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move backward 200 mm; move right 0 mm; move downward 13 mm; roll upward 13 degrees; pitch upward 6 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 159, + "segment_id": 452, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned in front of the stove and appears to be retracted or moving away from the microwave located above it, consistent with a departure motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned in front of the stove and appears to be retracted or moving away from the microwave located above it, consistent with a departure motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 50 mm; move right 0 mm; move downward 3 mm; roll upward 3 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 199 mm; move right 0 mm; move downward 20 mm; roll upward 17 degrees; pitch upward 9 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move backward 150 mm; move right 0 mm; move downward 13 mm; roll upward 11 degrees; pitch upward 6 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 44 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.05000000074505806, + 0.0, + -0.002500000176951289, + 0.04714285582304001, + 0.009999999776482582, + -0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + -0.19928571581840515, + 0.0, + -0.020000001415610313, + 0.29428571462631226, + 0.15285715460777283, + -0.1257142871618271, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.9999990344832712, + -0.9222639355130907, + 0.8899147719005447, + 0.8322294333370486, + -0.7021589904375336, + 0.9999999900000001 + ], + "movement_text": "move backward 50 mm; move right 0 mm; move downward 3 mm; roll upward 3 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 199 mm; move right 0 mm; move downward 20 mm; roll upward 17 degrees; pitch upward 9 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move backward 150 mm; move right 0 mm; move downward 13 mm; roll upward 11 degrees; pitch upward 6 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 160, + "segment_id": 452, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned in front of the stove and appears to be retracted or moving away from the microwave located above it, consistent with a departure motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned in front of the stove and appears to be retracted or moving away from the microwave located above it, consistent with a departure motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 50 mm; move right 0 mm; move downward 5 mm; roll upward 4 degrees; pitch upward 2 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 149 mm; move right 0 mm; move downward 18 mm; roll upward 14 degrees; pitch upward 8 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move backward 100 mm; move right 0 mm; move downward 10 mm; roll upward 9 degrees; pitch upward 5 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 45 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.05000000074505806, + 0.0, + -0.004642857238650322, + 0.07000000029802322, + 0.03857142850756645, + -0.03142857179045677, + 1.0 + ], + "delta_next_20": [ + -0.1492857187986374, + 0.0, + -0.017500001937150955, + 0.24714286625385284, + 0.1428571343421936, + -0.10571429133415222, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.9999990344832712, + -1.0, + 1.0, + 1.0, + -0.8984298384122695, + 0.9999999900000001 + ], + "movement_text": "move backward 50 mm; move right 0 mm; move downward 5 mm; roll upward 4 degrees; pitch upward 2 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 149 mm; move right 0 mm; move downward 18 mm; roll upward 14 degrees; pitch upward 8 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move backward 100 mm; move right 0 mm; move downward 10 mm; roll upward 9 degrees; pitch upward 5 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 161, + "segment_id": 452, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned in front of the stove and appears to be retracted or moving away from the microwave located above it, consistent with a departure motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned in front of the stove and appears to be retracted or moving away from the microwave located above it, consistent with a departure motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 50 mm; move right 0 mm; move downward 6 mm; roll upward 5 degrees; pitch upward 3 degrees; yaw clockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 99 mm; move right 0 mm; move downward 13 mm; roll upward 10 degrees; pitch upward 6 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move backward 50 mm; move right 0 mm; move downward 6 mm; roll upward 5 degrees; pitch upward 3 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.05000000074505806, + 0.0, + -0.0057142856530845165, + 0.07999999821186066, + 0.05000000074505806, + -0.0357142873108387, + 1.0 + ], + "delta_next_20": [ + -0.09928571432828903, + 0.0, + -0.012857143767178059, + 0.17714285850524902, + 0.10428571701049805, + -0.07428571581840515, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.9999990344832712, + -1.0, + 1.0, + 1.0, + -0.9720314223970481, + 0.9999999900000001 + ], + "movement_text": "move backward 50 mm; move right 0 mm; move downward 6 mm; roll upward 5 degrees; pitch upward 3 degrees; yaw clockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 99 mm; move right 0 mm; move downward 13 mm; roll upward 10 degrees; pitch upward 6 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 50 mm; move right 0 mm; move downward 6 mm; roll upward 5 degrees; pitch upward 3 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 162, + "segment_id": 452, + "subtask": "move away from the microwave", + "reason": "The robot arm is positioned in front of the stove and appears to be retracted or moving away from the microwave located above it, consistent with a departure motion.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. reach for the stop button\n3. press the stop button\n4. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot arm is positioned in front of the stove and appears to be retracted or moving away from the microwave located above it, consistent with a departure motion.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 49 mm; move right 0 mm; move downward 7 mm; roll upward 6 degrees; pitch upward 3 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.04928571358323097, + 0.0, + -0.007142857648432255, + 0.09714286029338837, + 0.05428571254014969, + -0.03857142850756645, + 1.0 + ], + "delta_full_state_norm": [ + 0.1814344748050971, + 0.9999990344832712, + -0.6836005537004279, + 0.2924134584241975, + 0.6777040580540401, + -0.358685038470251, + 0.9999999900000001 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 49 mm; move right 0 mm; move downward 7 mm; roll upward 6 degrees; pitch upward 3 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + } + ], + "all_object_names": [ + "obj_container", + "obj" + ], + "obj_cat": "obj_container", + "distr_cats": [ + "obj" + ], + "grounding_camera": "robot0_agentview_left", + "grounding_method": "self_render_selfconsistent" +} \ No newline at end of file diff --git a/grounding_cot/TurnOffMicrowave/extras/episode_000046/cot_annotations.json b/grounding_cot/TurnOffMicrowave/extras/episode_000046/cot_annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..9bba30890d49c74519a1c46544c3a9e51594fe1e --- /dev/null +++ b/grounding_cot/TurnOffMicrowave/extras/episode_000046/cot_annotations.json @@ -0,0 +1,10886 @@ +{ + "sample_key": "TurnOffMicrowave|46", + "subtask_list": [ + "approach the microwave", + "reach for the stop button", + "press the stop button", + "move away from the microwave" + ], + "segment_labels_raw": { + "1": [ + "reach for the stop button", + "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact." + ], + "2": [ + "press the stop button", + "The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action." + ], + "3": [ + "approach the microwave", + "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object." + ], + "4": [ + "press the stop button", + "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, indicating the execution of a press action." + ], + "5": [ + "move away from the microwave", + "The robot's arm is retracted and moving away from the stove area, leaving the workspace clear after the previous interaction." + ], + "6": [ + "move away from the microwave", + "The robot's arm is retracted and moving away from the stove/microwave area, indicating a retreat action after completing an interaction." + ] + }, + "instruction": "press the stop button on the microwave", + "suite": "TurnOffMicrowave", + "num_frames": 225, + "segment_count": 6, + "movement_statistics": { + "mean": [ + 0.0017650794413768584, + -0.003431746157584712, + 0.002714285779511556, + -0.021879364882285396, + -0.027974603378420903, + 0.0017777778166863654, + 1.0 + ], + "std": [ + 0.014230852180206482, + 0.008876821087166295, + 0.006611849648572611, + 0.03901096928595851, + 0.05254318888145637, + 0.016876114088350973, + 0.0 + ], + "Q1": [ + -0.041257144510746004, + -0.020985714420676232, + -0.015900000780820846, + -0.12428571283817291, + -0.1353714346885681, + -0.022857142612338066, + 1.0 + ], + "Q99": [ + 0.018928570672869682, + 0.030457143113017074, + 0.018214285373687744, + 0.07005714505910868, + 0.04822857230901717, + 0.06217142879962918, + 1.0 + ] + }, + "frames": [ + { + "frame_index": 0, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 180 mm; move right 0 mm; move upward 276 mm; roll downward 11 degrees; pitch downward 62 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move backward 285 mm; move right 9 mm; move upward 474 mm; roll downward 9 degrees; pitch downward 172 degrees; yaw counterclockwise 51 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 103 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0007142857066355646, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.17964284121990204, + 0.0, + 0.2760714888572693, + -0.1899999976158142, + -1.0800000429153442, + 0.05285714194178581, + 1.0 + ], + "delta_full_state_norm": [ + 0.37099434740972104, + -0.18411568301742465, + -0.025963401841392342, + 0.27903549209599143, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 180 mm; move right 0 mm; move upward 276 mm; roll downward 11 degrees; pitch downward 62 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move backward 285 mm; move right 9 mm; move upward 474 mm; roll downward 9 degrees; pitch downward 172 degrees; yaw counterclockwise 51 degrees; open gripper;" + }, + { + "frame_index": 1, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 192 mm; move right 2 mm; move upward 286 mm; roll downward 8 degrees; pitch downward 67 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move backward 285 mm; move right 9 mm; move upward 474 mm; roll downward 9 degrees; pitch downward 172 degrees; yaw counterclockwise 51 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 103 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.002500000176951289, + 0.0, + -0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.19214284420013428, + -0.0017857144121080637, + 0.2864286005496979, + -0.13857142627239227, + -1.1657143831253052, + 0.06714285910129547, + 1.0 + ], + "delta_full_state_norm": [ + 0.37099434740972104, + -0.18411568301742465, + 0.07872669419505907, + 0.27903549209599143, + 0.4590724496181131, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move upward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 192 mm; move right 2 mm; move upward 286 mm; roll downward 8 degrees; pitch downward 67 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 285 mm; move right 9 mm; move upward 474 mm; roll downward 9 degrees; pitch downward 172 degrees; yaw counterclockwise 51 degrees; open gripper;" + }, + { + "frame_index": 2, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 203 mm; move right 7 mm; move upward 293 mm; roll downward 4 degrees; pitch downward 72 degrees; yaw counterclockwise 5 degrees; open gripper;\nSubtask Movement: move backward 285 mm; move right 9 mm; move upward 471 mm; roll downward 9 degrees; pitch downward 172 degrees; yaw counterclockwise 51 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 103 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.002500000176951289, + 0.0, + 0.0057142856530845165, + -0.0057142856530845165, + -0.009999999776482582, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.20321427285671234, + -0.006785714533179998, + 0.29250001907348633, + -0.06428571045398712, + -1.2528573274612427, + 0.08142857253551483, + 1.0 + ], + "delta_full_state_norm": [ + 0.2879181638354851, + -0.18411568301742465, + 0.2671688336180893, + 0.22022926251925434, + 0.3657017789245023, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 3 mm; move right 0 mm; move upward 6 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 203 mm; move right 7 mm; move upward 293 mm; roll downward 4 degrees; pitch downward 72 degrees; yaw counterclockwise 5 degrees; open gripper;", + "subtask_movement_text": "move backward 285 mm; move right 9 mm; move upward 471 mm; roll downward 9 degrees; pitch downward 172 degrees; yaw counterclockwise 51 degrees; open gripper;" + }, + { + "frame_index": 3, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 0 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 210 mm; move right 9 mm; move upward 293 mm; roll upward 1 degrees; pitch downward 76 degrees; yaw counterclockwise 6 degrees; open gripper;\nSubtask Movement: move backward 282 mm; move right 9 mm; move upward 465 mm; roll downward 8 degrees; pitch downward 171 degrees; yaw counterclockwise 51 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 103 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.004642857238650322, + 0.0, + 0.009285714477300644, + -0.014285714365541935, + -0.019999999552965164, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.20999999344348907, + -0.008571429178118706, + 0.2925000488758087, + 0.012857161462306976, + -1.3271430730819702, + 0.1014285683631897, + 1.0 + ], + "delta_full_state_norm": [ + 0.2167100142232119, + -0.18411568301742465, + 0.47654901886597534, + 0.13201991575806749, + 0.2567693295705993, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 5 mm; move right 0 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 210 mm; move right 9 mm; move upward 293 mm; roll upward 1 degrees; pitch downward 76 degrees; yaw counterclockwise 6 degrees; open gripper;", + "subtask_movement_text": "move backward 282 mm; move right 9 mm; move upward 465 mm; roll downward 8 degrees; pitch downward 171 degrees; yaw counterclockwise 51 degrees; open gripper;" + }, + { + "frame_index": 4, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 0 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 215 mm; move right 9 mm; move upward 291 mm; roll upward 5 degrees; pitch downward 80 degrees; yaw counterclockwise 7 degrees; open gripper;\nSubtask Movement: move backward 278 mm; move right 9 mm; move upward 456 mm; roll downward 8 degrees; pitch downward 170 degrees; yaw counterclockwise 51 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 153, + 103 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0053571430034935474, + 0.0, + 0.009285714477300644, + -0.019999999552965164, + -0.02428571507334709, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.21464286744594574, + -0.008571429178118706, + 0.29107144474983215, + 0.0828571617603302, + -1.3900001049041748, + 0.12714284658432007, + 1.0 + ], + "delta_full_state_norm": [ + 0.19297396177343007, + -0.18411568301742465, + 0.47654901886597534, + 0.07321369097349284, + 0.21008397964017655, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 5 mm; move right 0 mm; move upward 9 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 215 mm; move right 9 mm; move upward 291 mm; roll upward 5 degrees; pitch downward 80 degrees; yaw counterclockwise 7 degrees; open gripper;", + "subtask_movement_text": "move backward 278 mm; move right 9 mm; move upward 456 mm; roll downward 8 degrees; pitch downward 170 degrees; yaw counterclockwise 51 degrees; open gripper;" + }, + { + "frame_index": 5, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 0 mm; move upward 12 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 218 mm; move right 9 mm; move upward 291 mm; roll upward 8 degrees; pitch downward 83 degrees; yaw counterclockwise 9 degrees; open gripper;\nSubtask Movement: move backward 273 mm; move right 9 mm; move upward 447 mm; roll downward 6 degrees; pitch downward 169 degrees; yaw counterclockwise 51 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006785714533179998, + 0.0, + 0.011785714887082577, + -0.02857142873108387, + -0.03142857179045677, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2182142734527588, + -0.008571429178118706, + 0.2907143235206604, + 0.13428573310375214, + -1.4542858600616455, + 0.15857142210006714, + 1.0 + ], + "delta_full_state_norm": [ + 0.14550185687386663, + -0.18411568301742465, + 0.623115162189529, + -0.014995660579856351, + 0.13227509014313865, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 7 mm; move right 0 mm; move upward 12 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 218 mm; move right 9 mm; move upward 291 mm; roll upward 8 degrees; pitch downward 83 degrees; yaw counterclockwise 9 degrees; open gripper;", + "subtask_movement_text": "move backward 273 mm; move right 9 mm; move upward 447 mm; roll downward 6 degrees; pitch downward 169 degrees; yaw counterclockwise 51 degrees; open gripper;" + }, + { + "frame_index": 6, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 0 mm; move upward 14 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 220 mm; move right 9 mm; move upward 289 mm; roll upward 10 degrees; pitch downward 87 degrees; yaw counterclockwise 11 degrees; open gripper;\nSubtask Movement: move backward 266 mm; move right 9 mm; move upward 435 mm; roll downward 5 degrees; pitch downward 167 degrees; yaw counterclockwise 51 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 102 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007857142947614193, + 0.0, + 0.013571429066359997, + -0.029999999329447746, + -0.03999999910593033, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.21964286267757416, + -0.008571429178118706, + 0.28857144713401794, + 0.16857144236564636, + -1.5114285945892334, + 0.19571428000926971, + 1.0 + ], + "delta_full_state_norm": [ + 0.10989778593626598, + -0.18411568301742465, + 0.7278052411634386, + -0.029697209587756568, + 0.03890443086279349, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 8 mm; move right 0 mm; move upward 14 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 220 mm; move right 9 mm; move upward 289 mm; roll upward 10 degrees; pitch downward 87 degrees; yaw counterclockwise 11 degrees; open gripper;", + "subtask_movement_text": "move backward 266 mm; move right 9 mm; move upward 435 mm; roll downward 5 degrees; pitch downward 167 degrees; yaw counterclockwise 51 degrees; open gripper;" + }, + { + "frame_index": 7, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 0 mm; move upward 15 mm; roll downward 2 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 220 mm; move right 9 mm; move upward 286 mm; roll upward 11 degrees; pitch downward 89 degrees; yaw counterclockwise 14 degrees; open gripper;\nSubtask Movement: move backward 258 mm; move right 9 mm; move upward 421 mm; roll downward 3 degrees; pitch downward 165 degrees; yaw counterclockwise 51 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008571429178118706, + 0.0, + 0.015000000596046448, + -0.027142856270074844, + -0.05000000074505806, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.21964283287525177, + -0.008571429178118706, + 0.28607141971588135, + 0.19857144355773926, + -1.558571457862854, + 0.23714284598827362, + 1.0 + ], + "delta_full_state_norm": [ + 0.0861617180123404, + -0.18411568301742465, + 0.8115573152625928, + -0.0002940924033068004, + -0.07002803878135955, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 9 mm; move right 0 mm; move upward 15 mm; roll downward 2 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 220 mm; move right 9 mm; move upward 286 mm; roll upward 11 degrees; pitch downward 89 degrees; yaw counterclockwise 14 degrees; open gripper;", + "subtask_movement_text": "move backward 258 mm; move right 9 mm; move upward 421 mm; roll downward 3 degrees; pitch downward 165 degrees; yaw counterclockwise 51 degrees; open gripper;" + }, + { + "frame_index": 8, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 0 mm; move upward 17 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 218 mm; move right 9 mm; move upward 281 mm; roll upward 13 degrees; pitch downward 91 degrees; yaw counterclockwise 17 degrees; open gripper;\nSubtask Movement: move backward 249 mm; move right 9 mm; move upward 406 mm; roll downward 1 degrees; pitch downward 162 degrees; yaw counterclockwise 51 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 154, + 101 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008928571827709675, + 0.0, + 0.01714285835623741, + -0.025714285671710968, + -0.055714286863803864, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.21785712242126465, + -0.008571429178118706, + 0.28107139468193054, + 0.2257142812013626, + -1.5957142114639282, + 0.28857141733169556, + 1.0 + ], + "delta_full_state_norm": [ + 0.07429369952452158, + -0.18411568301742465, + 0.9371854537113917, + 0.014407456604593305, + -0.13227515849508986, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 9 mm; move right 0 mm; move upward 17 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 218 mm; move right 9 mm; move upward 281 mm; roll upward 13 degrees; pitch downward 91 degrees; yaw counterclockwise 17 degrees; open gripper;", + "subtask_movement_text": "move backward 249 mm; move right 9 mm; move upward 406 mm; roll downward 1 degrees; pitch downward 162 degrees; yaw counterclockwise 51 degrees; open gripper;" + }, + { + "frame_index": 9, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 0 mm; move upward 17 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 214 mm; move right 9 mm; move upward 274 mm; roll upward 14 degrees; pitch downward 94 degrees; yaw counterclockwise 20 degrees; open gripper;\nSubtask Movement: move backward 240 mm; move right 9 mm; move upward 389 mm; roll upward 0 degrees; pitch downward 159 degrees; yaw counterclockwise 51 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 155, + 100 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008928571827709675, + 0.0, + 0.01714285835623741, + -0.019999999552965164, + -0.058571428060531616, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.21392853558063507, + -0.008571429178118706, + 0.27392852306365967, + 0.2514285743236542, + -1.6342856884002686, + 0.34857141971588135, + 1.0 + ], + "delta_full_state_norm": [ + 0.07429369952452158, + -0.18411568301742465, + 0.9371854537113917, + 0.07321369097349284, + -0.1633986980617047, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 9 mm; move right 0 mm; move upward 17 mm; roll downward 1 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 214 mm; move right 9 mm; move upward 274 mm; roll upward 14 degrees; pitch downward 94 degrees; yaw counterclockwise 20 degrees; open gripper;", + "subtask_movement_text": "move backward 240 mm; move right 9 mm; move upward 389 mm; roll upward 0 degrees; pitch downward 159 degrees; yaw counterclockwise 51 degrees; open gripper;" + }, + { + "frame_index": 10, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 0 mm; move upward 17 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 210 mm; move right 9 mm; move upward 268 mm; roll upward 16 degrees; pitch downward 97 degrees; yaw counterclockwise 24 degrees; open gripper;\nSubtask Movement: move backward 231 mm; move right 9 mm; move upward 372 mm; roll upward 1 degrees; pitch downward 155 degrees; yaw counterclockwise 51 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 155, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.009285714477300644, + 0.0, + 0.016785714775323868, + -0.012857142835855484, + -0.06142857298254967, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.20999999344348907, + -0.008571429178118706, + 0.2678571045398712, + 0.27142858505249023, + -1.6842856407165527, + 0.41428571939468384, + 1.0 + ], + "delta_full_state_norm": [ + 0.06242568103670254, + -0.18411568301742465, + 0.9162473942365026, + 0.14672147435029248, + -0.19452227820882018, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 9 mm; move right 0 mm; move upward 17 mm; roll downward 1 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 210 mm; move right 9 mm; move upward 268 mm; roll upward 16 degrees; pitch downward 97 degrees; yaw counterclockwise 24 degrees; open gripper;", + "subtask_movement_text": "move backward 231 mm; move right 9 mm; move upward 372 mm; roll upward 1 degrees; pitch downward 155 degrees; yaw counterclockwise 51 degrees; open gripper;" + }, + { + "frame_index": 11, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 206 mm; move right 9 mm; move upward 263 mm; roll upward 16 degrees; pitch downward 99 degrees; yaw counterclockwise 27 degrees; open gripper;\nSubtask Movement: move backward 222 mm; move right 9 mm; move upward 355 mm; roll upward 2 degrees; pitch downward 152 degrees; yaw counterclockwise 51 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 155, + 99 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.010357143357396126, + 0.0, + 0.017500000074505806, + -0.0057142856530845165, + -0.0657142847776413, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2060714215040207, + -0.008571429178118706, + 0.2628571391105652, + 0.2842857241630554, + -1.7357141971588135, + 0.47857144474983215, + 1.0 + ], + "delta_full_state_norm": [ + 0.026821594624958145, + -0.18411568301742465, + 0.9581234039860127, + 0.22022926251925434, + -0.2412075875587425, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 10 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 206 mm; move right 9 mm; move upward 263 mm; roll upward 16 degrees; pitch downward 99 degrees; yaw counterclockwise 27 degrees; open gripper;", + "subtask_movement_text": "move backward 222 mm; move right 9 mm; move upward 355 mm; roll upward 2 degrees; pitch downward 152 degrees; yaw counterclockwise 51 degrees; open gripper;" + }, + { + "frame_index": 12, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 200 mm; move right 9 mm; move upward 259 mm; roll upward 17 degrees; pitch downward 103 degrees; yaw counterclockwise 31 degrees; open gripper;\nSubtask Movement: move backward 212 mm; move right 9 mm; move upward 338 mm; roll upward 2 degrees; pitch downward 148 degrees; yaw counterclockwise 51 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 156, + 98 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012500000186264515, + 0.0, + 0.018214285373687744, + -0.0014285714132711291, + -0.07285714149475098, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.20000000298023224, + -0.008571429178118706, + 0.2589285671710968, + 0.2900000214576721, + -1.791428565979004, + 0.5414285659790039, + 1.0 + ], + "delta_full_state_norm": [ + -0.04438654725024316, + -0.18411568301742465, + 0.9999994137355228, + 0.2643339347018072, + -0.3190164770557802, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 200 mm; move right 9 mm; move upward 259 mm; roll upward 17 degrees; pitch downward 103 degrees; yaw counterclockwise 31 degrees; open gripper;", + "subtask_movement_text": "move backward 212 mm; move right 9 mm; move upward 338 mm; roll upward 2 degrees; pitch downward 148 degrees; yaw counterclockwise 51 degrees; open gripper;" + }, + { + "frame_index": 13, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 190 mm; move right 9 mm; move upward 255 mm; roll upward 16 degrees; pitch downward 106 degrees; yaw counterclockwise 34 degrees; open gripper;\nSubtask Movement: move backward 199 mm; move right 9 mm; move upward 320 mm; roll upward 2 degrees; pitch downward 144 degrees; yaw counterclockwise 51 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 156, + 97 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012857143767178059, + 0.0, + 0.01785714365541935, + 0.0, + -0.07428571581840515, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.19035714864730835, + -0.008571429178118706, + 0.25464287400245667, + 0.28285717964172363, + -1.8457142114639282, + 0.6000000238418579, + 1.0 + ], + "delta_full_state_norm": [ + -0.05625459668635002, + -0.18411568301742465, + 0.9790614634609018, + 0.27903549209599143, + -0.33457828741958817, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 190 mm; move right 9 mm; move upward 255 mm; roll upward 16 degrees; pitch downward 106 degrees; yaw counterclockwise 34 degrees; open gripper;", + "subtask_movement_text": "move backward 199 mm; move right 9 mm; move upward 320 mm; roll upward 2 degrees; pitch downward 144 degrees; yaw counterclockwise 51 degrees; open gripper;" + }, + { + "frame_index": 14, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 180 mm; move right 9 mm; move upward 250 mm; roll upward 15 degrees; pitch downward 109 degrees; yaw counterclockwise 38 degrees; open gripper;\nSubtask Movement: move backward 186 mm; move right 9 mm; move upward 302 mm; roll upward 2 degrees; pitch downward 140 degrees; yaw counterclockwise 51 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 156, + 97 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013928571715950966, + 0.0, + 0.018571428954601288, + 0.0, + -0.08142857253551483, + 0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + -0.18000000715255737, + -0.008571429178118706, + 0.2500000298023224, + 0.2557143270969391, + -1.9014285802841187, + 0.6571428775787354, + 1.0 + ], + "delta_full_state_norm": [ + -0.09185865214980671, + -0.18411568301742465, + 1.0, + 0.27903549209599143, + -0.41238717691662596, + -0.42876351404843893, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 180 mm; move right 9 mm; move upward 250 mm; roll upward 15 degrees; pitch downward 109 degrees; yaw counterclockwise 38 degrees; open gripper;", + "subtask_movement_text": "move backward 186 mm; move right 9 mm; move upward 302 mm; roll upward 2 degrees; pitch downward 140 degrees; yaw counterclockwise 51 degrees; open gripper;" + }, + { + "frame_index": 15, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 167 mm; move right 9 mm; move upward 245 mm; roll upward 12 degrees; pitch downward 112 degrees; yaw counterclockwise 41 degrees; open gripper;\nSubtask Movement: move backward 172 mm; move right 9 mm; move upward 283 mm; roll upward 2 degrees; pitch downward 135 degrees; yaw counterclockwise 51 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 96 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013928571715950966, + 0.0, + 0.018571428954601288, + 0.0, + -0.08857142925262451, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + -0.16678571701049805, + -0.008571429178118706, + 0.24464285373687744, + 0.212857186794281, + -1.952857255935669, + 0.7128571271896362, + 1.0 + ], + "delta_full_state_norm": [ + -0.09185865214980671, + -0.18411568301742465, + 1.0, + 0.27903549209599143, + -0.49019606641366364, + -0.32795707535110463, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 0 mm; move upward 19 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 167 mm; move right 9 mm; move upward 245 mm; roll upward 12 degrees; pitch downward 112 degrees; yaw counterclockwise 41 degrees; open gripper;", + "subtask_movement_text": "move backward 172 mm; move right 9 mm; move upward 283 mm; roll upward 2 degrees; pitch downward 135 degrees; yaw counterclockwise 51 degrees; open gripper;" + }, + { + "frame_index": 16, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 154 mm; move right 9 mm; move upward 239 mm; roll upward 9 degrees; pitch downward 115 degrees; yaw counterclockwise 44 degrees; open gripper;\nSubtask Movement: move backward 159 mm; move right 9 mm; move upward 265 mm; roll upward 2 degrees; pitch downward 130 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 157, + 95 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013928571715950966, + 0.0, + 0.018214285373687744, + 0.0, + -0.08857142925262451, + 0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + -0.15392857789993286, + -0.008571429178118706, + 0.2385714054107666, + 0.16142861545085907, + -1.9985713958740234, + 0.764285683631897, + 1.0 + ], + "delta_full_state_norm": [ + -0.09185865214980671, + -0.18411568301742465, + 0.9999994137355228, + 0.27903549209599143, + -0.49019606641366364, + -0.26075278836274174, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 0 mm; move upward 18 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 154 mm; move right 9 mm; move upward 239 mm; roll upward 9 degrees; pitch downward 115 degrees; yaw counterclockwise 44 degrees; open gripper;", + "subtask_movement_text": "move backward 159 mm; move right 9 mm; move upward 265 mm; roll upward 2 degrees; pitch downward 130 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 17, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 142 mm; move right 9 mm; move upward 234 mm; roll upward 6 degrees; pitch downward 117 degrees; yaw counterclockwise 47 degrees; open gripper;\nSubtask Movement: move backward 145 mm; move right 9 mm; move upward 246 mm; roll upward 2 degrees; pitch downward 125 degrees; yaw counterclockwise 50 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 158, + 95 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013571429066359997, + 0.0, + 0.01714285835623741, + 0.0, + -0.08571428805589676, + 0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + -0.1421428769826889, + -0.008571429178118706, + 0.2339285910129547, + 0.10285718739032745, + -2.0457143783569336, + 0.8128571510314941, + 1.0 + ], + "delta_full_state_norm": [ + -0.07999063366198778, + -0.18411568301742465, + 0.9371854537113917, + 0.27903549209599143, + -0.4590725268470488, + -0.1935484904213256, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 0 mm; move upward 17 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 142 mm; move right 9 mm; move upward 234 mm; roll upward 6 degrees; pitch downward 117 degrees; yaw counterclockwise 47 degrees; open gripper;", + "subtask_movement_text": "move backward 145 mm; move right 9 mm; move upward 246 mm; roll upward 2 degrees; pitch downward 125 degrees; yaw counterclockwise 50 degrees; open gripper;" + }, + { + "frame_index": 18, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 131 mm; move right 9 mm; move upward 229 mm; roll upward 2 degrees; pitch downward 120 degrees; yaw counterclockwise 49 degrees; open gripper;\nSubtask Movement: move backward 131 mm; move right 9 mm; move upward 229 mm; roll upward 2 degrees; pitch downward 120 degrees; yaw counterclockwise 49 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 158, + 94 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012857143767178059, + 0.0, + 0.01607142947614193, + 0.0, + -0.08428571373224258, + 0.011428571306169033, + 1.0 + ], + "delta_next_20": [ + -0.13107143342494965, + -0.008928571827709675, + 0.22928574681282043, + 0.04000004380941391, + -2.094285726547241, + 0.8585714101791382, + 1.0 + ], + "delta_full_state_norm": [ + -0.05625459668635002, + -0.18411568301742465, + 0.8743713844869925, + 0.27903549209599143, + -0.4435107164832408, + -0.1935484904213256, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 0 mm; move upward 16 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 131 mm; move right 9 mm; move upward 229 mm; roll upward 2 degrees; pitch downward 120 degrees; yaw counterclockwise 49 degrees; open gripper;", + "subtask_movement_text": "move backward 131 mm; move right 9 mm; move upward 229 mm; roll upward 2 degrees; pitch downward 120 degrees; yaw counterclockwise 49 degrees; open gripper;" + }, + { + "frame_index": 19, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 0 mm; move upward 15 mm; roll upward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 123 mm; move right 10 mm; move upward 226 mm; roll downward 2 degrees; pitch downward 123 degrees; yaw counterclockwise 51 degrees; open gripper;\nSubtask Movement: move backward 118 mm; move right 9 mm; move upward 213 mm; roll upward 2 degrees; pitch downward 115 degrees; yaw counterclockwise 49 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 159, + 93 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012857143767178059, + 0.0, + 0.015000000596046448, + 0.0014285714132711291, + -0.08571428805589676, + 0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + -0.12250002473592758, + -0.010000000707805157, + 0.2264285832643509, + -0.03571423888206482, + -2.145714282989502, + 0.8971428275108337, + 1.0 + ], + "delta_full_state_norm": [ + -0.05625459668635002, + -0.18411568301742465, + 0.8115573152625928, + 0.29373704949017587, + -0.4590725268470488, + -0.12634419247990947, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 0 mm; move upward 15 mm; roll upward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 123 mm; move right 10 mm; move upward 226 mm; roll downward 2 degrees; pitch downward 123 degrees; yaw counterclockwise 51 degrees; open gripper;", + "subtask_movement_text": "move backward 118 mm; move right 9 mm; move upward 213 mm; roll upward 2 degrees; pitch downward 115 degrees; yaw counterclockwise 49 degrees; open gripper;" + }, + { + "frame_index": 20, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 2 mm; move upward 11 mm; roll upward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 115 mm; move right 12 mm; move upward 225 mm; roll downward 7 degrees; pitch downward 126 degrees; yaw counterclockwise 53 degrees; open gripper;\nSubtask Movement: move backward 105 mm; move right 9 mm; move upward 198 mm; roll upward 2 degrees; pitch downward 110 degrees; yaw counterclockwise 48 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 159, + 93 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012500000186264515, + -0.0017857144121080637, + 0.011071428656578064, + 0.051428571343421936, + -0.08571428805589676, + 0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + -0.11500000208616257, + -0.012142857536673546, + 0.22464285790920258, + -0.11714281141757965, + -2.195714235305786, + 0.9285714030265808, + 1.0 + ], + "delta_full_state_norm": [ + -0.04438654725024316, + -0.25354083358619817, + 0.5812390978398847, + 0.8082915630787879, + -0.4590725268470488, + -0.12634419247990947, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 2 mm; move upward 11 mm; roll upward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 115 mm; move right 12 mm; move upward 225 mm; roll downward 7 degrees; pitch downward 126 degrees; yaw counterclockwise 53 degrees; open gripper;", + "subtask_movement_text": "move backward 105 mm; move right 9 mm; move upward 198 mm; roll upward 2 degrees; pitch downward 110 degrees; yaw counterclockwise 48 degrees; open gripper;" + }, + { + "frame_index": 21, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 5 mm; move upward 9 mm; roll upward 4 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 109 mm; move right 13 mm; move upward 225 mm; roll downward 14 degrees; pitch downward 129 degrees; yaw counterclockwise 55 degrees; open gripper;\nSubtask Movement: move backward 93 mm; move right 7 mm; move upward 187 mm; roll downward 1 degrees; pitch downward 105 degrees; yaw counterclockwise 47 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 160, + 92 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011071428656578064, + -0.005000000353902578, + 0.008571429178118706, + 0.07428571581840515, + -0.08857142925262451, + 0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + -0.10892857611179352, + -0.012857143767178059, + 0.22535717487335205, + -0.25285714864730835, + -2.2442855834960938, + 0.9571428298950195, + 1.0 + ], + "delta_full_state_norm": [ + 0.0030855576493202808, + -0.37850610460999046, + 0.4346730091164652, + 1.0, + -0.49019606641366364, + -0.12634419247990947, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 5 mm; move upward 9 mm; roll upward 4 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 109 mm; move right 13 mm; move upward 225 mm; roll downward 14 degrees; pitch downward 129 degrees; yaw counterclockwise 55 degrees; open gripper;", + "subtask_movement_text": "move backward 93 mm; move right 7 mm; move upward 187 mm; roll downward 1 degrees; pitch downward 105 degrees; yaw counterclockwise 47 degrees; open gripper;" + }, + { + "frame_index": 22, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 2 mm; move upward 6 mm; roll upward 4 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 105 mm; move right 13 mm; move upward 227 mm; roll downward 24 degrees; pitch downward 131 degrees; yaw counterclockwise 56 degrees; open gripper;\nSubtask Movement: move backward 82 mm; move right 2 mm; move upward 179 mm; roll downward 5 degrees; pitch downward 100 degrees; yaw counterclockwise 46 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 160, + 92 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.009285714477300644, + -0.0017857144121080637, + 0.0057142856530845165, + 0.0714285746216774, + -0.08428571373224258, + 0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + -0.10535714775323868, + -0.012500000186264515, + 0.22714288532733917, + -0.4157142639160156, + -2.287142753601074, + 0.9800000190734863, + 1.0 + ], + "delta_full_state_norm": [ + 0.06242568103670254, + -0.25354083358619817, + 0.2671688336180893, + 1.0, + -0.4435107164832408, + 0.00806438149681643, + -1.0 + ], + "movement_text": "move backward 9 mm; move right 2 mm; move upward 6 mm; roll upward 4 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 105 mm; move right 13 mm; move upward 227 mm; roll downward 24 degrees; pitch downward 131 degrees; yaw counterclockwise 56 degrees; open gripper;", + "subtask_movement_text": "move backward 82 mm; move right 2 mm; move upward 179 mm; roll downward 5 degrees; pitch downward 100 degrees; yaw counterclockwise 46 degrees; open gripper;" + }, + { + "frame_index": 23, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 0 mm; move upward 8 mm; roll upward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 106 mm; move right 16 mm; move upward 231 mm; roll downward 33 degrees; pitch downward 134 degrees; yaw counterclockwise 57 degrees; open gripper;\nSubtask Movement: move backward 72 mm; move right 0 mm; move upward 173 mm; roll downward 9 degrees; pitch downward 95 degrees; yaw counterclockwise 45 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 161, + 92 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.009285714477300644, + 0.0, + 0.007857142947614193, + 0.055714286863803864, + -0.08285713940858841, + 0.025714285671710968, + 1.0 + ], + "delta_next_20": [ + -0.10607142746448517, + -0.01607142947614193, + 0.2314285784959793, + -0.5842856764793396, + -2.3314285278320312, + 0.9885714650154114, + 1.0 + ], + "delta_full_state_norm": [ + 0.06242568103670254, + -0.18411568301742465, + 0.3927969447668209, + 0.8523962484397871, + -0.4279489061194328, + 0.1424729773796487, + -1.0 + ], + "movement_text": "move backward 9 mm; move right 0 mm; move upward 8 mm; roll upward 3 degrees; pitch downward 5 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 106 mm; move right 16 mm; move upward 231 mm; roll downward 33 degrees; pitch downward 134 degrees; yaw counterclockwise 57 degrees; open gripper;", + "subtask_movement_text": "move backward 72 mm; move right 0 mm; move upward 173 mm; roll downward 9 degrees; pitch downward 95 degrees; yaw counterclockwise 45 degrees; open gripper;" + }, + { + "frame_index": 24, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 9 mm; move right 0 mm; move upward 9 mm; roll upward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 109 mm; move right 24 mm; move upward 233 mm; roll downward 43 degrees; pitch downward 136 degrees; yaw counterclockwise 56 degrees; open gripper;\nSubtask Movement: move backward 63 mm; move right 0 mm; move upward 165 mm; roll downward 12 degrees; pitch downward 91 degrees; yaw counterclockwise 43 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 161, + 92 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008928571827709675, + 0.0, + 0.008928571827709675, + 0.03142857179045677, + -0.08857142925262451, + 0.03142857179045677, + 1.0 + ], + "delta_next_20": [ + -0.10928571224212646, + -0.023928573355078697, + 0.23285715281963348, + -0.7442857623100281, + -2.3742856979370117, + 0.985714316368103, + 1.0 + ], + "delta_full_state_norm": [ + 0.07429369952452158, + -0.18411568301742465, + 0.45561101399122017, + 0.6024697619562891, + -0.49019606641366364, + 0.276881573262481, + -1.0 + ], + "movement_text": "move backward 9 mm; move right 0 mm; move upward 9 mm; roll upward 2 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 109 mm; move right 24 mm; move upward 233 mm; roll downward 43 degrees; pitch downward 136 degrees; yaw counterclockwise 56 degrees; open gripper;", + "subtask_movement_text": "move backward 63 mm; move right 0 mm; move upward 165 mm; roll downward 12 degrees; pitch downward 91 degrees; yaw counterclockwise 43 degrees; open gripper;" + }, + { + "frame_index": 25, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 0 mm; move upward 10 mm; roll upward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 114 mm; move right 31 mm; move upward 233 mm; roll downward 50 degrees; pitch downward 138 degrees; yaw counterclockwise 56 degrees; open gripper;\nSubtask Movement: move backward 54 mm; move right 0 mm; move upward 156 mm; roll downward 14 degrees; pitch downward 86 degrees; yaw counterclockwise 42 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 161, + 91 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.008214286528527737, + 0.0, + 0.009642857126891613, + 0.0057142856530845165, + -0.08857142925262451, + 0.037142857909202576, + 1.0 + ], + "delta_next_20": [ + -0.11357144266366959, + -0.03142857551574707, + 0.23250000178813934, + -0.8800000548362732, + -2.4099998474121094, + 0.9728571772575378, + 1.0 + ], + "delta_full_state_norm": [ + 0.09802973650015923, + -0.18411568301742465, + 0.4974870237407303, + 0.3378417216727285, + -0.49019606641366364, + 0.41129016914531324, + -1.0 + ], + "movement_text": "move backward 8 mm; move right 0 mm; move upward 10 mm; roll upward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 114 mm; move right 31 mm; move upward 233 mm; roll downward 50 degrees; pitch downward 138 degrees; yaw counterclockwise 56 degrees; open gripper;", + "subtask_movement_text": "move backward 54 mm; move right 0 mm; move upward 156 mm; roll downward 14 degrees; pitch downward 86 degrees; yaw counterclockwise 42 degrees; open gripper;" + }, + { + "frame_index": 26, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 121 mm; move right 39 mm; move upward 231 mm; roll downward 57 degrees; pitch downward 140 degrees; yaw counterclockwise 54 degrees; open gripper;\nSubtask Movement: move backward 46 mm; move right 0 mm; move upward 146 mm; roll downward 14 degrees; pitch downward 81 degrees; yaw counterclockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 162, + 91 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007857142947614193, + 0.0, + 0.011071428656578064, + 0.0, + -0.08714285492897034, + 0.041428569704294205, + 1.0 + ], + "delta_next_20": [ + -0.12107143551111221, + -0.038928575813770294, + 0.23071427643299103, + -0.9914286136627197, + -2.4471428394317627, + 0.9500000476837158, + 1.0 + ], + "delta_full_state_norm": [ + 0.10989778593626598, + -0.18411568301742465, + 0.5812390978398847, + 0.27903549209599143, + -0.47463425604985565, + 0.5120965503391182, + -1.0 + ], + "movement_text": "move backward 8 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 121 mm; move right 39 mm; move upward 231 mm; roll downward 57 degrees; pitch downward 140 degrees; yaw counterclockwise 54 degrees; open gripper;", + "subtask_movement_text": "move backward 46 mm; move right 0 mm; move upward 146 mm; roll downward 14 degrees; pitch downward 81 degrees; yaw counterclockwise 40 degrees; open gripper;" + }, + { + "frame_index": 27, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 7 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 131 mm; move right 45 mm; move upward 228 mm; roll downward 63 degrees; pitch downward 142 degrees; yaw counterclockwise 53 degrees; open gripper;\nSubtask Movement: move backward 38 mm; move right 0 mm; move upward 135 mm; roll downward 14 degrees; pitch downward 76 degrees; yaw counterclockwise 37 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 162, + 91 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006785714533179998, + 0.0, + 0.010000000707805157, + 0.0, + -0.08714285492897034, + 0.051428571343421936, + 1.0 + ], + "delta_next_20": [ + -0.1314285844564438, + -0.045357149094343185, + 0.228214293718338, + -1.1014286279678345, + -2.4857141971588135, + 0.9185714721679688, + 1.0 + ], + "delta_full_state_norm": [ + 0.14550185687386663, + -0.18411568301742465, + 0.5184250832156196, + 0.27903549209599143, + -0.47463425604985565, + 0.7473116150401811, + -1.0 + ], + "movement_text": "move backward 7 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 131 mm; move right 45 mm; move upward 228 mm; roll downward 63 degrees; pitch downward 142 degrees; yaw counterclockwise 53 degrees; open gripper;", + "subtask_movement_text": "move backward 38 mm; move right 0 mm; move upward 135 mm; roll downward 14 degrees; pitch downward 76 degrees; yaw counterclockwise 37 degrees; open gripper;" + }, + { + "frame_index": 28, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 145 mm; move right 51 mm; move upward 227 mm; roll downward 69 degrees; pitch downward 145 degrees; yaw counterclockwise 50 degrees; open gripper;\nSubtask Movement: move backward 31 mm; move right 0 mm; move upward 125 mm; roll downward 14 degrees; pitch downward 71 degrees; yaw counterclockwise 34 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 162, + 90 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.005000000353902578, + 0.0, + 0.010000000707805157, + 0.0, + -0.09428571164608002, + 0.05999999865889549, + 1.0 + ], + "delta_next_20": [ + -0.14500001072883606, + -0.051428575068712234, + 0.22678570449352264, + -1.2114286422729492, + -2.5228569507598877, + 0.8728572130203247, + 1.0 + ], + "delta_full_state_norm": [ + 0.2048419802612491, + -0.18411568301742465, + 0.5184250832156196, + 0.27903549209599143, + -0.5524431455468934, + 0.9489244650522166, + -1.0 + ], + "movement_text": "move backward 5 mm; move right 0 mm; move upward 10 mm; roll downward 0 degrees; pitch downward 5 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 145 mm; move right 51 mm; move upward 227 mm; roll downward 69 degrees; pitch downward 145 degrees; yaw counterclockwise 50 degrees; open gripper;", + "subtask_movement_text": "move backward 31 mm; move right 0 mm; move upward 125 mm; roll downward 14 degrees; pitch downward 71 degrees; yaw counterclockwise 34 degrees; open gripper;" + }, + { + "frame_index": 29, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 161 mm; move right 59 mm; move upward 225 mm; roll downward 76 degrees; pitch downward 146 degrees; yaw counterclockwise 47 degrees; open gripper;\nSubtask Movement: move backward 26 mm; move right 0 mm; move upward 115 mm; roll downward 14 degrees; pitch downward 65 degrees; yaw counterclockwise 31 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 163, + 90 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.005000000353902578, + 0.0, + 0.011071428656578064, + 0.0, + -0.10857142508029938, + 0.0657142847776413, + 1.0 + ], + "delta_next_20": [ + -0.1614285707473755, + -0.05892857536673546, + 0.22535715997219086, + -1.3185714483261108, + -2.5514285564422607, + 0.8128572106361389, + 1.0 + ], + "delta_full_state_norm": [ + 0.2048419802612491, + -0.18411568301742465, + 0.5812390978398847, + 0.27903549209599143, + -0.7080609245409688, + 1.0, + -1.0 + ], + "movement_text": "move backward 5 mm; move right 0 mm; move upward 11 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 161 mm; move right 59 mm; move upward 225 mm; roll downward 76 degrees; pitch downward 146 degrees; yaw counterclockwise 47 degrees; open gripper;", + "subtask_movement_text": "move backward 26 mm; move right 0 mm; move upward 115 mm; roll downward 14 degrees; pitch downward 65 degrees; yaw counterclockwise 31 degrees; open gripper;" + }, + { + "frame_index": 30, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 0 mm; move upward 12 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 179 mm; move right 65 mm; move upward 224 mm; roll downward 82 degrees; pitch downward 147 degrees; yaw counterclockwise 43 degrees; open gripper;\nSubtask Movement: move backward 21 mm; move right 0 mm; move upward 104 mm; roll downward 14 degrees; pitch downward 59 degrees; yaw counterclockwise 27 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 163, + 89 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0053571430034935474, + 0.0, + 0.011785714887082577, + 0.0, + -0.1128571406006813, + 0.06428571790456772, + 1.0 + ], + "delta_next_20": [ + -0.1785714477300644, + -0.0650000050663948, + 0.22357144951820374, + -1.427142858505249, + -2.565714120864868, + 0.7471429109573364, + 1.0 + ], + "delta_full_state_norm": [ + 0.19297396177343007, + -0.18411568301742465, + 0.623115162189529, + 0.27903549209599143, + -0.7547462744713918, + 1.0, + -1.0 + ], + "movement_text": "move backward 5 mm; move right 0 mm; move upward 12 mm; roll downward 0 degrees; pitch downward 6 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 179 mm; move right 65 mm; move upward 224 mm; roll downward 82 degrees; pitch downward 147 degrees; yaw counterclockwise 43 degrees; open gripper;", + "subtask_movement_text": "move backward 21 mm; move right 0 mm; move upward 104 mm; roll downward 14 degrees; pitch downward 59 degrees; yaw counterclockwise 27 degrees; open gripper;" + }, + { + "frame_index": 31, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw counterclockwise 4 degrees; open gripper;\nNext 20 Movement: move backward 195 mm; move right 71 mm; move upward 221 mm; roll downward 88 degrees; pitch downward 147 degrees; yaw counterclockwise 39 degrees; open gripper;\nSubtask Movement: move backward 16 mm; move right 0 mm; move upward 93 mm; roll downward 14 degrees; pitch downward 52 degrees; yaw counterclockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 163, + 89 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.004285714589059353, + 0.0, + 0.013571429066359997, + 0.0, + -0.12142857164144516, + 0.06285714358091354, + 1.0 + ], + "delta_next_20": [ + -0.19500000774860382, + -0.0714285746216774, + 0.22107143700122833, + -1.5342856645584106, + -2.5742855072021484, + 0.6828572154045105, + 1.0 + ], + "delta_full_state_norm": [ + 0.22857803271103072, + -0.18411568301742465, + 0.7278052411634386, + 0.27903549209599143, + -0.8481169743322374, + 1.0, + -1.0 + ], + "movement_text": "move backward 4 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw counterclockwise 4 degrees; open gripper;", + "next_20_movement_text": "move backward 195 mm; move right 71 mm; move upward 221 mm; roll downward 88 degrees; pitch downward 147 degrees; yaw counterclockwise 39 degrees; open gripper;", + "subtask_movement_text": "move backward 16 mm; move right 0 mm; move upward 93 mm; roll downward 14 degrees; pitch downward 52 degrees; yaw counterclockwise 23 degrees; open gripper;" + }, + { + "frame_index": 32, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 213 mm; move right 79 mm; move upward 218 mm; roll downward 94 degrees; pitch downward 147 degrees; yaw counterclockwise 36 degrees; open gripper;\nSubtask Movement: move backward 12 mm; move right 0 mm; move upward 79 mm; roll downward 14 degrees; pitch downward 46 degrees; yaw counterclockwise 20 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 163, + 88 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0028571428265422583, + 0.0, + 0.013928571715950966, + -0.008571428246796131, + -0.12714286148548126, + 0.058571428060531616, + 1.0 + ], + "delta_next_20": [ + -0.21250000596046448, + -0.07857143133878708, + 0.21821431815624237, + -1.6485713720321655, + -2.5714285373687744, + 0.6200000047683716, + 1.0 + ], + "delta_full_state_norm": [ + 0.27605014534766625, + -0.18411568301742465, + 0.7487432460381935, + 0.19082615012696702, + -0.9103641346264683, + 0.915322337987615, + -1.0 + ], + "movement_text": "move backward 3 mm; move right 0 mm; move upward 14 mm; roll downward 0 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 213 mm; move right 79 mm; move upward 218 mm; roll downward 94 degrees; pitch downward 147 degrees; yaw counterclockwise 36 degrees; open gripper;", + "subtask_movement_text": "move backward 12 mm; move right 0 mm; move upward 79 mm; roll downward 14 degrees; pitch downward 46 degrees; yaw counterclockwise 20 degrees; open gripper;" + }, + { + "frame_index": 33, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 0 mm; move upward 13 mm; roll downward 2 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 231 mm; move right 86 mm; move upward 215 mm; roll downward 101 degrees; pitch downward 147 degrees; yaw counterclockwise 32 degrees; open gripper;\nSubtask Movement: move backward 9 mm; move right 0 mm; move upward 65 mm; roll downward 14 degrees; pitch downward 38 degrees; yaw counterclockwise 16 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 164, + 87 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.002500000176951289, + 0.0, + 0.013214285485446453, + -0.027142856270074844, + -0.12999999523162842, + 0.05714285746216774, + 1.0 + ], + "delta_next_20": [ + -0.2314285784959793, + -0.08571429550647736, + 0.21500001847743988, + -1.7571427822113037, + -2.5614285469055176, + 0.5614286065101624, + 1.0 + ], + "delta_full_state_norm": [ + 0.2879181638354851, + -0.18411568301742465, + 0.7068671816885492, + -0.0002940924033068004, + -0.941487593032082, + 0.8817202109230133, + -1.0 + ], + "movement_text": "move backward 3 mm; move right 0 mm; move upward 13 mm; roll downward 2 degrees; pitch downward 7 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 231 mm; move right 86 mm; move upward 215 mm; roll downward 101 degrees; pitch downward 147 degrees; yaw counterclockwise 32 degrees; open gripper;", + "subtask_movement_text": "move backward 9 mm; move right 0 mm; move upward 65 mm; roll downward 14 degrees; pitch downward 38 degrees; yaw counterclockwise 16 degrees; open gripper;" + }, + { + "frame_index": 34, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move right 0 mm; move upward 13 mm; roll downward 2 degrees; pitch downward 8 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 251 mm; move right 94 mm; move upward 213 mm; roll downward 106 degrees; pitch downward 146 degrees; yaw counterclockwise 29 degrees; open gripper;\nSubtask Movement: move backward 6 mm; move right 0 mm; move upward 52 mm; roll downward 12 degrees; pitch downward 31 degrees; yaw counterclockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 164, + 86 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0007142857066355646, + 0.0, + 0.013214285485446453, + -0.04285714402794838, + -0.13285714387893677, + 0.05714285746216774, + 1.0 + ], + "delta_next_20": [ + -0.2507142722606659, + -0.09392857551574707, + 0.21285715699195862, + -1.8471426963806152, + -2.5528571605682373, + 0.5042856931686401, + 1.0 + ], + "delta_full_state_norm": [ + 0.3472582968942073, + -0.18411568301742465, + 0.7068671816885492, + -0.16201124650210497, + -0.9726112137596981, + 0.8817202109230133, + -1.0 + ], + "movement_text": "move backward 1 mm; move right 0 mm; move upward 13 mm; roll downward 2 degrees; pitch downward 8 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 251 mm; move right 94 mm; move upward 213 mm; roll downward 106 degrees; pitch downward 146 degrees; yaw counterclockwise 29 degrees; open gripper;", + "subtask_movement_text": "move backward 6 mm; move right 0 mm; move upward 52 mm; roll downward 12 degrees; pitch downward 31 degrees; yaw counterclockwise 13 degrees; open gripper;" + }, + { + "frame_index": 35, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 1 mm; move right 0 mm; move upward 13 mm; roll downward 3 degrees; pitch downward 8 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 271 mm; move right 103 mm; move upward 211 mm; roll downward 110 degrees; pitch downward 146 degrees; yaw counterclockwise 26 degrees; open gripper;\nSubtask Movement: move backward 6 mm; move right 0 mm; move upward 39 mm; roll downward 10 degrees; pitch downward 23 degrees; yaw counterclockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 164, + 86 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0010714286472648382, + 0.0, + 0.012500000186264515, + -0.051428571343421936, + -0.13428571820259094, + 0.05714285746216774, + 1.0 + ], + "delta_next_20": [ + -0.2710714340209961, + -0.10321428626775742, + 0.21071429550647736, + -1.9242857694625854, + -2.5428571701049805, + 0.4471428692340851, + 1.0 + ], + "delta_full_state_norm": [ + 0.3353902687350485, + -0.18411568301742465, + 0.6649911719390391, + -0.2502205788868048, + -0.988173024123506, + 0.8817202109230133, + -1.0 + ], + "movement_text": "move backward 1 mm; move right 0 mm; move upward 13 mm; roll downward 3 degrees; pitch downward 8 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 271 mm; move right 103 mm; move upward 211 mm; roll downward 110 degrees; pitch downward 146 degrees; yaw counterclockwise 26 degrees; open gripper;", + "subtask_movement_text": "move backward 6 mm; move right 0 mm; move upward 39 mm; roll downward 10 degrees; pitch downward 23 degrees; yaw counterclockwise 10 degrees; open gripper;" + }, + { + "frame_index": 36, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 2 mm; move right 0 mm; move upward 14 mm; roll downward 3 degrees; pitch downward 8 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 291 mm; move right 114 mm; move upward 209 mm; roll downward 114 degrees; pitch downward 145 degrees; yaw counterclockwise 22 degrees; open gripper;\nSubtask Movement: move backward 5 mm; move right 0 mm; move upward 26 mm; roll downward 7 degrees; pitch downward 15 degrees; yaw counterclockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 164, + 85 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0021428572945296764, + 0.0, + 0.013571429066359997, + -0.058571428060531616, + -0.13571429252624512, + 0.05714285746216774, + 1.0 + ], + "delta_next_20": [ + -0.290714293718338, + -0.11357142776250839, + 0.20928572118282318, + -1.9928569793701172, + -2.531428337097168, + 0.39000001549720764, + 1.0 + ], + "delta_full_state_norm": [ + 0.299786190060376, + -0.18411568301742465, + 0.7278052411634386, + -0.32372836226360446, + -1.0, + 0.8817202109230133, + -1.0 + ], + "movement_text": "move backward 2 mm; move right 0 mm; move upward 14 mm; roll downward 3 degrees; pitch downward 8 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 291 mm; move right 114 mm; move upward 209 mm; roll downward 114 degrees; pitch downward 145 degrees; yaw counterclockwise 22 degrees; open gripper;", + "subtask_movement_text": "move backward 5 mm; move right 0 mm; move upward 26 mm; roll downward 7 degrees; pitch downward 15 degrees; yaw counterclockwise 7 degrees; open gripper;" + }, + { + "frame_index": 37, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 0 mm; move upward 13 mm; roll downward 4 degrees; pitch downward 8 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 308 mm; move right 126 mm; move upward 207 mm; roll downward 118 degrees; pitch downward 144 degrees; yaw counterclockwise 19 degrees; open gripper;\nSubtask Movement: move backward 3 mm; move right 0 mm; move upward 13 mm; roll downward 4 degrees; pitch downward 8 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 164, + 84 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.002500000176951289, + -0.0003571428533177823, + 0.012500000186264515, + -0.06285714358091354, + -0.13428571820259094, + 0.05714285746216774, + 1.0 + ], + "delta_next_20": [ + -0.3082142770290375, + -0.12642857432365417, + 0.20678572356700897, + -2.0585713386535645, + -2.5171425342559814, + 0.3328571319580078, + 1.0 + ], + "delta_full_state_norm": [ + 0.2879181638354851, + -0.19800071199967828, + 0.6649911719390391, + -0.36783304762460367, + -0.988173024123506, + 0.8817202109230133, + -1.0 + ], + "movement_text": "move backward 3 mm; move right 0 mm; move upward 13 mm; roll downward 4 degrees; pitch downward 8 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 308 mm; move right 126 mm; move upward 207 mm; roll downward 118 degrees; pitch downward 144 degrees; yaw counterclockwise 19 degrees; open gripper;", + "subtask_movement_text": "move backward 3 mm; move right 0 mm; move upward 13 mm; roll downward 4 degrees; pitch downward 8 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 38, + "segment_id": 100, + "subtask": "approach the microwave", + "reason": "The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is extended and positioned directly in front of the microwave control panel, with the end-effector moving towards the interface, indicating a reaching motion before contact.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 4 mm; move right 1 mm; move upward 13 mm; roll downward 4 degrees; pitch downward 8 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 324 mm; move right 141 mm; move upward 206 mm; roll downward 121 degrees; pitch downward 144 degrees; yaw counterclockwise 16 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 165, + 83 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.004285714589059353, + -0.0010714286472648382, + 0.013214285485446453, + -0.07571428269147873, + -0.13571429252624512, + 0.05000000074505806, + 1.0 + ], + "delta_next_20": [ + -0.323928564786911, + -0.14071428775787354, + 0.20642857253551483, + -2.119999885559082, + -2.505713939666748, + 0.27571427822113037, + 1.0 + ], + "delta_full_state_norm": [ + 0.22857803271103072, + -0.22577077335868878, + 0.7068671816885492, + -0.500147027033004, + -1.0, + 0.7137094879755794, + -1.0 + ], + "movement_text": "move backward 4 mm; move right 1 mm; move upward 13 mm; roll downward 4 degrees; pitch downward 8 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 324 mm; move right 141 mm; move upward 206 mm; roll downward 121 degrees; pitch downward 144 degrees; yaw counterclockwise 16 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 39, + "segment_id": 200, + "subtask": "approach the microwave", + "reason": "The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 2 mm; move upward 13 mm; roll downward 5 degrees; pitch downward 8 degrees; yaw counterclockwise 3 degrees; open gripper;\nNext 20 Movement: move backward 338 mm; move right 155 mm; move upward 206 mm; roll downward 124 degrees; pitch downward 143 degrees; yaw counterclockwise 13 degrees; open gripper;\nSubtask Movement: move backward 338 mm; move right 155 mm; move upward 206 mm; roll downward 124 degrees; pitch downward 143 degrees; yaw counterclockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 165, + 82 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0053571430034935474, + -0.0021428572945296764, + 0.013214285485446453, + -0.07999999821186066, + -0.13571429252624512, + 0.04571428522467613, + 1.0 + ], + "delta_next_20": [ + -0.33785709738731384, + -0.15535715222358704, + 0.20571427047252655, + -2.1685714721679688, + -2.4942855834960938, + 0.2257142961025238, + 1.0 + ], + "delta_full_state_norm": [ + 0.19297396177343007, + -0.2674258636999528, + 0.7068671816885492, + -0.5442517123940033, + -1.0, + 0.6129030191573488, + -1.0 + ], + "movement_text": "move backward 5 mm; move right 2 mm; move upward 13 mm; roll downward 5 degrees; pitch downward 8 degrees; yaw counterclockwise 3 degrees; open gripper;", + "next_20_movement_text": "move backward 338 mm; move right 155 mm; move upward 206 mm; roll downward 124 degrees; pitch downward 143 degrees; yaw counterclockwise 13 degrees; open gripper;", + "subtask_movement_text": "move backward 338 mm; move right 155 mm; move upward 206 mm; roll downward 124 degrees; pitch downward 143 degrees; yaw counterclockwise 13 degrees; open gripper;" + }, + { + "frame_index": 40, + "segment_id": 200, + "subtask": "approach the microwave", + "reason": "The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 6 mm; move right 3 mm; move upward 12 mm; roll downward 5 degrees; pitch downward 8 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 350 mm; move right 170 mm; move upward 205 mm; roll downward 127 degrees; pitch downward 142 degrees; yaw counterclockwise 10 degrees; open gripper;\nSubtask Movement: move backward 332 mm; move right 153 mm; move upward 193 mm; roll downward 120 degrees; pitch downward 135 degrees; yaw counterclockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 165, + 82 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.006428571883589029, + -0.002500000176951289, + 0.011785714887082577, + -0.08428571373224258, + -0.13428571820259094, + 0.04285714402794838, + 1.0 + ], + "delta_next_20": [ + -0.3496428430080414, + -0.17035715281963348, + 0.2046428769826889, + -2.2142856121063232, + -2.4828569889068604, + 0.18000000715255737, + 1.0 + ], + "delta_full_state_norm": [ + 0.15736987536168567, + -0.28131089381370755, + 0.623115162189529, + -0.5883563977550026, + -0.988173024123506, + 0.5456987650281455, + -1.0 + ], + "movement_text": "move backward 6 mm; move right 3 mm; move upward 12 mm; roll downward 5 degrees; pitch downward 8 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 350 mm; move right 170 mm; move upward 205 mm; roll downward 127 degrees; pitch downward 142 degrees; yaw counterclockwise 10 degrees; open gripper;", + "subtask_movement_text": "move backward 332 mm; move right 153 mm; move upward 193 mm; roll downward 120 degrees; pitch downward 135 degrees; yaw counterclockwise 10 degrees; open gripper;" + }, + { + "frame_index": 41, + "segment_id": 200, + "subtask": "approach the microwave", + "reason": "The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 5 mm; move upward 10 mm; roll downward 5 degrees; pitch downward 8 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 358 mm; move right 186 mm; move upward 204 mm; roll downward 129 degrees; pitch downward 141 degrees; yaw counterclockwise 8 degrees; open gripper;\nSubtask Movement: move backward 326 mm; move right 151 mm; move upward 181 mm; roll downward 115 degrees; pitch downward 127 degrees; yaw counterclockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 166, + 81 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007500000298023224, + -0.004642857238650322, + 0.010357143357396126, + -0.08857142925262451, + -0.1314285695552826, + 0.037142857909202576, + 1.0 + ], + "delta_next_20": [ + -0.35821428894996643, + -0.18607144057750702, + 0.20428574085235596, + -2.2542858123779297, + -2.468571186065674, + 0.1371428519487381, + 1.0 + ], + "delta_full_state_norm": [ + 0.12176580442408502, + -0.364621065444227, + 0.5393630880903746, + -0.6324610831160019, + -0.9570494033958901, + 0.41129016914531324, + -1.0 + ], + "movement_text": "move backward 8 mm; move right 5 mm; move upward 10 mm; roll downward 5 degrees; pitch downward 8 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 358 mm; move right 186 mm; move upward 204 mm; roll downward 129 degrees; pitch downward 141 degrees; yaw counterclockwise 8 degrees; open gripper;", + "subtask_movement_text": "move backward 326 mm; move right 151 mm; move upward 181 mm; roll downward 115 degrees; pitch downward 127 degrees; yaw counterclockwise 8 degrees; open gripper;" + }, + { + "frame_index": 42, + "segment_id": 200, + "subtask": "approach the microwave", + "reason": "The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 5 mm; move upward 10 mm; roll downward 6 degrees; pitch downward 7 degrees; yaw counterclockwise 2 degrees; open gripper;\nNext 20 Movement: move backward 365 mm; move right 201 mm; move upward 205 mm; roll downward 131 degrees; pitch downward 141 degrees; yaw counterclockwise 6 degrees; open gripper;\nSubtask Movement: move backward 319 mm; move right 146 mm; move upward 170 mm; roll downward 110 degrees; pitch downward 120 degrees; yaw counterclockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 166, + 80 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.010000000707805157, + -0.0053571430034935474, + 0.010000000707805157, + -0.09714286029338837, + -0.12857143580913544, + 0.02857142873108387, + 1.0 + ], + "delta_next_20": [ + -0.3646428883075714, + -0.20107142627239227, + 0.20535717904567719, + -2.2857141494750977, + -2.4571425914764404, + 0.09999999403953552, + 1.0 + ], + "delta_full_state_norm": [ + 0.038689613112776966, + -0.3923911256717364, + 0.5184250832156196, + -0.7206704538380004, + -0.9259259449902764, + 0.20967727532106473, + -1.0 + ], + "movement_text": "move backward 10 mm; move right 5 mm; move upward 10 mm; roll downward 6 degrees; pitch downward 7 degrees; yaw counterclockwise 2 degrees; open gripper;", + "next_20_movement_text": "move backward 365 mm; move right 201 mm; move upward 205 mm; roll downward 131 degrees; pitch downward 141 degrees; yaw counterclockwise 6 degrees; open gripper;", + "subtask_movement_text": "move backward 319 mm; move right 146 mm; move upward 170 mm; roll downward 110 degrees; pitch downward 120 degrees; yaw counterclockwise 6 degrees; open gripper;" + }, + { + "frame_index": 43, + "segment_id": 200, + "subtask": "approach the microwave", + "reason": "The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 8 mm; move upward 9 mm; roll downward 6 degrees; pitch downward 7 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 366 mm; move right 216 mm; move upward 207 mm; roll downward 132 degrees; pitch downward 140 degrees; yaw counterclockwise 4 degrees; open gripper;\nSubtask Movement: move backward 309 mm; move right 141 mm; move upward 160 mm; roll downward 104 degrees; pitch downward 113 degrees; yaw counterclockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 167, + 80 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.012500000186264515, + -0.007857142947614193, + 0.009285714477300644, + -0.10428571701049805, + -0.1257142871618271, + 0.022857142612338066, + 1.0 + ], + "delta_next_20": [ + -0.36642858386039734, + -0.21571429073810577, + 0.20678572356700897, + -2.307142734527588, + -2.4499995708465576, + 0.0714285671710968, + 1.0 + ], + "delta_full_state_norm": [ + -0.04438654725024316, + -0.4895863274160105, + 0.47654901886597534, + -0.7941782372148001, + -0.8948023242626603, + 0.07526867943823246, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 8 mm; move upward 9 mm; roll downward 6 degrees; pitch downward 7 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 366 mm; move right 216 mm; move upward 207 mm; roll downward 132 degrees; pitch downward 140 degrees; yaw counterclockwise 4 degrees; open gripper;", + "subtask_movement_text": "move backward 309 mm; move right 141 mm; move upward 160 mm; roll downward 104 degrees; pitch downward 113 degrees; yaw counterclockwise 4 degrees; open gripper;" + }, + { + "frame_index": 44, + "segment_id": 200, + "subtask": "approach the microwave", + "reason": "The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 13 mm; move right 8 mm; move upward 9 mm; roll downward 6 degrees; pitch downward 7 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 364 mm; move right 229 mm; move upward 208 mm; roll downward 132 degrees; pitch downward 140 degrees; yaw counterclockwise 3 degrees; open gripper;\nSubtask Movement: move backward 296 mm; move right 133 mm; move upward 151 mm; roll downward 98 degrees; pitch downward 105 degrees; yaw counterclockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 168, + 80 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013214285485446453, + -0.007500000298023224, + 0.008571429178118706, + -0.10428571701049805, + -0.12428571283817291, + 0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + -0.363571435213089, + -0.22857141494750977, + 0.2078571617603302, + -2.3042855262756348, + -2.439999580383301, + 0.048571426421403885, + 1.0 + ], + "delta_full_state_norm": [ + -0.06812258422588102, + -0.47570130635426455, + 0.4346730091164652, + -0.7941782372148001, + -0.8792405138988523, + -0.02553774556778532, + -1.0 + ], + "movement_text": "move backward 13 mm; move right 8 mm; move upward 9 mm; roll downward 6 degrees; pitch downward 7 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 364 mm; move right 229 mm; move upward 208 mm; roll downward 132 degrees; pitch downward 140 degrees; yaw counterclockwise 3 degrees; open gripper;", + "subtask_movement_text": "move backward 296 mm; move right 133 mm; move upward 151 mm; roll downward 98 degrees; pitch downward 105 degrees; yaw counterclockwise 3 degrees; open gripper;" + }, + { + "frame_index": 45, + "segment_id": 200, + "subtask": "approach the microwave", + "reason": "The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 16 mm; move right 8 mm; move upward 8 mm; roll downward 6 degrees; pitch downward 7 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 358 mm; move right 242 mm; move upward 209 mm; roll downward 131 degrees; pitch downward 139 degrees; yaw counterclockwise 2 degrees; open gripper;\nSubtask Movement: move backward 283 mm; move right 125 mm; move upward 143 mm; roll downward 92 degrees; pitch downward 98 degrees; yaw counterclockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 169, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.015714285895228386, + -0.007500000298023224, + 0.007857142947614193, + -0.10571428388357162, + -0.1257142871618271, + 0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + -0.3582143187522888, + -0.24214284121990204, + 0.20857146382331848, + -2.291428327560425, + -2.4285712242126465, + 0.030000001192092896, + 1.0 + ], + "delta_full_state_norm": [ + -0.15119877553718897, + -0.47570130635426455, + 0.3927969447668209, + -0.8088797478854015, + -0.8948023242626603, + -0.12634419247990947, + -1.0 + ], + "movement_text": "move backward 16 mm; move right 8 mm; move upward 8 mm; roll downward 6 degrees; pitch downward 7 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 358 mm; move right 242 mm; move upward 209 mm; roll downward 131 degrees; pitch downward 139 degrees; yaw counterclockwise 2 degrees; open gripper;", + "subtask_movement_text": "move backward 283 mm; move right 125 mm; move upward 143 mm; roll downward 92 degrees; pitch downward 98 degrees; yaw counterclockwise 2 degrees; open gripper;" + }, + { + "frame_index": 46, + "segment_id": 200, + "subtask": "approach the microwave", + "reason": "The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 18 mm; move right 6 mm; move upward 9 mm; roll downward 6 degrees; pitch downward 7 degrees; yaw counterclockwise 1 degrees; open gripper;\nNext 20 Movement: move backward 348 mm; move right 256 mm; move upward 209 mm; roll downward 130 degrees; pitch downward 138 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 267 mm; move right 118 mm; move upward 135 mm; roll downward 86 degrees; pitch downward 91 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 170, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.018214285373687744, + -0.006428571883589029, + 0.008571429178118706, + -0.10999999940395355, + -0.1257142871618271, + 0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + -0.34785714745521545, + -0.25607141852378845, + 0.20892858505249023, + -2.272857189178467, + -2.4099998474121094, + 0.015714285895228386, + 1.0 + ], + "delta_full_state_norm": [ + -0.2342749359002092, + -0.43404622506500923, + 0.4346730091164652, + -0.8529844332464007, + -0.8948023242626603, + -0.22715063939203362, + -1.0 + ], + "movement_text": "move backward 18 mm; move right 6 mm; move upward 9 mm; roll downward 6 degrees; pitch downward 7 degrees; yaw counterclockwise 1 degrees; open gripper;", + "next_20_movement_text": "move backward 348 mm; move right 256 mm; move upward 209 mm; roll downward 130 degrees; pitch downward 138 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 267 mm; move right 118 mm; move upward 135 mm; roll downward 86 degrees; pitch downward 91 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 47, + "segment_id": 200, + "subtask": "approach the microwave", + "reason": "The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 6 mm; move upward 9 mm; roll downward 6 degrees; pitch downward 7 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 333 mm; move right 271 mm; move upward 207 mm; roll downward 129 degrees; pitch downward 137 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move backward 249 mm; move right 111 mm; move upward 126 mm; roll downward 80 degrees; pitch downward 84 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 171, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.020357143133878708, + -0.006071428768336773, + 0.008571429178118706, + -0.10999999940395355, + -0.12428571283817291, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + -0.3328571617603302, + -0.27071428298950195, + 0.20678572356700897, + -2.2457141876220703, + -2.385714292526245, + 0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + -0.3054831087236982, + -0.4201611858992458, + 0.4346730091164652, + -0.8529844332464007, + -0.8792405138988523, + -0.32795707535110463, + -1.0 + ], + "movement_text": "move backward 20 mm; move right 6 mm; move upward 9 mm; roll downward 6 degrees; pitch downward 7 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 333 mm; move right 271 mm; move upward 207 mm; roll downward 129 degrees; pitch downward 137 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 249 mm; move right 111 mm; move upward 126 mm; roll downward 80 degrees; pitch downward 84 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 48, + "segment_id": 200, + "subtask": "approach the microwave", + "reason": "The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 8 mm; move upward 9 mm; roll downward 6 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 315 mm; move right 285 mm; move upward 202 mm; roll downward 127 degrees; pitch downward 135 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 229 mm; move right 105 mm; move upward 118 mm; roll downward 74 degrees; pitch downward 77 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 172, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02142857201397419, + -0.007500000298023224, + 0.008571429178118706, + -0.1071428582072258, + -0.12285714596509933, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.31464287638664246, + -0.28464287519454956, + 0.2021428793668747, + -2.211428642272949, + -2.354285717010498, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.34108719513544283, + -0.47570130635426455, + 0.4346730091164652, + -0.8235813352306004, + -0.8636787846960454, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 21 mm; move right 8 mm; move upward 9 mm; roll downward 6 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 315 mm; move right 285 mm; move upward 202 mm; roll downward 127 degrees; pitch downward 135 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 229 mm; move right 105 mm; move upward 118 mm; roll downward 74 degrees; pitch downward 77 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 49, + "segment_id": 200, + "subtask": "approach the microwave", + "reason": "The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 6 mm; move upward 9 mm; roll downward 6 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 293 mm; move right 297 mm; move upward 194 mm; roll downward 125 degrees; pitch downward 133 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 207 mm; move right 98 mm; move upward 109 mm; roll downward 67 degrees; pitch downward 70 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 174, + 79 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.022142857313156128, + -0.006071428768336773, + 0.009285714477300644, + -0.10857142508029938, + -0.12285714596509933, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2932143211364746, + -0.29678571224212646, + 0.19428573548793793, + -2.177142858505249, + -2.3142855167388916, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.3648232321110806, + -0.4201611858992458, + 0.47654901886597534, + -0.8382828459012017, + -0.8636787846960454, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 6 mm; move upward 9 mm; roll downward 6 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 293 mm; move right 297 mm; move upward 194 mm; roll downward 125 degrees; pitch downward 133 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 207 mm; move right 98 mm; move upward 109 mm; roll downward 67 degrees; pitch downward 70 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 50, + "segment_id": 200, + "subtask": "approach the microwave", + "reason": "The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 6 mm; move upward 9 mm; roll downward 6 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 271 mm; move right 310 mm; move upward 185 mm; roll downward 123 degrees; pitch downward 130 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 185 mm; move right 92 mm; move upward 100 mm; roll downward 61 degrees; pitch downward 63 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 175, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.021785713732242584, + -0.006428571883589029, + 0.009285714477300644, + -0.1071428582072258, + -0.12142857164144516, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2710714638233185, + -0.31035715341567993, + 0.1849999874830246, + -2.1399998664855957, + -2.2699997425079346, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.35295518267497383, + -0.43404622506500923, + 0.47654901886597534, + -0.8235813352306004, + -0.8481169743322374, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 6 mm; move upward 9 mm; roll downward 6 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 271 mm; move right 310 mm; move upward 185 mm; roll downward 123 degrees; pitch downward 130 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 185 mm; move right 92 mm; move upward 100 mm; roll downward 61 degrees; pitch downward 63 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 51, + "segment_id": 200, + "subtask": "approach the microwave", + "reason": "The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 7 mm; move upward 11 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 249 mm; move right 324 mm; move upward 176 mm; roll downward 120 degrees; pitch downward 127 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 163 mm; move right 85 mm; move upward 90 mm; roll downward 55 degrees; pitch downward 56 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 176, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.021785713732242584, + -0.007142857648432255, + 0.010714286006987095, + -0.11428571492433548, + -0.11857143044471741, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2492857277393341, + -0.323928564786911, + 0.17571428418159485, + -2.098571300506592, + -2.221428394317627, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.35295518267497383, + -0.4618162852925186, + 0.5603010929651298, + -0.8970891186074, + -0.8169934347656226, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 7 mm; move upward 11 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 249 mm; move right 324 mm; move upward 176 mm; roll downward 120 degrees; pitch downward 127 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 163 mm; move right 85 mm; move upward 90 mm; roll downward 55 degrees; pitch downward 56 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 52, + "segment_id": 200, + "subtask": "approach the microwave", + "reason": "The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 7 mm; move upward 11 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 227 mm; move right 336 mm; move upward 165 mm; roll downward 117 degrees; pitch downward 124 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 141 mm; move right 78 mm; move upward 80 mm; roll downward 49 degrees; pitch downward 49 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 177, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.021785713732242584, + -0.007142857648432255, + 0.010714286006987095, + -0.11714285612106323, + -0.11714285612106323, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.22749999165534973, + -0.33642858266830444, + 0.16500000655651093, + -2.0428569316864014, + -2.169999837875366, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.35295518267497383, + -0.4618162852925186, + 0.5603010929651298, + -0.9264922166232004, + -0.8014316244018146, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 7 mm; move upward 11 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 227 mm; move right 336 mm; move upward 165 mm; roll downward 117 degrees; pitch downward 124 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 141 mm; move right 78 mm; move upward 80 mm; roll downward 49 degrees; pitch downward 49 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 53, + "segment_id": 200, + "subtask": "approach the microwave", + "reason": "The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 22 mm; move right 8 mm; move upward 11 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 206 mm; move right 348 mm; move upward 154 mm; roll downward 113 degrees; pitch downward 121 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 120 mm; move right 71 mm; move upward 69 mm; roll downward 42 degrees; pitch downward 42 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 179, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.021785713732242584, + -0.008214286528527737, + 0.011071428656578064, + -0.11714285612106323, + -0.12142857164144516, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.20571427047252655, + -0.3482142984867096, + 0.1542857140302658, + -1.9671425819396973, + -2.104285478591919, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.35295518267497383, + -0.5034713846857914, + 0.5812390978398847, + -0.9264922166232004, + -0.8481169743322374, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 22 mm; move right 8 mm; move upward 11 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 206 mm; move right 348 mm; move upward 154 mm; roll downward 113 degrees; pitch downward 121 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 120 mm; move right 71 mm; move upward 69 mm; roll downward 42 degrees; pitch downward 42 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 54, + "segment_id": 200, + "subtask": "approach the microwave", + "reason": "The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 9 mm; move upward 11 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 184 mm; move right 358 mm; move upward 143 mm; roll downward 108 degrees; pitch downward 116 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 98 mm; move right 63 mm; move upward 58 mm; roll downward 35 degrees; pitch downward 35 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 180, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.021071428433060646, + -0.009285714477300644, + 0.011071428656578064, + -0.11999999731779099, + -0.12285714596509933, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.18392857909202576, + -0.35821428894996643, + 0.14321428537368774, + -1.8814282417297363, + -2.0228569507598877, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.3292191456993361, + -0.5451264478710294, + 0.5812390978398847, + -0.9558953146390007, + -0.8636787846960454, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 21 mm; move right 9 mm; move upward 11 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 184 mm; move right 358 mm; move upward 143 mm; roll downward 108 degrees; pitch downward 116 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 98 mm; move right 63 mm; move upward 58 mm; roll downward 35 degrees; pitch downward 35 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 55, + "segment_id": 200, + "subtask": "approach the microwave", + "reason": "The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 21 mm; move right 10 mm; move upward 11 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 163 mm; move right 365 mm; move upward 132 mm; roll downward 102 degrees; pitch downward 111 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 77 mm; move right 54 mm; move upward 47 mm; roll downward 28 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 182, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02071428671479225, + -0.010357143357396126, + 0.011071428656578064, + -0.11999999731779099, + -0.12285714596509933, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.16285714507102966, + -0.36500003933906555, + 0.13214285671710968, + -1.7871426343917847, + -1.9328570365905762, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.3173511581598051, + -0.5867815472643021, + 0.5812390978398847, + -0.9558953146390007, + -0.8636787846960454, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 21 mm; move right 10 mm; move upward 11 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 163 mm; move right 365 mm; move upward 132 mm; roll downward 102 degrees; pitch downward 111 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 77 mm; move right 54 mm; move upward 47 mm; roll downward 28 degrees; pitch downward 28 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 56, + "segment_id": 200, + "subtask": "approach the microwave", + "reason": "The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 20 mm; move right 13 mm; move upward 11 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 142 mm; move right 369 mm; move upward 121 mm; roll downward 97 degrees; pitch downward 105 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 56 mm; move right 43 mm; move upward 36 mm; roll downward 21 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 183, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01964285783469677, + -0.012857143767178059, + 0.011071428656578064, + -0.12428571283817291, + -0.12142857164144516, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.1421428620815277, + -0.36892855167388916, + 0.12107143551111221, + -1.6842856407165527, + -1.8314285278320312, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.28174707174806046, + -0.6839767671125938, + 0.5812390978398847, + -1.0, + -0.8481169743322374, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 20 mm; move right 13 mm; move upward 11 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 142 mm; move right 369 mm; move upward 121 mm; roll downward 97 degrees; pitch downward 105 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 56 mm; move right 43 mm; move upward 36 mm; roll downward 21 degrees; pitch downward 21 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 57, + "segment_id": 200, + "subtask": "approach the microwave", + "reason": "The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 18 mm; move right 15 mm; move upward 12 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 123 mm; move right 370 mm; move upward 110 mm; roll downward 90 degrees; pitch downward 99 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 36 mm; move right 30 mm; move upward 25 mm; roll downward 14 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 185, + 78 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.018214285373687744, + -0.014642857015132904, + 0.012142857536673546, + -0.12428571283817291, + -0.12285714596509933, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.12250000238418579, + -0.37000003457069397, + 0.11000000685453415, + -1.5685712099075317, + -1.7200000286102295, + -0.0014285714132711291, + 1.0 + ], + "delta_full_state_norm": [ + -0.2342749359002092, + -0.7534018724213235, + 0.6440531670642842, + -1.0, + -0.8636787846960454, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 18 mm; move right 15 mm; move upward 12 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 123 mm; move right 370 mm; move upward 110 mm; roll downward 90 degrees; pitch downward 99 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 36 mm; move right 30 mm; move upward 25 mm; roll downward 14 degrees; pitch downward 14 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 58, + "segment_id": 200, + "subtask": "approach the microwave", + "reason": "The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 18 mm; move right 16 mm; move upward 13 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 104 mm; move right 369 mm; move upward 98 mm; roll downward 83 degrees; pitch downward 92 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 18 mm; move right 16 mm; move upward 13 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 186, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.018214285373687744, + -0.015714285895228386, + 0.012500000186264515, + -0.12428571283817291, + -0.12428571283817291, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.10357141494750977, + -0.3692857623100281, + 0.09785714000463486, + -1.4542855024337769, + -1.6057143211364746, + -0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + -0.2342749359002092, + -0.7950569718145963, + 0.6649911719390391, + -1.0, + -0.8792405138988523, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 18 mm; move right 16 mm; move upward 13 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 104 mm; move right 369 mm; move upward 98 mm; roll downward 83 degrees; pitch downward 92 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 18 mm; move right 16 mm; move upward 13 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 59, + "segment_id": 200, + "subtask": "approach the microwave", + "reason": "The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The end-effector is shown making physical contact with the microwave's control panel and performing a pressing motion against the buttons, indicating the execution of the action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 17 mm; move right 17 mm; move upward 12 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 84 mm; move right 368 mm; move upward 85 mm; roll downward 77 degrees; pitch downward 85 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 188, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.01714285835623741, + -0.01714285835623741, + 0.012142857536673546, + -0.1257142871618271, + -0.12428571283817291, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.0835714340209961, + -0.3678571581840515, + 0.08535713702440262, + -1.337142825126648, + -1.4857141971588135, + -0.009999999776482582, + 1.0 + ], + "delta_full_state_norm": [ + -0.19867091138504034, + -0.8505971284776501, + 0.6440531670642842, + -1.0, + -0.8792405138988523, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 17 mm; move right 17 mm; move upward 12 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 84 mm; move right 368 mm; move upward 85 mm; roll downward 77 degrees; pitch downward 85 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 60, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 15 mm; move right 18 mm; move upward 11 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 64 mm; move right 365 mm; move upward 73 mm; roll downward 70 degrees; pitch downward 78 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 1319 mm; move right 719 mm; move upward 40 mm; roll downward 144 degrees; pitch downward 43 degrees; yaw clockwise 44 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 190, + 77 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.015000000596046448, + -0.018214285373687744, + 0.011428571306169033, + -0.12428571283817291, + -0.11999999731779099, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.06392858177423477, + -0.3653571307659149, + 0.07321428507566452, + -1.222857117652893, + -1.3642854690551758, + -0.017142856493592262, + 1.0 + ], + "delta_full_state_norm": [ + -0.12746273856155121, + -0.892252155454853, + 0.6021771027146399, + -1.0, + -0.8325551639684294, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 15 mm; move right 18 mm; move upward 11 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 64 mm; move right 365 mm; move upward 73 mm; roll downward 70 degrees; pitch downward 78 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 1319 mm; move right 719 mm; move upward 40 mm; roll downward 144 degrees; pitch downward 43 degrees; yaw clockwise 44 degrees; open gripper;" + }, + { + "frame_index": 61, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 14 mm; move right 20 mm; move upward 11 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 46 mm; move right 361 mm; move upward 62 mm; roll downward 64 degrees; pitch downward 72 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 1334 mm; move right 700 mm; move upward 29 mm; roll downward 137 degrees; pitch downward 36 degrees; yaw clockwise 44 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.013928571715950966, + -0.01964285783469677, + 0.011428571306169033, + -0.11999999731779099, + -0.11999999731779099, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.04571428894996643, + -0.36071428656578064, + 0.06178571656346321, + -1.1114287376403809, + -1.2485711574554443, + -0.025714285671710968, + 1.0 + ], + "delta_full_state_norm": [ + -0.09185865214980671, + -0.9477923121179068, + 0.6021771027146399, + -0.9558953146390007, + -0.8325551639684294, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 14 mm; move right 20 mm; move upward 11 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 46 mm; move right 361 mm; move upward 62 mm; roll downward 64 degrees; pitch downward 72 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 1334 mm; move right 700 mm; move upward 29 mm; roll downward 137 degrees; pitch downward 36 degrees; yaw clockwise 44 degrees; open gripper;" + }, + { + "frame_index": 62, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 12 mm; move right 20 mm; move upward 11 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 28 mm; move right 355 mm; move upward 50 mm; roll downward 58 degrees; pitch downward 65 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 1348 mm; move right 681 mm; move upward 18 mm; roll downward 130 degrees; pitch downward 30 degrees; yaw clockwise 44 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 194, + 76 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011785714887082577, + -0.020000001415610313, + 0.011428571306169033, + -0.11857143044471741, + -0.12142857164144516, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.028214285150170326, + -0.3546428978443146, + 0.0503571443259716, + -1.0057142972946167, + -1.1328569650650024, + -0.0357142835855484, + 1.0 + ], + "delta_full_state_norm": [ + -0.020650510274605405, + -0.9616773693876878, + 0.6021771027146399, + -0.9411938039683994, + -0.8481169743322374, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 12 mm; move right 20 mm; move upward 11 mm; roll downward 7 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 28 mm; move right 355 mm; move upward 50 mm; roll downward 58 degrees; pitch downward 65 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 1348 mm; move right 681 mm; move upward 18 mm; roll downward 130 degrees; pitch downward 30 degrees; yaw clockwise 44 degrees; open gripper;" + }, + { + "frame_index": 63, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 10 mm; move right 21 mm; move upward 10 mm; roll downward 6 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 13 mm; move right 348 mm; move upward 39 mm; roll downward 52 degrees; pitch downward 58 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 1360 mm; move right 661 mm; move upward 6 mm; roll downward 124 degrees; pitch downward 23 degrees; yaw clockwise 44 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 196, + 75 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.009642857126891613, + -0.02071428671479225, + 0.010357143357396126, + -0.1014285683631897, + -0.11571428924798965, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.013214285485446453, + -0.34785714745521545, + 0.038928575813770294, + -0.9057143926620483, + -1.0199998617172241, + -0.045714281499385834, + 1.0 + ], + "delta_full_state_norm": [ + 0.05055766254888372, + -0.9894474115111797, + 0.5393630880903746, + -0.7647750625244022, + -0.7858698951990077, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 10 mm; move right 21 mm; move upward 10 mm; roll downward 6 degrees; pitch downward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 13 mm; move right 348 mm; move upward 39 mm; roll downward 52 degrees; pitch downward 58 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 1360 mm; move right 661 mm; move upward 6 mm; roll downward 124 degrees; pitch downward 23 degrees; yaw clockwise 44 degrees; open gripper;" + }, + { + "frame_index": 64, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 8 mm; move right 21 mm; move upward 9 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 0 mm; move right 340 mm; move upward 29 mm; roll downward 48 degrees; pitch downward 52 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 1370 mm; move right 640 mm; move downward 4 mm; roll downward 118 degrees; pitch downward 16 degrees; yaw clockwise 44 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 75 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.007857142947614193, + -0.021071428433060646, + 0.009285714477300644, + -0.09142857044935226, + -0.1128571406006813, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.00035714133991859853, + -0.3400000035762787, + 0.02857143245637417, + -0.8300000429153442, + -0.9157142639160156, + -0.05857142433524132, + 1.0 + ], + "delta_full_state_norm": [ + 0.10989778593626598, + -1.0, + 0.47654901886597534, + -0.6618641811318022, + -0.7547462744713918, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 8 mm; move right 21 mm; move upward 9 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 0 mm; move right 340 mm; move upward 29 mm; roll downward 48 degrees; pitch downward 52 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 1370 mm; move right 640 mm; move downward 4 mm; roll downward 118 degrees; pitch downward 16 degrees; yaw clockwise 44 degrees; open gripper;" + }, + { + "frame_index": 65, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 5 mm; move right 21 mm; move upward 8 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 11 mm; move right 333 mm; move upward 19 mm; roll downward 44 degrees; pitch downward 47 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 1377 mm; move right 619 mm; move downward 14 mm; roll downward 112 degrees; pitch downward 9 degrees; yaw clockwise 44 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 74 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0053571430034935474, + -0.02142857201397419, + 0.008214286528527737, + -0.08714285492897034, + -0.1071428582072258, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.011071428656578064, + -0.33250001072883606, + 0.019285716116428375, + -0.7671428322792053, + -0.8171428442001343, + -0.0714285671710968, + 1.0 + ], + "delta_full_state_norm": [ + 0.19297396177343007, + -1.0, + 0.41373500424171006, + -0.6177594957708029, + -0.692499195338162, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 5 mm; move right 21 mm; move upward 8 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 11 mm; move right 333 mm; move upward 19 mm; roll downward 44 degrees; pitch downward 47 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 1377 mm; move right 619 mm; move downward 14 mm; roll downward 112 degrees; pitch downward 9 degrees; yaw clockwise 44 degrees; open gripper;" + }, + { + "frame_index": 66, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 3 mm; move right 21 mm; move upward 6 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 20 mm; move right 326 mm; move upward 11 mm; roll downward 41 degrees; pitch downward 42 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 1383 mm; move right 597 mm; move downward 22 mm; roll downward 107 degrees; pitch downward 3 degrees; yaw clockwise 44 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 74 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0032142859417945147, + -0.021071428433060646, + 0.006428571883589029, + -0.08285713940858841, + -0.1014285683631897, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.020357144996523857, + -0.3257143199443817, + 0.011071428656578064, + -0.7142857313156128, + -0.727142870426178, + -0.08571428060531616, + 1.0 + ], + "delta_full_state_norm": [ + 0.26418211138570324, + -1.0, + 0.3090448979677336, + -0.5736548104098036, + -0.6302520350439311, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 3 mm; move right 21 mm; move upward 6 mm; roll downward 5 degrees; pitch downward 6 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 20 mm; move right 326 mm; move upward 11 mm; roll downward 41 degrees; pitch downward 42 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 1383 mm; move right 597 mm; move downward 22 mm; roll downward 107 degrees; pitch downward 3 degrees; yaw clockwise 44 degrees; open gripper;" + }, + { + "frame_index": 67, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 2 mm; move right 20 mm; move upward 4 mm; roll downward 4 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 28 mm; move right 318 mm; move upward 5 mm; roll downward 38 degrees; pitch downward 37 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 1386 mm; move right 576 mm; move downward 28 mm; roll downward 103 degrees; pitch upward 2 degrees; yaw clockwise 44 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0021428572945296764, + -0.020000001415610313, + 0.0039285714738070965, + -0.07571428269147873, + -0.09285714477300644, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.027500001713633537, + -0.31785714626312256, + 0.004642857238650322, + -0.6657143235206604, + -0.6442857384681702, + -0.09999999403953552, + 1.0 + ], + "delta_full_state_norm": [ + 0.299786190060376, + -0.9616773693876878, + 0.16247875464417993, + -0.500147027033004, + -0.5368814163440865, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 2 mm; move right 20 mm; move upward 4 mm; roll downward 4 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 28 mm; move right 318 mm; move upward 5 mm; roll downward 38 degrees; pitch downward 37 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 1386 mm; move right 576 mm; move downward 28 mm; roll downward 103 degrees; pitch upward 2 degrees; yaw clockwise 44 degrees; open gripper;" + }, + { + "frame_index": 68, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 20 mm; move upward 1 mm; roll downward 4 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 34 mm; move right 310 mm; move upward 1 mm; roll downward 36 degrees; pitch downward 32 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move forward 1388 mm; move right 556 mm; move downward 32 mm; roll downward 98 degrees; pitch upward 8 degrees; yaw clockwise 44 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 73 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01964285783469677, + 0.0007142857066355646, + -0.07285714149475098, + -0.08285713940858841, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.03392857313156128, + -0.31035712361335754, + 0.0007142857066355646, + -0.6228571534156799, + -0.5642856955528259, + -0.11428570747375488, + 1.0 + ], + "delta_full_state_norm": [ + 0.37099434740972104, + -0.9477923121179068, + -0.025963401841392342, + -0.47074392901720363, + -0.4279489061194328, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 20 mm; move upward 1 mm; roll downward 4 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 34 mm; move right 310 mm; move upward 1 mm; roll downward 36 degrees; pitch downward 32 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 1388 mm; move right 556 mm; move downward 32 mm; roll downward 98 degrees; pitch upward 8 degrees; yaw clockwise 44 degrees; open gripper;" + }, + { + "frame_index": 69, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 20 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 39 mm; move right 303 mm; move downward 0 mm; roll downward 33 degrees; pitch downward 28 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move forward 1388 mm; move right 537 mm; move downward 33 mm; roll downward 94 degrees; pitch upward 13 degrees; yaw clockwise 44 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01964285783469677, + 0.0, + -0.0714285746216774, + -0.07857143133878708, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.038928575813770294, + -0.30250000953674316, + 0.0, + -0.582857072353363, + -0.49000000953674316, + -0.12857142090797424, + 1.0 + ], + "delta_full_state_norm": [ + 0.37099434740972104, + -0.9477923121179068, + -0.06783943547846116, + -0.4560424183466023, + -0.3812636373500111, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 20 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 5 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 39 mm; move right 303 mm; move downward 0 mm; roll downward 33 degrees; pitch downward 28 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 1388 mm; move right 537 mm; move downward 33 mm; roll downward 94 degrees; pitch upward 13 degrees; yaw clockwise 44 degrees; open gripper;" + }, + { + "frame_index": 70, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 20 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 45 mm; move right 294 mm; move downward 0 mm; roll downward 31 degrees; pitch downward 24 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move forward 1388 mm; move right 517 mm; move downward 33 mm; roll downward 90 degrees; pitch upward 17 degrees; yaw clockwise 44 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.020000001415610313, + 0.0, + -0.0657142847776413, + -0.07285714149475098, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.045357149094343185, + -0.29357144236564636, + 0.0, + -0.5428571701049805, + -0.41428571939468384, + -0.14428570866584778, + 1.0 + ], + "delta_full_state_norm": [ + 0.37099434740972104, + -0.9616773693876878, + -0.06783943547846116, + -0.3972361456404041, + -0.3190164770557802, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 20 mm; move downward 0 mm; roll downward 4 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 45 mm; move right 294 mm; move downward 0 mm; roll downward 31 degrees; pitch downward 24 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move forward 1388 mm; move right 517 mm; move downward 33 mm; roll downward 90 degrees; pitch upward 17 degrees; yaw clockwise 44 degrees; open gripper;" + }, + { + "frame_index": 71, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 20 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 52 mm; move right 284 mm; move downward 0 mm; roll downward 29 degrees; pitch downward 20 degrees; yaw clockwise 9 degrees; open gripper;\nSubtask Movement: move forward 1388 mm; move right 497 mm; move downward 33 mm; roll downward 86 degrees; pitch upward 21 degrees; yaw clockwise 44 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01964285783469677, + 0.0, + -0.058571428060531616, + -0.06714285910129547, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.05214285850524902, + -0.28392860293388367, + 0.0, + -0.5071428418159485, + -0.3414285480976105, + -0.1614285707473755, + 1.0 + ], + "delta_full_state_norm": [ + 0.37099434740972104, + -0.9477923121179068, + -0.06783943547846116, + -0.32372836226360446, + -0.2567693979225505, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 20 mm; move downward 0 mm; roll downward 3 degrees; pitch downward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 52 mm; move right 284 mm; move downward 0 mm; roll downward 29 degrees; pitch downward 20 degrees; yaw clockwise 9 degrees; open gripper;", + "subtask_movement_text": "move forward 1388 mm; move right 497 mm; move downward 33 mm; roll downward 86 degrees; pitch upward 21 degrees; yaw clockwise 44 degrees; open gripper;" + }, + { + "frame_index": 72, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 19 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 60 mm; move right 273 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 16 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move forward 1388 mm; move right 478 mm; move downward 33 mm; roll downward 83 degrees; pitch upward 25 degrees; yaw clockwise 44 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.018928570672869682, + 0.0, + -0.041428569704294205, + -0.051428571343421936, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.06000000238418579, + -0.2728571593761444, + 0.0, + -0.48000001907348633, + -0.2742857038974762, + -0.18142856657505035, + 1.0 + ], + "delta_full_state_norm": [ + 0.37099434740972104, + -0.9200221975783449, + -0.06783943547846116, + -0.14730965915690608, + -0.08558980856466702, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 19 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 60 mm; move right 273 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 16 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 1388 mm; move right 478 mm; move downward 33 mm; roll downward 83 degrees; pitch upward 25 degrees; yaw clockwise 44 degrees; open gripper;" + }, + { + "frame_index": 73, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 18 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 68 mm; move right 262 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 13 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 1388 mm; move right 459 mm; move downward 33 mm; roll downward 81 degrees; pitch upward 28 degrees; yaw clockwise 44 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 72 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.018214285373687744, + 0.0, + -0.03142857179045677, + -0.03999999910593033, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.0682142898440361, + -0.26178571581840515, + 0.0, + -0.4714285731315613, + -0.22285713255405426, + -0.2028571367263794, + 1.0 + ], + "delta_full_state_norm": [ + 0.37099434740972104, + -0.892252155454853, + -0.06783943547846116, + -0.04439877776430612, + 0.03890443086279349, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 18 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 68 mm; move right 262 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 13 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 1388 mm; move right 459 mm; move downward 33 mm; roll downward 81 degrees; pitch upward 28 degrees; yaw clockwise 44 degrees; open gripper;" + }, + { + "frame_index": 74, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 16 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 78 mm; move right 251 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 10 degrees; yaw clockwise 13 degrees; open gripper;\nSubtask Movement: move forward 1388 mm; move right 440 mm; move downward 33 mm; roll downward 79 degrees; pitch upward 30 degrees; yaw clockwise 44 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01607142947614193, + 0.0, + -0.025714285671710968, + -0.03285714238882065, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.07750000059604645, + -0.2507142722606659, + 0.0, + -0.4699999988079071, + -0.18285714089870453, + -0.22428570687770844, + 1.0 + ], + "delta_full_state_norm": [ + 0.37099434740972104, + -0.8089420290843773, + -0.06783943547846116, + 0.014407456604593305, + 0.1167133203598314, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 16 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 78 mm; move right 251 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 10 degrees; yaw clockwise 13 degrees; open gripper;", + "subtask_movement_text": "move forward 1388 mm; move right 440 mm; move downward 33 mm; roll downward 79 degrees; pitch upward 30 degrees; yaw clockwise 44 degrees; open gripper;" + }, + { + "frame_index": 75, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 87 mm; move right 241 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 9 degrees; yaw clockwise 14 degrees; open gripper;\nSubtask Movement: move forward 1388 mm; move right 424 mm; move downward 33 mm; roll downward 77 degrees; pitch upward 32 degrees; yaw clockwise 44 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.01428571529686451, + 0.0, + -0.017142856493592262, + -0.02142857201397419, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.08714285492897034, + -0.2410714477300644, + 0.0, + -0.47285714745521545, + -0.15000000596046448, + -0.24714285135269165, + 1.0 + ], + "delta_full_state_norm": [ + 0.37099434740972104, + -0.7395168875676126, + -0.06783943547846116, + 0.10261680815794261, + 0.24120753949704166, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 87 mm; move right 241 mm; move downward 0 mm; roll downward 27 degrees; pitch downward 9 degrees; yaw clockwise 14 degrees; open gripper;", + "subtask_movement_text": "move forward 1388 mm; move right 424 mm; move downward 33 mm; roll downward 77 degrees; pitch upward 32 degrees; yaw clockwise 44 degrees; open gripper;" + }, + { + "frame_index": 76, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 14 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 97 mm; move right 233 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 7 degrees; yaw clockwise 15 degrees; open gripper;\nSubtask Movement: move forward 1388 mm; move right 410 mm; move downward 33 mm; roll downward 76 degrees; pitch upward 33 degrees; yaw clockwise 44 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.013928571715950966, + 0.0, + -0.008571428246796131, + -0.009999999776482582, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.09749999642372131, + -0.23250000178813934, + 0.0, + -0.48428574204444885, + -0.12857143580913544, + -0.26999998092651367, + 1.0 + ], + "delta_full_state_norm": [ + 0.37099434740972104, + -0.7256318302978316, + -0.06783943547846116, + 0.19082615012696702, + 0.3657017789245023, + -0.4959678065133285, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 14 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 97 mm; move right 233 mm; move downward 0 mm; roll downward 28 degrees; pitch downward 7 degrees; yaw clockwise 15 degrees; open gripper;", + "subtask_movement_text": "move forward 1388 mm; move right 410 mm; move downward 33 mm; roll downward 76 degrees; pitch upward 33 degrees; yaw clockwise 44 degrees; open gripper;" + }, + { + "frame_index": 77, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 1 mm; move right 14 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 107 mm; move right 224 mm; move downward 0 mm; roll downward 29 degrees; pitch downward 7 degrees; yaw clockwise 17 degrees; open gripper;\nSubtask Movement: move forward 1388 mm; move right 396 mm; move downward 33 mm; roll downward 76 degrees; pitch upward 34 degrees; yaw clockwise 44 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0007142857066355646, + -0.013928571715950966, + 0.0, + -0.009999999776482582, + -0.008571428246796131, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.10749999433755875, + -0.22392860054969788, + 0.0, + -0.5042857527732849, + -0.11857142299413681, + -0.2914285659790039, + 1.0 + ], + "delta_full_state_norm": [ + 0.3947303979252348, + -0.7256318302978316, + -0.06783943547846116, + 0.17612459153474225, + 0.3812635588529347, + -0.5295699527457733, + -1.0 + ], + "movement_text": "move forward 1 mm; move right 14 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 107 mm; move right 224 mm; move downward 0 mm; roll downward 29 degrees; pitch downward 7 degrees; yaw clockwise 17 degrees; open gripper;", + "subtask_movement_text": "move forward 1388 mm; move right 396 mm; move downward 33 mm; roll downward 76 degrees; pitch upward 34 degrees; yaw clockwise 44 degrees; open gripper;" + }, + { + "frame_index": 78, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 2 mm; move right 14 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 117 mm; move right 215 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 6 degrees; yaw clockwise 18 degrees; open gripper;\nSubtask Movement: move forward 1387 mm; move right 382 mm; move downward 33 mm; roll downward 75 degrees; pitch upward 34 degrees; yaw clockwise 44 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0017857144121080637, + -0.01428571529686451, + 0.0, + -0.0071428571827709675, + -0.004285714123398066, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.11678571999073029, + -0.21464288234710693, + 0.0, + -0.5214285850524902, + -0.10999999195337296, + -0.3114285171031952, + 1.0 + ], + "delta_full_state_norm": [ + 0.4303344785341754, + -0.7395168875676126, + -0.06783943547846116, + 0.20552770392702957, + 0.4279488935656699, + -0.5967742452106628, + -1.0 + ], + "movement_text": "move forward 2 mm; move right 14 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 117 mm; move right 215 mm; move downward 0 mm; roll downward 30 degrees; pitch downward 6 degrees; yaw clockwise 18 degrees; open gripper;", + "subtask_movement_text": "move forward 1387 mm; move right 382 mm; move downward 33 mm; roll downward 75 degrees; pitch upward 34 degrees; yaw clockwise 44 degrees; open gripper;" + }, + { + "frame_index": 79, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 15 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 124 mm; move right 205 mm; move downward 0 mm; roll downward 31 degrees; pitch downward 6 degrees; yaw clockwise 19 degrees; open gripper;\nSubtask Movement: move forward 1386 mm; move right 368 mm; move downward 33 mm; roll downward 75 degrees; pitch upward 35 degrees; yaw clockwise 44 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.002500000176951289, + -0.014642857015132904, + 0.0, + -0.011428571306169033, + -0.0028571428265422583, + -0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.12392856925725937, + -0.2046428769826889, + 0.0, + -0.5400000214576721, + -0.10571428388357162, + -0.3285713791847229, + 1.0 + ], + "delta_full_state_norm": [ + 0.4540705309839572, + -0.7534018724213235, + -0.06783943547846116, + 0.16142303294251725, + 0.44351067095782115, + -0.6303763941813709, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 15 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 124 mm; move right 205 mm; move downward 0 mm; roll downward 31 degrees; pitch downward 6 degrees; yaw clockwise 19 degrees; open gripper;", + "subtask_movement_text": "move forward 1386 mm; move right 368 mm; move downward 33 mm; roll downward 75 degrees; pitch upward 35 degrees; yaw clockwise 44 degrees; open gripper;" + }, + { + "frame_index": 80, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 14 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 130 mm; move right 193 mm; move downward 0 mm; roll downward 32 degrees; pitch downward 6 degrees; yaw clockwise 20 degrees; open gripper;\nSubtask Movement: move forward 1383 mm; move right 353 mm; move downward 33 mm; roll downward 74 degrees; pitch upward 35 degrees; yaw clockwise 43 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0032142859417945147, + -0.013571429066359997, + 0.0, + -0.012857142835855484, + -0.004285714123398066, + -0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + 0.13035714626312256, + -0.1932142823934555, + 0.0, + -0.5557143092155457, + -0.10285713523626328, + -0.34285712242126465, + 1.0 + ], + "delta_full_state_norm": [ + 0.47780658343373883, + -0.7117468092360857, + -0.06783943547846116, + 0.14672147435029248, + 0.4279488935656699, + -0.6639785321990257, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 14 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 130 mm; move right 193 mm; move downward 0 mm; roll downward 32 degrees; pitch downward 6 degrees; yaw clockwise 20 degrees; open gripper;", + "subtask_movement_text": "move forward 1383 mm; move right 353 mm; move downward 33 mm; roll downward 74 degrees; pitch upward 35 degrees; yaw clockwise 43 degrees; open gripper;" + }, + { + "frame_index": 81, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 14 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 137 mm; move right 183 mm; move downward 0 mm; roll downward 33 degrees; pitch downward 6 degrees; yaw clockwise 20 degrees; open gripper;\nSubtask Movement: move forward 1380 mm; move right 340 mm; move downward 33 mm; roll downward 74 degrees; pitch upward 35 degrees; yaw clockwise 43 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0035714288242161274, + -0.013571429066359997, + 0.0, + -0.014285714365541935, + -0.004285714123398066, + -0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + 0.13678573071956635, + -0.18285715579986572, + 0.0, + -0.5700000524520874, + -0.09857142716646194, + -0.35428571701049805, + 1.0 + ], + "delta_full_state_norm": [ + 0.48967460965862974, + -0.7117468092360857, + -0.06783943547846116, + 0.13201991575806749, + 0.4279488935656699, + -0.6975806811697338, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 14 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 137 mm; move right 183 mm; move downward 0 mm; roll downward 33 degrees; pitch downward 6 degrees; yaw clockwise 20 degrees; open gripper;", + "subtask_movement_text": "move forward 1380 mm; move right 340 mm; move downward 33 mm; roll downward 74 degrees; pitch upward 35 degrees; yaw clockwise 43 degrees; open gripper;" + }, + { + "frame_index": 82, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 13 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 144 mm; move right 172 mm; move downward 0 mm; roll downward 33 degrees; pitch downward 5 degrees; yaw clockwise 21 degrees; open gripper;\nSubtask Movement: move forward 1376 mm; move right 326 mm; move downward 33 mm; roll downward 73 degrees; pitch upward 35 degrees; yaw clockwise 42 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0032142859417945147, + -0.013214285485446453, + 0.0, + -0.018571428954601288, + -0.008571428246796131, + -0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + 0.14428572356700897, + -0.17178572714328766, + 0.0, + -0.5828572511672974, + -0.09428571909666061, + -0.3628571331501007, + 1.0 + ], + "delta_full_state_norm": [ + 0.47780658343373883, + -0.6978617519663047, + -0.06783943547846116, + 0.08791523998139295, + 0.3812635588529347, + -0.6975806811697338, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 13 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 144 mm; move right 172 mm; move downward 0 mm; roll downward 33 degrees; pitch downward 5 degrees; yaw clockwise 21 degrees; open gripper;", + "subtask_movement_text": "move forward 1376 mm; move right 326 mm; move downward 33 mm; roll downward 73 degrees; pitch upward 35 degrees; yaw clockwise 42 degrees; open gripper;" + }, + { + "frame_index": 83, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 3 mm; move right 13 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 152 mm; move right 160 mm; move downward 0 mm; roll downward 34 degrees; pitch downward 5 degrees; yaw clockwise 21 degrees; open gripper;\nSubtask Movement: move forward 1373 mm; move right 313 mm; move downward 33 mm; roll downward 72 degrees; pitch upward 36 degrees; yaw clockwise 42 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0032142859417945147, + -0.012857143767178059, + 0.0, + -0.025714285671710968, + -0.011428571306169033, + -0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + 0.1517857164144516, + -0.1600000113248825, + 0.0, + -0.5900000333786011, + -0.08571428805589676, + -0.3685714304447174, + 1.0 + ], + "delta_full_state_norm": [ + 0.47780658343373883, + -0.6839767671125938, + -0.06783943547846116, + 0.014407456604593305, + 0.3501399989960696, + -0.76478497911115, + -1.0 + ], + "movement_text": "move forward 3 mm; move right 13 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 152 mm; move right 160 mm; move downward 0 mm; roll downward 34 degrees; pitch downward 5 degrees; yaw clockwise 21 degrees; open gripper;", + "subtask_movement_text": "move forward 1373 mm; move right 313 mm; move downward 33 mm; roll downward 72 degrees; pitch upward 36 degrees; yaw clockwise 42 degrees; open gripper;" + }, + { + "frame_index": 84, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 14 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 160 mm; move right 148 mm; move downward 0 mm; roll downward 33 degrees; pitch downward 4 degrees; yaw clockwise 21 degrees; open gripper;\nSubtask Movement: move forward 1370 mm; move right 300 mm; move downward 33 mm; roll downward 70 degrees; pitch upward 37 degrees; yaw clockwise 41 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0035714288242161274, + -0.013571429066359997, + 0.0, + -0.02857142873108387, + -0.014285714365541935, + -0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + 0.1599999964237213, + -0.14821429550647736, + 0.0, + -0.581428587436676, + -0.06714285910129547, + -0.3700000047683716, + 1.0 + ], + "delta_full_state_norm": [ + 0.48967460965862974, + -0.7117468092360857, + -0.06783943547846116, + -0.014995660579856351, + 0.3190164391392045, + -0.76478497911115, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 14 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 160 mm; move right 148 mm; move downward 0 mm; roll downward 33 degrees; pitch downward 4 degrees; yaw clockwise 21 degrees; open gripper;", + "subtask_movement_text": "move forward 1370 mm; move right 300 mm; move downward 33 mm; roll downward 70 degrees; pitch upward 37 degrees; yaw clockwise 41 degrees; open gripper;" + }, + { + "frame_index": 85, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 15 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 167 mm; move right 135 mm; move downward 0 mm; roll downward 32 degrees; pitch downward 2 degrees; yaw clockwise 21 degrees; open gripper;\nSubtask Movement: move forward 1366 mm; move right 286 mm; move downward 33 mm; roll downward 69 degrees; pitch upward 37 degrees; yaw clockwise 40 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 71 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0039285714738070965, + -0.014642857015132904, + 0.0, + -0.034285712987184525, + -0.017142856493592262, + -0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + 0.167142853140831, + -0.13500000536441803, + 0.0, + -0.5657142400741577, + -0.034285709261894226, + -0.37142860889434814, + 1.0 + ], + "delta_full_state_norm": [ + 0.5015426281464486, + -0.7534018724213235, + -0.06783943547846116, + -0.07380187578010644, + 0.2878928894274644, + -0.798387128081858, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 15 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 167 mm; move right 135 mm; move downward 0 mm; roll downward 32 degrees; pitch downward 2 degrees; yaw clockwise 21 degrees; open gripper;", + "subtask_movement_text": "move forward 1366 mm; move right 286 mm; move downward 33 mm; roll downward 69 degrees; pitch upward 37 degrees; yaw clockwise 40 degrees; open gripper;" + }, + { + "frame_index": 86, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 13 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 174 mm; move right 121 mm; move downward 0 mm; roll downward 31 degrees; pitch upward 1 degrees; yaw clockwise 21 degrees; open gripper;\nSubtask Movement: move forward 1363 mm; move right 272 mm; move downward 33 mm; roll downward 67 degrees; pitch upward 38 degrees; yaw clockwise 39 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0039285714738070965, + -0.013214285485446453, + 0.0, + -0.034285712987184525, + -0.018571428954601288, + -0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + 0.17357143759727478, + -0.12107143551111221, + -0.0003571428533177823, + -0.5385713577270508, + 0.010000001639127731, + -0.37000003457069397, + 1.0 + ], + "delta_full_state_norm": [ + 0.5015426281464486, + -0.6978617519663047, + -0.06783943547846116, + -0.07380187578010644, + 0.27233109935390676, + -0.798387128081858, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 13 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 174 mm; move right 121 mm; move downward 0 mm; roll downward 31 degrees; pitch upward 1 degrees; yaw clockwise 21 degrees; open gripper;", + "subtask_movement_text": "move forward 1363 mm; move right 272 mm; move downward 33 mm; roll downward 67 degrees; pitch upward 38 degrees; yaw clockwise 39 degrees; open gripper;" + }, + { + "frame_index": 87, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 13 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 179 mm; move right 108 mm; move downward 2 mm; roll downward 29 degrees; pitch upward 3 degrees; yaw clockwise 21 degrees; open gripper;\nSubtask Movement: move forward 1359 mm; move right 259 mm; move downward 33 mm; roll downward 65 degrees; pitch upward 39 degrees; yaw clockwise 39 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004285714589059353, + -0.012500000186264515, + 0.0, + -0.03285714238882065, + -0.012857142835855484, + -0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + 0.17928571999073029, + -0.10821428149938583, + -0.0017857144121080637, + -0.5085713863372803, + 0.06000000238418579, + -0.37000003457069397, + 1.0 + ], + "delta_full_state_norm": [ + 0.5134106621084116, + -0.6700917098428129, + -0.06783943547846116, + -0.059100326772206224, + 0.33457821906763696, + -0.798387128081858, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 13 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 179 mm; move right 108 mm; move downward 2 mm; roll downward 29 degrees; pitch upward 3 degrees; yaw clockwise 21 degrees; open gripper;", + "subtask_movement_text": "move forward 1359 mm; move right 259 mm; move downward 33 mm; roll downward 65 degrees; pitch upward 39 degrees; yaw clockwise 39 degrees; open gripper;" + }, + { + "frame_index": 88, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 12 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 183 mm; move right 96 mm; move downward 3 mm; roll downward 27 degrees; pitch upward 6 degrees; yaw clockwise 21 degrees; open gripper;\nSubtask Movement: move forward 1354 mm; move right 246 mm; move downward 33 mm; roll downward 63 degrees; pitch upward 40 degrees; yaw clockwise 38 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.005000000353902578, + -0.011785714887082577, + 0.0, + -0.03285714238882065, + -0.008571428246796131, + -0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + 0.18321429193019867, + -0.09571429342031479, + -0.002857143059372902, + -0.4771428406238556, + 0.1071428507566452, + -0.3700000047683716, + 1.0 + ], + "delta_full_state_norm": [ + 0.5371467145581932, + -0.6423216677193209, + -0.06783943547846116, + -0.059100326772206224, + 0.3812635588529347, + -0.798387128081858, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 12 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 183 mm; move right 96 mm; move downward 3 mm; roll downward 27 degrees; pitch upward 6 degrees; yaw clockwise 21 degrees; open gripper;", + "subtask_movement_text": "move forward 1354 mm; move right 246 mm; move downward 33 mm; roll downward 63 degrees; pitch upward 40 degrees; yaw clockwise 38 degrees; open gripper;" + }, + { + "frame_index": 89, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 11 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 186 mm; move right 85 mm; move downward 3 mm; roll downward 25 degrees; pitch upward 9 degrees; yaw clockwise 21 degrees; open gripper;\nSubtask Movement: move forward 1349 mm; move right 234 mm; move downward 33 mm; roll downward 61 degrees; pitch upward 41 degrees; yaw clockwise 37 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006428571883589029, + -0.010714286006987095, + 0.0, + -0.03142857179045677, + -0.0028571428265422583, + -0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + 0.18607144057750702, + -0.08464286476373672, + -0.002857143059372902, + -0.44428569078445435, + 0.14999999105930328, + -0.3700000047683716, + 1.0 + ], + "delta_full_state_norm": [ + 0.5846188194577566, + -0.6006665683260481, + -0.06783943547846116, + -0.04439877776430612, + 0.44351067095782115, + -0.8319892770525661, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 11 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 186 mm; move right 85 mm; move downward 3 mm; roll downward 25 degrees; pitch upward 9 degrees; yaw clockwise 21 degrees; open gripper;", + "subtask_movement_text": "move forward 1349 mm; move right 234 mm; move downward 33 mm; roll downward 61 degrees; pitch upward 41 degrees; yaw clockwise 37 degrees; open gripper;" + }, + { + "frame_index": 90, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 10 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 187 mm; move right 74 mm; move downward 3 mm; roll downward 24 degrees; pitch upward 10 degrees; yaw clockwise 21 degrees; open gripper;\nSubtask Movement: move forward 1343 mm; move right 224 mm; move downward 33 mm; roll downward 59 degrees; pitch upward 41 degrees; yaw clockwise 36 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006785714533179998, + -0.010357143357396126, + 0.0, + -0.029999999329447746, + 0.0, + -0.017142856493592262, + 1.0 + ], + "delta_next_20": [ + 0.1867857128381729, + -0.0739285871386528, + -0.002857143059372902, + -0.41285714507102966, + 0.17999999225139618, + -0.36714285612106323, + 1.0 + ], + "delta_full_state_norm": [ + 0.5964868379455757, + -0.5867815472643021, + -0.06783943547846116, + -0.029697209587756568, + 0.47463422827840507, + -0.8655914041171677, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 10 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 187 mm; move right 74 mm; move downward 3 mm; roll downward 24 degrees; pitch upward 10 degrees; yaw clockwise 21 degrees; open gripper;", + "subtask_movement_text": "move forward 1343 mm; move right 224 mm; move downward 33 mm; roll downward 59 degrees; pitch upward 41 degrees; yaw clockwise 36 degrees; open gripper;" + }, + { + "frame_index": 91, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 9 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 186 mm; move right 64 mm; move downward 3 mm; roll downward 22 degrees; pitch upward 12 degrees; yaw clockwise 21 degrees; open gripper;\nSubtask Movement: move forward 1336 mm; move right 213 mm; move downward 33 mm; roll downward 57 degrees; pitch upward 41 degrees; yaw clockwise 35 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 70 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007857142947614193, + -0.008571429178118706, + 0.0, + -0.03142857179045677, + 0.0, + -0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + 0.18607141077518463, + -0.06392858177423477, + -0.002857143059372902, + -0.38285714387893677, + 0.20714284479618073, + -0.35999998450279236, + 1.0 + ], + "delta_full_state_norm": [ + 0.6320909088831761, + -0.5173564057475375, + -0.06783943547846116, + -0.04439877776430612, + 0.47463422827840507, + -0.9327957020585839, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 9 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 186 mm; move right 64 mm; move downward 3 mm; roll downward 22 degrees; pitch upward 12 degrees; yaw clockwise 21 degrees; open gripper;", + "subtask_movement_text": "move forward 1336 mm; move right 213 mm; move downward 33 mm; roll downward 57 degrees; pitch upward 41 degrees; yaw clockwise 35 degrees; open gripper;" + }, + { + "frame_index": 92, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 8 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 184 mm; move right 55 mm; move downward 3 mm; roll downward 20 degrees; pitch upward 14 degrees; yaw clockwise 20 degrees; open gripper;\nSubtask Movement: move forward 1328 mm; move right 205 mm; move downward 33 mm; roll downward 55 degrees; pitch upward 41 degrees; yaw clockwise 34 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008214286528527737, + -0.007857142947614193, + 0.0, + -0.03285714238882065, + 0.0, + -0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + 0.18357142806053162, + -0.05535714700818062, + -0.002857143059372902, + -0.3514285683631897, + 0.23999997973442078, + -0.34857138991355896, + 1.0 + ], + "delta_full_state_norm": [ + 0.6439589583192828, + -0.4895863274160105, + -0.06783943547846116, + -0.059100326772206224, + 0.47463422827840507, + -0.9663978729353984, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 8 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 184 mm; move right 55 mm; move downward 3 mm; roll downward 20 degrees; pitch upward 14 degrees; yaw clockwise 20 degrees; open gripper;", + "subtask_movement_text": "move forward 1328 mm; move right 205 mm; move downward 33 mm; roll downward 55 degrees; pitch upward 41 degrees; yaw clockwise 34 degrees; open gripper;" + }, + { + "frame_index": 93, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 7 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 181 mm; move right 47 mm; move downward 3 mm; roll downward 18 degrees; pitch upward 16 degrees; yaw clockwise 19 degrees; open gripper;\nSubtask Movement: move forward 1320 mm; move right 197 mm; move downward 33 mm; roll downward 54 degrees; pitch upward 41 degrees; yaw clockwise 33 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009285714477300644, + -0.007142857648432255, + 0.0, + -0.029999999329447746, + 0.0, + -0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + 0.18071429431438446, + -0.04749999940395355, + -0.002857143059372902, + -0.31857141852378845, + 0.28285712003707886, + -0.334285706281662, + 1.0 + ], + "delta_full_state_norm": [ + 0.6795630137827395, + -0.4618162852925186, + -0.06783943547846116, + -0.029697209587756568, + 0.47463422827840507, + -0.9663978729353984, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 7 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 181 mm; move right 47 mm; move downward 3 mm; roll downward 18 degrees; pitch upward 16 degrees; yaw clockwise 19 degrees; open gripper;", + "subtask_movement_text": "move forward 1320 mm; move right 197 mm; move downward 33 mm; roll downward 54 degrees; pitch upward 41 degrees; yaw clockwise 33 degrees; open gripper;" + }, + { + "frame_index": 94, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 6 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 177 mm; move right 40 mm; move downward 3 mm; roll downward 17 degrees; pitch upward 19 degrees; yaw clockwise 18 degrees; open gripper;\nSubtask Movement: move forward 1311 mm; move right 190 mm; move downward 33 mm; roll downward 52 degrees; pitch upward 41 degrees; yaw clockwise 31 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + -0.006428571883589029, + 0.0, + -0.02857142873108387, + 0.0, + -0.022857142612338066, + 1.0 + ], + "delta_next_20": [ + 0.17678572237491608, + -0.04035714641213417, + -0.0032142859417945147, + -0.28857144713401794, + 0.33142855763435364, + -0.3199999928474426, + 1.0 + ], + "delta_full_state_norm": [ + 0.6914310322705586, + -0.43404622506500923, + -0.06783943547846116, + -0.014995660579856351, + 0.47463422827840507, + -1.0, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 6 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 177 mm; move right 40 mm; move downward 3 mm; roll downward 17 degrees; pitch upward 19 degrees; yaw clockwise 18 degrees; open gripper;", + "subtask_movement_text": "move forward 1311 mm; move right 190 mm; move downward 33 mm; roll downward 52 degrees; pitch upward 41 degrees; yaw clockwise 31 degrees; open gripper;" + }, + { + "frame_index": 95, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 6 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 172 mm; move right 34 mm; move downward 3 mm; roll downward 15 degrees; pitch upward 22 degrees; yaw clockwise 17 degrees; open gripper;\nSubtask Movement: move forward 1301 mm; move right 183 mm; move downward 33 mm; roll downward 50 degrees; pitch upward 41 degrees; yaw clockwise 30 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 69 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + -0.0057142856530845165, + 0.0, + -0.02857142873108387, + 0.0, + -0.022857142612338066, + 1.0 + ], + "delta_next_20": [ + 0.17178571224212646, + -0.03392857313156128, + -0.0032142859417945147, + -0.2600000202655792, + 0.3799999952316284, + -0.3028571605682373, + 1.0 + ], + "delta_full_state_norm": [ + 0.7151671001944842, + -0.40627614673348234, + -0.06783943547846116, + -0.014995660579856351, + 0.47463422827840507, + -1.0, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 6 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 172 mm; move right 34 mm; move downward 3 mm; roll downward 15 degrees; pitch upward 22 degrees; yaw clockwise 17 degrees; open gripper;", + "subtask_movement_text": "move forward 1301 mm; move right 183 mm; move downward 33 mm; roll downward 50 degrees; pitch upward 41 degrees; yaw clockwise 30 degrees; open gripper;" + }, + { + "frame_index": 96, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 5 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 166 mm; move right 28 mm; move downward 3 mm; roll downward 13 degrees; pitch upward 24 degrees; yaw clockwise 16 degrees; open gripper;\nSubtask Movement: move forward 1291 mm; move right 178 mm; move downward 33 mm; roll downward 49 degrees; pitch upward 41 degrees; yaw clockwise 29 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + -0.0053571430034935474, + 0.0, + -0.02857142873108387, + 0.0, + -0.022857142612338066, + 1.0 + ], + "delta_next_20": [ + 0.16607142984867096, + -0.028214288875460625, + -0.0032142859417945147, + -0.23142856359481812, + 0.4242857098579407, + -0.2857142984867096, + 1.0 + ], + "delta_full_state_norm": [ + 0.7032990817066653, + -0.3923911256717364, + -0.06783943547846116, + -0.014995660579856351, + 0.47463422827840507, + -1.0, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 5 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 166 mm; move right 28 mm; move downward 3 mm; roll downward 13 degrees; pitch upward 24 degrees; yaw clockwise 16 degrees; open gripper;", + "subtask_movement_text": "move forward 1291 mm; move right 178 mm; move downward 33 mm; roll downward 49 degrees; pitch upward 41 degrees; yaw clockwise 29 degrees; open gripper;" + }, + { + "frame_index": 97, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 5 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 161 mm; move right 23 mm; move downward 3 mm; roll downward 12 degrees; pitch upward 27 degrees; yaw clockwise 15 degrees; open gripper;\nSubtask Movement: move forward 1281 mm; move right 172 mm; move downward 33 mm; roll downward 47 degrees; pitch upward 41 degrees; yaw clockwise 28 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010000000707805157, + -0.004642857238650322, + 0.0, + -0.027142856270074844, + 0.0, + -0.022857142612338066, + 1.0 + ], + "delta_next_20": [ + 0.16107141971588135, + -0.022857148200273514, + -0.0032142859417945147, + -0.2028571367263794, + 0.46714285016059875, + -0.2685714662075043, + 1.0 + ], + "delta_full_state_norm": [ + 0.7032990817066653, + -0.364621065444227, + -0.06783943547846116, + -0.0002940924033068004, + 0.47463422827840507, + -1.0, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 5 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 161 mm; move right 23 mm; move downward 3 mm; roll downward 12 degrees; pitch upward 27 degrees; yaw clockwise 15 degrees; open gripper;", + "subtask_movement_text": "move forward 1281 mm; move right 172 mm; move downward 33 mm; roll downward 47 degrees; pitch upward 41 degrees; yaw clockwise 28 degrees; open gripper;" + }, + { + "frame_index": 98, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 156 mm; move right 18 mm; move downward 3 mm; roll downward 10 degrees; pitch upward 29 degrees; yaw clockwise 14 degrees; open gripper;\nSubtask Movement: move forward 1271 mm; move right 168 mm; move downward 33 mm; roll downward 45 degrees; pitch upward 41 degrees; yaw clockwise 26 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 68 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008928571827709675, + -0.004285714589059353, + 0.0, + -0.025714285671710968, + 0.0, + -0.022857142612338066, + 1.0 + ], + "delta_next_20": [ + 0.15642857551574707, + -0.018214290961623192, + -0.0032142859417945147, + -0.17571428418159485, + 0.5114285945892334, + -0.2499999850988388, + 1.0 + ], + "delta_full_state_norm": [ + 0.6676949952949207, + -0.35073604438248107, + -0.06783943547846116, + 0.014407456604593305, + 0.47463422827840507, + -1.0, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 4 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 156 mm; move right 18 mm; move downward 3 mm; roll downward 10 degrees; pitch upward 29 degrees; yaw clockwise 14 degrees; open gripper;", + "subtask_movement_text": "move forward 1271 mm; move right 168 mm; move downward 33 mm; roll downward 45 degrees; pitch upward 41 degrees; yaw clockwise 26 degrees; open gripper;" + }, + { + "frame_index": 99, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 3 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 152 mm; move right 14 mm; move downward 3 mm; roll downward 9 degrees; pitch upward 32 degrees; yaw clockwise 13 degrees; open gripper;\nSubtask Movement: move forward 1262 mm; move right 163 mm; move downward 33 mm; roll downward 44 degrees; pitch upward 41 degrees; yaw clockwise 25 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008928571827709675, + -0.0032142859417945147, + 0.0, + -0.027142856270074844, + 0.0, + -0.02142857201397419, + 1.0 + ], + "delta_next_20": [ + 0.15214286744594574, + -0.01392857264727354, + -0.0032142859417945147, + -0.14999999105930328, + 0.5514286160469055, + -0.22999998927116394, + 1.0 + ], + "delta_full_state_norm": [ + 0.6676949952949207, + -0.30908095404121694, + -0.06783943547846116, + -0.0002940924033068004, + 0.47463422827840507, + -0.9663978729353984, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 3 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 152 mm; move right 14 mm; move downward 3 mm; roll downward 9 degrees; pitch upward 32 degrees; yaw clockwise 13 degrees; open gripper;", + "subtask_movement_text": "move forward 1262 mm; move right 163 mm; move downward 33 mm; roll downward 44 degrees; pitch upward 41 degrees; yaw clockwise 25 degrees; open gripper;" + }, + { + "frame_index": 100, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 3 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 148 mm; move right 11 mm; move downward 3 mm; roll downward 7 degrees; pitch upward 33 degrees; yaw clockwise 12 degrees; open gripper;\nSubtask Movement: move forward 1253 mm; move right 160 mm; move downward 33 mm; roll downward 42 degrees; pitch upward 41 degrees; yaw clockwise 24 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + -0.0032142859417945147, + 0.0, + -0.027142856270074844, + 0.0, + -0.019999999552965164, + 1.0 + ], + "delta_next_20": [ + 0.14750002324581146, + -0.010714286006987095, + -0.0032142859417945147, + -0.12285714596509933, + 0.581428587436676, + -0.21142856776714325, + 1.0 + ], + "delta_full_state_norm": [ + 0.6914310322705586, + -0.30908095404121694, + -0.06783943547846116, + -0.0002940924033068004, + 0.47463422827840507, + -0.9327957020585839, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 3 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 148 mm; move right 11 mm; move downward 3 mm; roll downward 7 degrees; pitch upward 33 degrees; yaw clockwise 12 degrees; open gripper;", + "subtask_movement_text": "move forward 1253 mm; move right 160 mm; move downward 33 mm; roll downward 42 degrees; pitch upward 41 degrees; yaw clockwise 24 degrees; open gripper;" + }, + { + "frame_index": 101, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 3 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 142 mm; move right 8 mm; move downward 3 mm; roll downward 5 degrees; pitch upward 34 degrees; yaw clockwise 11 degrees; open gripper;\nSubtask Movement: move forward 1243 mm; move right 157 mm; move downward 33 mm; roll downward 41 degrees; pitch upward 41 degrees; yaw clockwise 23 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 226, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + -0.002500000176951289, + 0.0, + -0.027142856270074844, + 0.0, + -0.018571428954601288, + 1.0 + ], + "delta_next_20": [ + 0.14178572595119476, + -0.007500000298023224, + -0.0032142859417945147, + -0.09571429342031479, + 0.6014285683631897, + -0.19428572058677673, + 1.0 + ], + "delta_full_state_norm": [ + 0.738903137170122, + -0.28131089381370755, + -0.06783943547846116, + -0.0002940924033068004, + 0.47463422827840507, + -0.8991935749939822, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 3 mm; move downward 0 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 142 mm; move right 8 mm; move downward 3 mm; roll downward 5 degrees; pitch upward 34 degrees; yaw clockwise 11 degrees; open gripper;", + "subtask_movement_text": "move forward 1243 mm; move right 157 mm; move downward 33 mm; roll downward 41 degrees; pitch upward 41 degrees; yaw clockwise 23 degrees; open gripper;" + }, + { + "frame_index": 102, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 1 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 134 mm; move right 5 mm; move downward 3 mm; roll downward 4 degrees; pitch upward 34 degrees; yaw clockwise 10 degrees; open gripper;\nSubtask Movement: move forward 1232 mm; move right 154 mm; move downward 33 mm; roll downward 39 degrees; pitch upward 41 degrees; yaw clockwise 21 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 67 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + -0.0014285714132711291, + 0.0, + -0.025714285671710968, + 0.0, + -0.015714285895228386, + 1.0 + ], + "delta_next_20": [ + 0.13428571820259094, + -0.005000000353902578, + -0.0032142859417945147, + -0.07000000774860382, + 0.6014285683631897, + -0.1785714328289032, + 1.0 + ], + "delta_full_state_norm": [ + 0.7270351186823032, + -0.23965579894643907, + -0.06783943547846116, + 0.014407456604593305, + 0.47463422827840507, + -0.8319892770525661, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 1 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 134 mm; move right 5 mm; move downward 3 mm; roll downward 4 degrees; pitch upward 34 degrees; yaw clockwise 10 degrees; open gripper;", + "subtask_movement_text": "move forward 1232 mm; move right 154 mm; move downward 33 mm; roll downward 39 degrees; pitch upward 41 degrees; yaw clockwise 21 degrees; open gripper;" + }, + { + "frame_index": 103, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 1 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 127 mm; move right 4 mm; move downward 3 mm; roll downward 3 degrees; pitch upward 34 degrees; yaw clockwise 9 degrees; open gripper;\nSubtask Movement: move forward 1221 mm; move right 153 mm; move downward 33 mm; roll downward 38 degrees; pitch upward 41 degrees; yaw clockwise 21 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + -0.0010714286472648382, + 0.0, + -0.017142856493592262, + 0.0071428571827709675, + -0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + 0.12749998271465302, + -0.0035714288242161274, + -0.0032142859417945147, + -0.04571428522467613, + 0.6014285683631897, + -0.1657143086194992, + 1.0 + ], + "delta_full_state_norm": [ + 0.7507711556579408, + -0.22577077335868878, + -0.06783943547846116, + 0.10261680815794261, + 0.5524431228480053, + -0.798387128081858, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 1 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 127 mm; move right 4 mm; move downward 3 mm; roll downward 3 degrees; pitch upward 34 degrees; yaw clockwise 9 degrees; open gripper;", + "subtask_movement_text": "move forward 1221 mm; move right 153 mm; move downward 33 mm; roll downward 38 degrees; pitch upward 41 degrees; yaw clockwise 21 degrees; open gripper;" + }, + { + "frame_index": 104, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 120 mm; move right 3 mm; move downward 3 mm; roll downward 2 degrees; pitch upward 34 degrees; yaw clockwise 9 degrees; open gripper;\nSubtask Movement: move forward 1210 mm; move right 152 mm; move downward 33 mm; roll downward 37 degrees; pitch upward 40 degrees; yaw clockwise 20 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 225, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + -0.0003571428533177823, + 0.0, + -0.012857142835855484, + 0.018571428954601288, + -0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + 0.11999998241662979, + -0.002500000176951289, + -0.0032142859417945147, + -0.03999999538064003, + 0.5942856669425964, + -0.1542857438325882, + 1.0 + ], + "delta_full_state_norm": [ + 0.7270351186823032, + -0.19800071199967828, + -0.06783943547846116, + 0.14672147435029248, + 0.6769373572029034, + -0.798387128081858, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 1 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 120 mm; move right 3 mm; move downward 3 mm; roll downward 2 degrees; pitch upward 34 degrees; yaw clockwise 9 degrees; open gripper;", + "subtask_movement_text": "move forward 1210 mm; move right 152 mm; move downward 33 mm; roll downward 37 degrees; pitch upward 40 degrees; yaw clockwise 20 degrees; open gripper;" + }, + { + "frame_index": 105, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 115 mm; move right 2 mm; move downward 3 mm; roll downward 2 degrees; pitch upward 33 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move forward 1199 mm; move right 151 mm; move downward 33 mm; roll downward 36 degrees; pitch upward 39 degrees; yaw clockwise 19 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010357143357396126, + -0.0007142857066355646, + -0.0003571428533177823, + -0.0071428571827709675, + 0.027142856270074844, + -0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + 0.11464285105466843, + -0.0021428572945296764, + -0.0032142859417945147, + -0.03999999910593033, + 0.5757142305374146, + -0.14142858982086182, + 1.0 + ], + "delta_full_state_norm": [ + 0.7151671001944842, + -0.2118857409819319, + -0.08877745229699563, + 0.20552770392702957, + 0.7703080164832485, + -0.76478497911115, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 115 mm; move right 2 mm; move downward 3 mm; roll downward 2 degrees; pitch upward 33 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move forward 1199 mm; move right 151 mm; move downward 33 mm; roll downward 36 degrees; pitch upward 39 degrees; yaw clockwise 19 degrees; open gripper;" + }, + { + "frame_index": 106, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 10 mm; move right 0 mm; move downward 1 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 111 mm; move right 1 mm; move downward 3 mm; roll downward 3 degrees; pitch upward 31 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move forward 1189 mm; move right 151 mm; move downward 33 mm; roll downward 36 degrees; pitch upward 38 degrees; yaw clockwise 18 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 224, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.009642857126891613, + -0.0003571428533177823, + -0.0014285714132711291, + -0.004285714123398066, + 0.03142857179045677, + -0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + 0.11071429401636124, + -0.0014285714132711291, + -0.0028571428265422583, + -0.04571428522467613, + 0.5485714077949524, + -0.12999999523162842, + 1.0 + ], + "delta_full_state_norm": [ + 0.6914310322705586, + -0.19800071199967828, + -0.1515915027525988, + 0.23493082111147934, + 0.8169933664136715, + -0.798387128081858, + -1.0 + ], + "movement_text": "move forward 10 mm; move right 0 mm; move downward 1 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 111 mm; move right 1 mm; move downward 3 mm; roll downward 3 degrees; pitch upward 31 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 1189 mm; move right 151 mm; move downward 33 mm; roll downward 36 degrees; pitch upward 38 degrees; yaw clockwise 18 degrees; open gripper;" + }, + { + "frame_index": 107, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 0 mm; move downward 1 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 110 mm; move right 1 mm; move downward 1 mm; roll downward 3 degrees; pitch upward 30 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move forward 1179 mm; move right 150 mm; move downward 31 mm; roll downward 35 degrees; pitch upward 36 degrees; yaw clockwise 17 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 223, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008214286528527737, + 0.0, + -0.0010714286472648382, + -0.0014285714132711291, + 0.034285712987184525, + -0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + 0.11000000685453415, + -0.0010714286472648382, + -0.0014285714132711291, + -0.06000000238418579, + 0.5171428322792053, + -0.11571427434682846, + 1.0 + ], + "delta_full_state_norm": [ + 0.6439589583192828, + -0.18411568301742465, + -0.13065349105282698, + 0.2643339347018072, + 0.8481169059802862, + -0.798387128081858, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 0 mm; move downward 1 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 110 mm; move right 1 mm; move downward 1 mm; roll downward 3 degrees; pitch upward 30 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 1179 mm; move right 150 mm; move downward 31 mm; roll downward 35 degrees; pitch upward 36 degrees; yaw clockwise 17 degrees; open gripper;" + }, + { + "frame_index": 108, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 8 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 112 mm; move right 1 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 28 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 1171 mm; move right 150 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 34 degrees; yaw clockwise 17 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007857142947614193, + -0.0007142857066355646, + 0.0, + 0.0, + 0.034285712987184525, + -0.014285714365541935, + 1.0 + ], + "delta_next_20": [ + 0.11249998956918716, + -0.0010714286472648382, + -0.0003571428533177823, + -0.07428571581840515, + 0.4828571677207947, + -0.1014285609126091, + 1.0 + ], + "delta_full_state_norm": [ + 0.6320909088831761, + -0.2118857409819319, + -0.06783943547846116, + 0.27903549209599143, + 0.8481169059802862, + -0.798387128081858, + -1.0 + ], + "movement_text": "move forward 8 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 112 mm; move right 1 mm; move downward 0 mm; roll downward 4 degrees; pitch upward 28 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 1171 mm; move right 150 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 34 degrees; yaw clockwise 17 degrees; open gripper;" + }, + { + "frame_index": 109, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 116 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch upward 26 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 1163 mm; move right 150 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 32 degrees; yaw clockwise 16 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 66 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.007142857648432255, + 0.0, + 0.0, + 0.0, + 0.027142856270074844, + -0.012857142835855484, + 1.0 + ], + "delta_next_20": [ + 0.1160714253783226, + -0.0003571428533177823, + -0.0003571428533177823, + -0.09000000357627869, + 0.44857144355773926, + -0.08714285492897034, + 1.0 + ], + "delta_full_state_norm": [ + 0.6083548719075385, + -0.18411568301742465, + -0.06783943547846116, + 0.27903549209599143, + 0.7703080164832485, + -0.76478497911115, + -1.0 + ], + "movement_text": "move forward 7 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 116 mm; move right 0 mm; move downward 0 mm; roll downward 5 degrees; pitch upward 26 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 1163 mm; move right 150 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 32 degrees; yaw clockwise 16 degrees; open gripper;" + }, + { + "frame_index": 110, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 121 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch upward 24 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 1156 mm; move right 150 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 30 degrees; yaw clockwise 15 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 222, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006071428768336773, + -0.0003571428533177823, + 0.0, + 0.0, + 0.027142856270074844, + -0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + 0.12142857164144516, + -0.0003571428533177823, + -0.0003571428533177823, + -0.1071428582072258, + 0.4214285910129547, + -0.07428571581840515, + 1.0 + ], + "delta_full_state_norm": [ + 0.5727507854957938, + -0.19800071199967828, + -0.06783943547846116, + 0.27903549209599143, + 0.7703080164832485, + -0.6975806811697338, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 121 mm; move right 0 mm; move downward 0 mm; roll downward 6 degrees; pitch upward 24 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 1156 mm; move right 150 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 30 degrees; yaw clockwise 15 degrees; open gripper;" + }, + { + "frame_index": 111, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 129 mm; move right 0 mm; move downward 0 mm; roll downward 7 degrees; pitch upward 24 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 1150 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 29 degrees; yaw clockwise 14 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0053571430034935474, + 0.0, + 0.0, + 0.0, + 0.03285714238882065, + -0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + 0.12928572297096252, + 0.0, + -0.0003571428533177823, + -0.12428571283817291, + 0.41285717487335205, + -0.06428571045398712, + 1.0 + ], + "delta_full_state_norm": [ + 0.549014733046012, + -0.18411568301742465, + -0.06783943547846116, + 0.27903549209599143, + 0.8325551361969787, + -0.6639785321990257, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 129 mm; move right 0 mm; move downward 0 mm; roll downward 7 degrees; pitch upward 24 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 1150 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 29 degrees; yaw clockwise 14 degrees; open gripper;" + }, + { + "frame_index": 112, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 137 mm; move right 0 mm; move downward 0 mm; roll downward 8 degrees; pitch upward 23 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 1145 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 27 degrees; yaw clockwise 14 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 221, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0053571430034935474, + 0.0, + 0.0, + 0.0, + 0.04285714402794838, + -0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.13749998807907104, + 0.0, + -0.0003571428533177823, + -0.13857142627239227, + 0.4057143032550812, + -0.057142846286296844, + 1.0 + ], + "delta_full_state_norm": [ + 0.549014733046012, + -0.18411568301742465, + -0.06783943547846116, + 0.27903549209599143, + 0.9414876058411321, + -0.6303763941813709, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 137 mm; move right 0 mm; move downward 0 mm; roll downward 8 degrees; pitch upward 23 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 1145 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 27 degrees; yaw clockwise 14 degrees; open gripper;" + }, + { + "frame_index": 113, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 145 mm; move right 0 mm; move downward 0 mm; roll downward 9 degrees; pitch upward 22 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 1139 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 25 degrees; yaw clockwise 14 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0053571430034935474, + 0.0, + -0.0003571428533177823, + 0.0, + 0.04857143014669418, + -0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.14499999582767487, + 0.0, + -0.0003571428533177823, + -0.15285713970661163, + 0.37857145071029663, + -0.05285713076591492, + 1.0 + ], + "delta_full_state_norm": [ + 0.549014733046012, + -0.18411568301742465, + -0.08877745229699563, + 0.27903549209599143, + 1.0, + -0.6303763941813709, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 145 mm; move right 0 mm; move downward 0 mm; roll downward 9 degrees; pitch upward 22 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 1139 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 25 degrees; yaw clockwise 14 degrees; open gripper;" + }, + { + "frame_index": 114, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 152 mm; move right 0 mm; move downward 0 mm; roll downward 10 degrees; pitch upward 19 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 1134 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 22 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004642857238650322, + 0.0, + 0.0, + 0.0, + 0.04857143014669418, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.1517857164144516, + 0.0, + 0.0, + -0.167142853140831, + 0.33571431040763855, + -0.04857141897082329, + 1.0 + ], + "delta_full_state_norm": [ + 0.5252786805962304, + -0.18411568301742465, + -0.06783943547846116, + 0.27903549209599143, + 1.0, + -0.5967742452106628, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 152 mm; move right 0 mm; move downward 0 mm; roll downward 10 degrees; pitch upward 19 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 1134 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 22 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 115, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 159 mm; move right 0 mm; move downward 0 mm; roll downward 10 degrees; pitch upward 16 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 1129 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 19 degrees; yaw clockwise 13 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 220, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004642857238650322, + 0.0, + 0.0, + 0.0, + 0.044285714626312256, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.15892857313156128, + 0.0, + 0.0, + -0.18142856657505035, + 0.2871428430080414, + -0.045714277774095535, + 1.0 + ], + "delta_full_state_norm": [ + 0.5252786805962304, + -0.18411568301742465, + -0.06783943547846116, + 0.27903549209599143, + 0.9570493756244394, + -0.5967742452106628, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 159 mm; move right 0 mm; move downward 0 mm; roll downward 10 degrees; pitch upward 16 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 1129 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 19 degrees; yaw clockwise 13 degrees; open gripper;" + }, + { + "frame_index": 116, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 165 mm; move right 0 mm; move downward 0 mm; roll downward 11 degrees; pitch upward 14 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 1125 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 16 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.005000000353902578, + 0.0, + 0.0, + 0.0, + 0.04285714402794838, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.16535715758800507, + 0.0, + 0.0, + -0.19571428000926971, + 0.24285711348056793, + -0.04285713657736778, + 1.0 + ], + "delta_full_state_norm": [ + 0.5371467145581932, + -0.18411568301742465, + -0.06783943547846116, + 0.27903549209599143, + 0.9414876058411321, + -0.5967742452106628, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 165 mm; move right 0 mm; move downward 0 mm; roll downward 11 degrees; pitch upward 14 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 1125 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 16 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 117, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 173 mm; move right 0 mm; move downward 0 mm; roll downward 12 degrees; pitch upward 11 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 1120 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 14 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0053571430034935474, + 0.0, + 0.0, + 0.0, + 0.044285714626312256, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.1728571504354477, + 0.0, + 0.0, + -0.21285714209079742, + 0.20000000298023224, + -0.038571421056985855, + 1.0 + ], + "delta_full_state_norm": [ + 0.549014733046012, + -0.18411568301742465, + -0.06783943547846116, + 0.27903549209599143, + 0.9570493756244394, + -0.5631720962399547, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 173 mm; move right 0 mm; move downward 0 mm; roll downward 12 degrees; pitch upward 11 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 1120 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 14 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 118, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 180 mm; move right 0 mm; move downward 0 mm; roll downward 13 degrees; pitch upward 9 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 1114 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 11 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 219, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004642857238650322, + 0.0, + 0.0, + 0.0, + 0.03999999910593033, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.18035714328289032, + 0.0, + 0.0, + -0.23000000417232513, + 0.15571428835391998, + -0.0357142798602581, + 1.0 + ], + "delta_full_state_norm": [ + 0.5252786805962304, + -0.18411568301742465, + -0.06783943547846116, + 0.27903549209599143, + 0.9103640256940166, + -0.5295699527457733, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 180 mm; move right 0 mm; move downward 0 mm; roll downward 13 degrees; pitch upward 9 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 1114 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 11 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 119, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 189 mm; move right 0 mm; move downward 0 mm; roll downward 14 degrees; pitch upward 7 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 1110 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 9 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.004285714589059353, + 0.0, + 0.0, + 0.0, + 0.029999999329447746, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.18857142329216003, + 0.0, + 0.0, + -0.24857142567634583, + 0.11571428179740906, + -0.034285712987184525, + 1.0 + ], + "delta_full_state_norm": [ + 0.5134106621084116, + -0.18411568301742465, + -0.06783943547846116, + 0.27903549209599143, + 0.8014315763401136, + -0.5295699527457733, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 189 mm; move right 0 mm; move downward 0 mm; roll downward 14 degrees; pitch upward 7 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 1110 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 9 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 120, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 197 mm; move right 0 mm; move downward 0 mm; roll downward 15 degrees; pitch upward 5 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 1105 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 7 degrees; yaw clockwise 12 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0039285714738070965, + 0.0, + 0.0, + 0.0, + 0.019999999552965164, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.1971428543329239, + 0.0, + 0.0, + -0.2671428620815277, + 0.08571428060531616, + -0.03285714238882065, + 1.0 + ], + "delta_full_state_norm": [ + 0.5015426281464486, + -0.18411568301742465, + -0.06783943547846116, + 0.27903549209599143, + 0.6924991269862109, + -0.5295699527457733, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 197 mm; move right 0 mm; move downward 0 mm; roll downward 15 degrees; pitch upward 5 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 1105 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 7 degrees; yaw clockwise 12 degrees; open gripper;" + }, + { + "frame_index": 121, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 206 mm; move right 0 mm; move downward 0 mm; roll downward 16 degrees; pitch upward 4 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 1101 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 6 degrees; yaw clockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 65 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0035714288242161274, + 0.0, + 0.0, + -0.0014285714132711291, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.20642855763435364, + 0.0, + 0.0, + -0.28714287281036377, + 0.0657142847776413, + -0.03142856806516647, + 1.0 + ], + "delta_full_state_norm": [ + 0.48967460965862974, + -0.18411568301742465, + -0.06783943547846116, + 0.2643339347018072, + 0.47463422827840507, + -0.5295699527457733, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 206 mm; move right 0 mm; move downward 0 mm; roll downward 16 degrees; pitch upward 4 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 1101 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 6 degrees; yaw clockwise 11 degrees; open gripper;" + }, + { + "frame_index": 122, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 216 mm; move right 0 mm; move downward 0 mm; roll downward 17 degrees; pitch upward 4 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 1098 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 6 degrees; yaw clockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0039285714738070965, + 0.0, + 0.0, + -0.0014285714132711291, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.21642856299877167, + 0.0, + 0.0, + -0.3042857348918915, + 0.0657142847776413, + -0.029999995604157448, + 1.0 + ], + "delta_full_state_norm": [ + 0.5015426281464486, + -0.18411568301742465, + -0.06783943547846116, + 0.2643339347018072, + 0.47463422827840507, + -0.5295699527457733, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 216 mm; move right 0 mm; move downward 0 mm; roll downward 17 degrees; pitch upward 4 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 1098 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 6 degrees; yaw clockwise 11 degrees; open gripper;" + }, + { + "frame_index": 123, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 227 mm; move right 0 mm; move downward 0 mm; roll downward 18 degrees; pitch upward 4 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 1094 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 6 degrees; yaw clockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0039285714738070965, + 0.0, + 0.0, + -0.011428571306169033, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.22678570449352264, + 0.0, + 0.0, + -0.32285720109939575, + 0.0657142847776413, + -0.028571423143148422, + 1.0 + ], + "delta_full_state_norm": [ + 0.5015426281464486, + -0.18411568301742465, + -0.06783943547846116, + 0.16142303294251725, + 0.47463422827840507, + -0.5295699527457733, + -1.0 + ], + "movement_text": "move forward 4 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 227 mm; move right 0 mm; move downward 0 mm; roll downward 18 degrees; pitch upward 4 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 1094 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 6 degrees; yaw clockwise 11 degrees; open gripper;" + }, + { + "frame_index": 124, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 237 mm; move right 0 mm; move downward 0 mm; roll downward 19 degrees; pitch upward 4 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 1090 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 6 degrees; yaw clockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0053571430034935474, + 0.0, + 0.0, + -0.012857142835855484, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.23714284598827362, + 0.0, + 0.0, + -0.3257143199443817, + 0.0657142847776413, + -0.027142850682139397, + 1.0 + ], + "delta_full_state_norm": [ + 0.549014733046012, + -0.18411568301742465, + -0.06783943547846116, + 0.14672147435029248, + 0.47463422827840507, + -0.4959678065133285, + -1.0 + ], + "movement_text": "move forward 5 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 237 mm; move right 0 mm; move downward 0 mm; roll downward 19 degrees; pitch upward 4 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 1090 mm; move right 149 mm; move downward 30 mm; roll downward 35 degrees; pitch upward 6 degrees; yaw clockwise 11 degrees; open gripper;" + }, + { + "frame_index": 125, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 246 mm; move right 0 mm; move downward 0 mm; roll downward 19 degrees; pitch upward 4 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 1085 mm; move right 149 mm; move downward 30 mm; roll downward 34 degrees; pitch upward 6 degrees; yaw clockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.006428571883589029, + 0.0, + 0.0, + -0.012857142835855484, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.24607138335704803, + 0.0, + 0.0, + -0.3314286172389984, + 0.0657142847776413, + -0.027142850682139397, + 1.0 + ], + "delta_full_state_norm": [ + 0.5846188194577566, + -0.18411568301742465, + -0.06783943547846116, + 0.14672147435029248, + 0.47463422827840507, + -0.4959678065133285, + -1.0 + ], + "movement_text": "move forward 6 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 246 mm; move right 0 mm; move downward 0 mm; roll downward 19 degrees; pitch upward 4 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 1085 mm; move right 149 mm; move downward 30 mm; roll downward 34 degrees; pitch upward 6 degrees; yaw clockwise 11 degrees; open gripper;" + }, + { + "frame_index": 126, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 253 mm; move right 0 mm; move downward 0 mm; roll downward 19 degrees; pitch upward 4 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 1078 mm; move right 149 mm; move downward 30 mm; roll downward 33 degrees; pitch upward 6 degrees; yaw clockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 218, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.008928571827709675, + 0.0, + 0.0, + -0.018571428954601288, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2532142698764801, + 0.0, + 0.0, + -0.3385714590549469, + 0.0657142847776413, + -0.027142850682139397, + 1.0 + ], + "delta_full_state_norm": [ + 0.6676949952949207, + -0.18411568301742465, + -0.06783943547846116, + 0.08791523998139295, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 9 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 253 mm; move right 0 mm; move downward 0 mm; roll downward 19 degrees; pitch upward 4 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 1078 mm; move right 149 mm; move downward 30 mm; roll downward 33 degrees; pitch upward 6 degrees; yaw clockwise 11 degrees; open gripper;" + }, + { + "frame_index": 127, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 258 mm; move right 0 mm; move downward 0 mm; roll downward 19 degrees; pitch upward 4 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 1069 mm; move right 149 mm; move downward 30 mm; roll downward 32 degrees; pitch upward 6 degrees; yaw clockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 64 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.010714286006987095, + 0.0, + 0.0, + -0.015714285895228386, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.25785714387893677, + 0.0, + 0.0, + -0.3385714590549469, + 0.0657142847776413, + -0.028571421280503273, + 1.0 + ], + "delta_full_state_norm": [ + 0.7270351186823032, + -0.18411568301742465, + -0.06783943547846116, + 0.11731835716584271, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 258 mm; move right 0 mm; move downward 0 mm; roll downward 19 degrees; pitch upward 4 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 1069 mm; move right 149 mm; move downward 30 mm; roll downward 32 degrees; pitch upward 6 degrees; yaw clockwise 11 degrees; open gripper;" + }, + { + "frame_index": 128, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 260 mm; move right 0 mm; move downward 0 mm; roll downward 19 degrees; pitch upward 4 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 1059 mm; move right 149 mm; move downward 30 mm; roll downward 31 degrees; pitch upward 6 degrees; yaw clockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 217, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + 0.0, + 0.0, + -0.015714285895228386, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2603571116924286, + 0.0, + 0.0, + -0.3400000333786011, + 0.0657142847776413, + -0.02999999187886715, + 1.0 + ], + "delta_full_state_norm": [ + 0.7507711556579408, + -0.18411568301742465, + -0.06783943547846116, + 0.11731835716584271, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 260 mm; move right 0 mm; move downward 0 mm; roll downward 19 degrees; pitch upward 4 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 1059 mm; move right 149 mm; move downward 30 mm; roll downward 31 degrees; pitch upward 6 degrees; yaw clockwise 11 degrees; open gripper;" + }, + { + "frame_index": 129, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 262 mm; move right 0 mm; move downward 0 mm; roll downward 20 degrees; pitch upward 4 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 1047 mm; move right 149 mm; move downward 30 mm; roll downward 30 degrees; pitch upward 6 degrees; yaw clockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + 0.0, + -0.017142856493592262, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2621428668498993, + 0.0, + 0.0, + -0.34142857789993286, + 0.0657142847776413, + -0.031428564339876175, + 1.0 + ], + "delta_full_state_norm": [ + 0.7863752420696855, + -0.18411568301742465, + -0.06783943547846116, + 0.10261680815794261, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 262 mm; move right 0 mm; move downward 0 mm; roll downward 20 degrees; pitch upward 4 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 1047 mm; move right 149 mm; move downward 30 mm; roll downward 30 degrees; pitch upward 6 degrees; yaw clockwise 11 degrees; open gripper;" + }, + { + "frame_index": 130, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 263 mm; move right 0 mm; move downward 0 mm; roll downward 20 degrees; pitch upward 4 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 1035 mm; move right 149 mm; move downward 30 mm; roll downward 29 degrees; pitch upward 6 degrees; yaw clockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 216, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + 0.0, + 0.0, + -0.017142856493592262, + 0.018571428954601288, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.2628571391105652, + 0.0, + 0.0, + -0.34142857789993286, + 0.0657142847776413, + -0.03285713493824005, + 1.0 + ], + "delta_full_state_norm": [ + 0.8338473469692489, + -0.18411568301742465, + -0.06783943547846116, + 0.10261680815794261, + 0.6769373572029034, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 263 mm; move right 0 mm; move downward 0 mm; roll downward 20 degrees; pitch upward 4 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 1035 mm; move right 149 mm; move downward 30 mm; roll downward 29 degrees; pitch upward 6 degrees; yaw clockwise 11 degrees; open gripper;" + }, + { + "frame_index": 131, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 262 mm; move right 0 mm; move downward 0 mm; roll downward 20 degrees; pitch upward 3 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 1021 mm; move right 149 mm; move downward 30 mm; roll downward 28 degrees; pitch upward 5 degrees; yaw clockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 63 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013571429066359997, + 0.0, + 0.0, + -0.014285714365541935, + 0.025714285671710968, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.2621428668498993, + 0.0, + 0.0, + -0.34142857789993286, + 0.04714285954833031, + -0.035714276134967804, + 1.0 + ], + "delta_full_state_norm": [ + 0.8219793284814301, + -0.18411568301742465, + -0.06783943547846116, + 0.13201991575806749, + 0.7547462466999411, + -0.4959678065133285, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 262 mm; move right 0 mm; move downward 0 mm; roll downward 20 degrees; pitch upward 3 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 1021 mm; move right 149 mm; move downward 30 mm; roll downward 28 degrees; pitch upward 5 degrees; yaw clockwise 11 degrees; open gripper;" + }, + { + "frame_index": 132, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 262 mm; move right 0 mm; move downward 0 mm; roll downward 20 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 1007 mm; move right 149 mm; move downward 30 mm; roll downward 27 degrees; pitch upward 4 degrees; yaw clockwise 11 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 215, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + 0.0, + -0.014285714365541935, + 0.015714285895228386, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.26178571581840515, + 0.0, + 0.0, + -0.34285712242126465, + 0.02142857201397419, + -0.03714284673333168, + 1.0 + ], + "delta_full_state_norm": [ + 0.7982432915057922, + -0.18411568301742465, + -0.06783943547846116, + 0.13201991575806749, + 0.6458137973460383, + -0.5295699527457733, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 262 mm; move right 0 mm; move downward 0 mm; roll downward 20 degrees; pitch upward 1 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 1007 mm; move right 149 mm; move downward 30 mm; roll downward 27 degrees; pitch upward 4 degrees; yaw clockwise 11 degrees; open gripper;" + }, + { + "frame_index": 133, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 262 mm; move right 0 mm; move downward 0 mm; roll downward 20 degrees; pitch upward 0 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 994 mm; move right 149 mm; move downward 30 mm; roll downward 27 degrees; pitch upward 3 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 214, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + 0.0, + 0.0, + -0.014285714365541935, + 0.0057142856530845165, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.2621428668498993, + 0.0, + 0.0, + -0.3442857265472412, + 0.0057142856530845165, + -0.03714284673333168, + 1.0 + ], + "delta_full_state_norm": [ + 0.7745072235818666, + -0.18411568301742465, + -0.06783943547846116, + 0.13201991575806749, + 0.5368813429195729, + -0.5295699527457733, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 262 mm; move right 0 mm; move downward 0 mm; roll downward 20 degrees; pitch upward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 994 mm; move right 149 mm; move downward 30 mm; roll downward 27 degrees; pitch upward 3 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 134, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 263 mm; move right 0 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 982 mm; move right 149 mm; move downward 30 mm; roll downward 26 degrees; pitch upward 3 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011785714887082577, + 0.0, + 0.0, + -0.014285714365541935, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.2628571689128876, + 0.0, + 0.0, + -0.3457143008708954, + 0.0, + -0.03714284673333168, + 1.0 + ], + "delta_full_state_norm": [ + 0.7626392050940476, + -0.18411568301742465, + -0.06783943547846116, + 0.13201991575806749, + 0.47463422827840507, + -0.5295699527457733, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 263 mm; move right 0 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 982 mm; move right 149 mm; move downward 30 mm; roll downward 26 degrees; pitch upward 3 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 135, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 264 mm; move right 0 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 970 mm; move right 149 mm; move downward 30 mm; roll downward 25 degrees; pitch upward 3 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 62 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011071428656578064, + 0.0, + 0.0, + -0.014285714365541935, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.26357147097587585, + 0.0, + 0.0, + -0.3457143008708954, + 0.0, + -0.03714285045862198, + 1.0 + ], + "delta_full_state_norm": [ + 0.738903137170122, + -0.18411568301742465, + -0.06783943547846116, + 0.13201991575806749, + 0.47463422827840507, + -0.5295699527457733, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 264 mm; move right 0 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 970 mm; move right 149 mm; move downward 30 mm; roll downward 25 degrees; pitch upward 3 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 136, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 265 mm; move right 0 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 959 mm; move right 149 mm; move downward 30 mm; roll downward 24 degrees; pitch upward 3 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 213, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + 0.0, + -0.017142856493592262, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.2646428644657135, + -0.0003571428533177823, + 0.0, + -0.34285715222358704, + 0.0, + -0.03714285045862198, + 1.0 + ], + "delta_full_state_norm": [ + 0.7863752420696855, + -0.18411568301742465, + -0.06783943547846116, + 0.10261680815794261, + 0.47463422827840507, + -0.4959678065133285, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 265 mm; move right 0 mm; move downward 0 mm; roll downward 20 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 959 mm; move right 149 mm; move downward 30 mm; roll downward 24 degrees; pitch upward 3 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 137, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 265 mm; move right 1 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 947 mm; move right 149 mm; move downward 30 mm; roll downward 23 degrees; pitch upward 3 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + 0.0, + -0.017142856493592262, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.2646428644657135, + -0.0014285714132711291, + 0.0, + -0.33571428060531616, + 0.0, + -0.038571424782276154, + 1.0 + ], + "delta_full_state_norm": [ + 0.7982432915057922, + -0.18411568301742465, + -0.06783943547846116, + 0.10261680815794261, + 0.47463422827840507, + -0.4959678065133285, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 265 mm; move right 1 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 947 mm; move right 149 mm; move downward 30 mm; roll downward 23 degrees; pitch upward 3 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 138, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 265 mm; move right 3 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 934 mm; move right 149 mm; move downward 30 mm; roll downward 22 degrees; pitch upward 3 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 212, + 61 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + 0.0, + -0.018571428954601288, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.2646428942680359, + -0.0032142859417945147, + 0.0, + -0.3257142901420593, + 0.0, + -0.041428569704294205, + 1.0 + ], + "delta_full_state_norm": [ + 0.7982432915057922, + -0.18411568301742465, + -0.06783943547846116, + 0.08791523998139295, + 0.47463422827840507, + -0.4959678065133285, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 265 mm; move right 3 mm; move downward 0 mm; roll downward 19 degrees; pitch downward 0 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 934 mm; move right 149 mm; move downward 30 mm; roll downward 22 degrees; pitch upward 3 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 139, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 264 mm; move right 6 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 921 mm; move right 149 mm; move downward 30 mm; roll downward 21 degrees; pitch upward 3 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + 0.0, + -0.018571428954601288, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.26428577303886414, + -0.00607142923399806, + 0.0, + -0.3100000321865082, + 0.0, + -0.04571428522467613, + 1.0 + ], + "delta_full_state_norm": [ + 0.7982432915057922, + -0.18411568301742465, + -0.06783943547846116, + 0.08791523998139295, + 0.47463422827840507, + -0.4959678065133285, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 264 mm; move right 6 mm; move downward 0 mm; roll downward 18 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 921 mm; move right 149 mm; move downward 30 mm; roll downward 21 degrees; pitch upward 3 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 140, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 264 mm; move right 10 mm; move downward 0 mm; roll downward 17 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 908 mm; move right 149 mm; move downward 30 mm; roll downward 20 degrees; pitch upward 3 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 211, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + 0.0, + -0.019999999552965164, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.26357147097587585, + -0.009642857126891613, + 0.0, + -0.29285717010498047, + 0.0, + -0.051428571343421936, + 1.0 + ], + "delta_full_state_norm": [ + 0.8101112790453233, + -0.18411568301742465, + -0.06783943547846116, + 0.07321369097349284, + 0.47463422827840507, + -0.4959678065133285, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 264 mm; move right 10 mm; move downward 0 mm; roll downward 17 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 908 mm; move right 149 mm; move downward 30 mm; roll downward 20 degrees; pitch upward 3 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 141, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 263 mm; move right 14 mm; move downward 0 mm; roll downward 16 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 895 mm; move right 149 mm; move downward 30 mm; roll downward 19 degrees; pitch upward 3 degrees; yaw clockwise 10 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 210, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013571429066359997, + 0.0, + 0.0, + -0.018571428954601288, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.26250001788139343, + -0.013928571715950966, + 0.0, + -0.2785714566707611, + 0.0, + -0.058571428060531616, + 1.0 + ], + "delta_full_state_norm": [ + 0.8219793284814301, + -0.18411568301742465, + -0.06783943547846116, + 0.08791523998139295, + 0.47463422827840507, + -0.4959678065133285, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 263 mm; move right 14 mm; move downward 0 mm; roll downward 16 degrees; pitch downward 0 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 895 mm; move right 149 mm; move downward 30 mm; roll downward 19 degrees; pitch upward 3 degrees; yaw clockwise 10 degrees; open gripper;" + }, + { + "frame_index": 142, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 261 mm; move right 18 mm; move downward 0 mm; roll downward 15 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 881 mm; move right 149 mm; move downward 30 mm; roll downward 18 degrees; pitch upward 3 degrees; yaw clockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 60 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + 0.0, + 0.0, + -0.019999999552965164, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.26107141375541687, + -0.018214285373687744, + 0.0, + -0.26428577303886414, + 0.0, + -0.0657142847776413, + 1.0 + ], + "delta_full_state_norm": [ + 0.8457153964053556, + -0.18411568301742465, + -0.06783943547846116, + 0.07321369097349284, + 0.47463422827840507, + -0.4959678065133285, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 261 mm; move right 18 mm; move downward 0 mm; roll downward 15 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 881 mm; move right 149 mm; move downward 30 mm; roll downward 18 degrees; pitch upward 3 degrees; yaw clockwise 9 degrees; open gripper;" + }, + { + "frame_index": 143, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 259 mm; move right 23 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 867 mm; move right 149 mm; move downward 30 mm; roll downward 17 degrees; pitch upward 3 degrees; yaw clockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 209, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + 0.0, + 0.0, + -0.014285714365541935, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.2589285373687744, + -0.02321428619325161, + 0.0, + -0.2442857027053833, + 0.0, + -0.07285714894533157, + 1.0 + ], + "delta_full_state_norm": [ + 0.8457153964053556, + -0.18411568301742465, + -0.06783943547846116, + 0.13201991575806749, + 0.47463422827840507, + -0.4959678065133285, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 259 mm; move right 23 mm; move downward 0 mm; roll downward 14 degrees; pitch downward 0 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 867 mm; move right 149 mm; move downward 30 mm; roll downward 17 degrees; pitch upward 3 degrees; yaw clockwise 9 degrees; open gripper;" + }, + { + "frame_index": 144, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 257 mm; move right 29 mm; move downward 0 mm; roll downward 13 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 853 mm; move right 149 mm; move downward 30 mm; roll downward 16 degrees; pitch upward 3 degrees; yaw clockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + 0.0, + 0.0, + -0.018571428954601288, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.2574999928474426, + -0.02857142686843872, + 0.0, + -0.23000000417232513, + 0.0, + -0.08142857253551483, + 1.0 + ], + "delta_full_state_norm": [ + 0.8457153964053556, + -0.18411568301742465, + -0.06783943547846116, + 0.08791523998139295, + 0.47463422827840507, + -0.4959678065133285, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 257 mm; move right 29 mm; move downward 0 mm; roll downward 13 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 853 mm; move right 149 mm; move downward 30 mm; roll downward 16 degrees; pitch upward 3 degrees; yaw clockwise 9 degrees; open gripper;" + }, + { + "frame_index": 145, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 255 mm; move right 34 mm; move downward 0 mm; roll downward 12 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 839 mm; move right 149 mm; move downward 30 mm; roll downward 15 degrees; pitch upward 3 degrees; yaw clockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 208, + 59 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013571429066359997, + 0.0, + 0.0, + -0.019999999552965164, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.25535711646080017, + -0.03392856940627098, + 0.0, + -0.21142856776714325, + 0.0, + -0.08999999612569809, + 1.0 + ], + "delta_full_state_norm": [ + 0.8219793284814301, + -0.18411568301742465, + -0.06783943547846116, + 0.07321369097349284, + 0.47463422827840507, + -0.4959678065133285, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 255 mm; move right 34 mm; move downward 0 mm; roll downward 12 degrees; pitch downward 0 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 839 mm; move right 149 mm; move downward 30 mm; roll downward 15 degrees; pitch upward 3 degrees; yaw clockwise 9 degrees; open gripper;" + }, + { + "frame_index": 146, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 254 mm; move right 40 mm; move downward 0 mm; roll downward 11 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 825 mm; move right 149 mm; move downward 30 mm; roll downward 14 degrees; pitch upward 3 degrees; yaw clockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013571429066359997, + 0.0, + 0.0, + -0.018571428954601288, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.253928542137146, + -0.039642855525016785, + 0.0, + -0.1914285570383072, + 0.0, + -0.09857141971588135, + 1.0 + ], + "delta_full_state_norm": [ + 0.8219793284814301, + -0.18411568301742465, + -0.06783943547846116, + 0.08791523998139295, + 0.47463422827840507, + -0.4959678065133285, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 254 mm; move right 40 mm; move downward 0 mm; roll downward 11 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 825 mm; move right 149 mm; move downward 30 mm; roll downward 14 degrees; pitch upward 3 degrees; yaw clockwise 9 degrees; open gripper;" + }, + { + "frame_index": 147, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 253 mm; move right 45 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 811 mm; move right 149 mm; move downward 30 mm; roll downward 13 degrees; pitch upward 3 degrees; yaw clockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 207, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + 0.0, + -0.017142856493592262, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.2532142996788025, + -0.0446428582072258, + 0.0, + -0.1728571504354477, + 0.0, + -0.10571427643299103, + 1.0 + ], + "delta_full_state_norm": [ + 0.8101112790453233, + -0.18411568301742465, + -0.06783943547846116, + 0.10261680815794261, + 0.47463422827840507, + -0.4959678065133285, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 253 mm; move right 45 mm; move downward 0 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 811 mm; move right 149 mm; move downward 30 mm; roll downward 13 degrees; pitch upward 3 degrees; yaw clockwise 9 degrees; open gripper;" + }, + { + "frame_index": 148, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 253 mm; move right 49 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 798 mm; move right 149 mm; move downward 30 mm; roll downward 12 degrees; pitch upward 3 degrees; yaw clockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + 0.0, + -0.017142856493592262, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.2532142996788025, + -0.04928571358323097, + 0.0, + -0.15571428835391998, + 0.0, + -0.1128571406006813, + 1.0 + ], + "delta_full_state_norm": [ + 0.8101112790453233, + -0.18411568301742465, + -0.06783943547846116, + 0.10261680815794261, + 0.47463422827840507, + -0.4959678065133285, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 253 mm; move right 49 mm; move downward 0 mm; roll downward 9 degrees; pitch downward 0 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 798 mm; move right 149 mm; move downward 30 mm; roll downward 12 degrees; pitch upward 3 degrees; yaw clockwise 9 degrees; open gripper;" + }, + { + "frame_index": 149, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 253 mm; move right 54 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move forward 785 mm; move right 149 mm; move downward 30 mm; roll downward 11 degrees; pitch upward 3 degrees; yaw clockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 206, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + 0.0, + -0.017142856493592262, + 0.0, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.25285714864730835, + -0.0535714291036129, + 0.0, + -0.13857142627239227, + 0.0, + -0.11857142299413681, + 1.0 + ], + "delta_full_state_norm": [ + 0.8101112790453233, + -0.18411568301742465, + -0.06783943547846116, + 0.10261680815794261, + 0.47463422827840507, + -0.4959678065133285, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 253 mm; move right 54 mm; move downward 0 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 785 mm; move right 149 mm; move downward 30 mm; roll downward 11 degrees; pitch upward 3 degrees; yaw clockwise 9 degrees; open gripper;" + }, + { + "frame_index": 150, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 253 mm; move right 57 mm; move downward 0 mm; roll downward 7 degrees; pitch upward 0 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move forward 772 mm; move right 149 mm; move downward 30 mm; roll downward 10 degrees; pitch upward 3 degrees; yaw clockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 58 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + 0.0, + -0.017142856493592262, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.25285717844963074, + -0.05714285373687744, + 0.0, + -0.12142857164144516, + 0.0014285714132711291, + -0.12428571283817291, + 1.0 + ], + "delta_full_state_norm": [ + 0.8101112790453233, + -0.18411568301742465, + -0.06783943547846116, + 0.10261680815794261, + 0.47463422827840507, + -0.5295699527457733, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 253 mm; move right 57 mm; move downward 0 mm; roll downward 7 degrees; pitch upward 0 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 772 mm; move right 149 mm; move downward 30 mm; roll downward 10 degrees; pitch upward 3 degrees; yaw clockwise 9 degrees; open gripper;" + }, + { + "frame_index": 151, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 254 mm; move right 60 mm; move downward 0 mm; roll downward 6 degrees; pitch upward 0 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move forward 759 mm; move right 149 mm; move downward 30 mm; roll downward 9 degrees; pitch upward 3 degrees; yaw clockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 205, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + 0.0, + -0.015714285895228386, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.25357145071029663, + -0.05964285135269165, + 0.0, + -0.10428570955991745, + 0.004285714123398066, + -0.12714284658432007, + 1.0 + ], + "delta_full_state_norm": [ + 0.8101112790453233, + -0.18411568301742465, + -0.06783943547846116, + 0.11731835716584271, + 0.47463422827840507, + -0.5295699527457733, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 254 mm; move right 60 mm; move downward 0 mm; roll downward 6 degrees; pitch upward 0 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 759 mm; move right 149 mm; move downward 30 mm; roll downward 9 degrees; pitch upward 3 degrees; yaw clockwise 9 degrees; open gripper;" + }, + { + "frame_index": 152, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 255 mm; move right 62 mm; move downward 1 mm; roll downward 5 degrees; pitch upward 1 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move forward 745 mm; move right 149 mm; move downward 30 mm; roll downward 8 degrees; pitch upward 3 degrees; yaw clockwise 9 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + 0.0, + 0.0, + -0.015714285895228386, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.25464287400245667, + -0.061785709112882614, + -0.0010714286472648382, + -0.08857142925262451, + 0.009999999776482582, + -0.12999999523162842, + 1.0 + ], + "delta_full_state_norm": [ + 0.8101112790453233, + -0.18411568301742465, + -0.06783943547846116, + 0.11731835716584271, + 0.47463422827840507, + -0.5295699527457733, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 255 mm; move right 62 mm; move downward 1 mm; roll downward 5 degrees; pitch upward 1 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 745 mm; move right 149 mm; move downward 30 mm; roll downward 8 degrees; pitch upward 3 degrees; yaw clockwise 9 degrees; open gripper;" + }, + { + "frame_index": 153, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 256 mm; move right 63 mm; move downward 1 mm; roll downward 4 degrees; pitch upward 1 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move forward 732 mm; move right 149 mm; move downward 30 mm; roll downward 7 degrees; pitch upward 3 degrees; yaw clockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 204, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + 0.0, + 0.0, + -0.015714285895228386, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.25607141852378845, + -0.06321428716182709, + -0.0014285714132711291, + -0.07285714149475098, + 0.015714285895228386, + -0.13285712897777557, + 1.0 + ], + "delta_full_state_norm": [ + 0.7982432915057922, + -0.18411568301742465, + -0.06783943547846116, + 0.11731835716584271, + 0.47463422827840507, + -0.5295699527457733, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 256 mm; move right 63 mm; move downward 1 mm; roll downward 4 degrees; pitch upward 1 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move forward 732 mm; move right 149 mm; move downward 30 mm; roll downward 7 degrees; pitch upward 3 degrees; yaw clockwise 8 degrees; open gripper;" + }, + { + "frame_index": 154, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 257 mm; move right 64 mm; move downward 1 mm; roll downward 3 degrees; pitch upward 1 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move forward 719 mm; move right 149 mm; move downward 30 mm; roll downward 6 degrees; pitch upward 3 degrees; yaw clockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 57 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + 0.0, + 0.0, + -0.014285714365541935, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.2574999928474426, + -0.06428571790456772, + -0.0014285714132711291, + -0.05714285373687744, + 0.02142857201397419, + -0.13428570330142975, + 1.0 + ], + "delta_full_state_norm": [ + 0.7863752420696855, + -0.18411568301742465, + -0.06783943547846116, + 0.13201991575806749, + 0.47463422827840507, + -0.5295699527457733, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 257 mm; move right 64 mm; move downward 1 mm; roll downward 3 degrees; pitch upward 1 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move forward 719 mm; move right 149 mm; move downward 30 mm; roll downward 6 degrees; pitch upward 3 degrees; yaw clockwise 8 degrees; open gripper;" + }, + { + "frame_index": 155, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 260 mm; move right 65 mm; move downward 1 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move forward 707 mm; move right 149 mm; move downward 30 mm; roll downward 5 degrees; pitch upward 3 degrees; yaw clockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 203, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + -0.0003571428533177823, + 0.0, + -0.011428571306169033, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.2596428394317627, + -0.06535714119672775, + -0.0014285714132711291, + -0.04285714030265808, + 0.025714285671710968, + -0.13571426272392273, + 1.0 + ], + "delta_full_state_norm": [ + 0.7745072235818666, + -0.19800071199967828, + -0.06783943547846116, + 0.16142303294251725, + 0.47463422827840507, + -0.5295699527457733, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 0 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 260 mm; move right 65 mm; move downward 1 mm; roll downward 2 degrees; pitch upward 1 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move forward 707 mm; move right 149 mm; move downward 30 mm; roll downward 5 degrees; pitch upward 3 degrees; yaw clockwise 8 degrees; open gripper;" + }, + { + "frame_index": 156, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 1 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 262 mm; move right 66 mm; move downward 1 mm; roll downward 2 degrees; pitch upward 2 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move forward 695 mm; move right 149 mm; move downward 30 mm; roll downward 5 degrees; pitch upward 3 degrees; yaw clockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + -0.0010714286472648382, + 0.0, + -0.009999999776482582, + 0.0, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.2621428668498993, + -0.06642857939004898, + -0.0014285714132711291, + -0.03142857179045677, + 0.029999999329447746, + -0.13571426272392273, + 1.0 + ], + "delta_full_state_norm": [ + 0.7863752420696855, + -0.22577077335868878, + -0.06783943547846116, + 0.17612459153474225, + 0.47463422827840507, + -0.5295699527457733, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 1 mm; move downward 0 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 262 mm; move right 66 mm; move downward 1 mm; roll downward 2 degrees; pitch upward 2 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move forward 695 mm; move right 149 mm; move downward 30 mm; roll downward 5 degrees; pitch upward 3 degrees; yaw clockwise 8 degrees; open gripper;" + }, + { + "frame_index": 157, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 264 mm; move right 66 mm; move downward 1 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw clockwise 8 degrees; open gripper;\nSubtask Movement: move forward 682 mm; move right 148 mm; move downward 30 mm; roll downward 4 degrees; pitch upward 3 degrees; yaw clockwise 8 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 202, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + -0.0017857144121080637, + 0.0, + -0.0071428571827709675, + 0.0, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.26428571343421936, + -0.0657142922282219, + -0.0014285714132711291, + -0.02142857015132904, + 0.034285712987184525, + -0.13428570330142975, + 1.0 + ], + "delta_full_state_norm": [ + 0.7982432915057922, + -0.25354083358619817, + -0.06783943547846116, + 0.20552770392702957, + 0.47463422827840507, + -0.5631720962399547, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 2 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 264 mm; move right 66 mm; move downward 1 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw clockwise 8 degrees; open gripper;", + "subtask_movement_text": "move forward 682 mm; move right 148 mm; move downward 30 mm; roll downward 4 degrees; pitch upward 3 degrees; yaw clockwise 8 degrees; open gripper;" + }, + { + "frame_index": 158, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 266 mm; move right 64 mm; move downward 1 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move forward 669 mm; move right 146 mm; move downward 30 mm; roll downward 4 degrees; pitch upward 3 degrees; yaw clockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012500000186264515, + -0.0028571428265422583, + 0.0, + -0.0028571428265422583, + 0.0, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.2660714387893677, + -0.06428572535514832, + -0.0014285714132711291, + -0.01428571343421936, + 0.03857142850756645, + -0.12999999523162842, + 1.0 + ], + "delta_full_state_norm": [ + 0.7863752420696855, + -0.2951959148754535, + -0.06783943547846116, + 0.249632377307623, + 0.47463422827840507, + -0.5967742452106628, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 266 mm; move right 64 mm; move downward 1 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 669 mm; move right 146 mm; move downward 30 mm; roll downward 4 degrees; pitch upward 3 degrees; yaw clockwise 7 degrees; open gripper;" + }, + { + "frame_index": 159, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 268 mm; move right 61 mm; move downward 1 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move forward 657 mm; move right 143 mm; move downward 30 mm; roll downward 3 degrees; pitch upward 3 degrees; yaw clockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 56 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + -0.0035714288242161274, + 0.0, + -0.0014285714132711291, + 0.0, + -0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.26821431517601013, + -0.06142858415842056, + -0.0014285714132711291, + -0.012857142835855484, + 0.04285714402794838, + -0.12428570538759232, + 1.0 + ], + "delta_full_state_norm": [ + 0.7745072235818666, + -0.3229659841549717, + -0.06783943547846116, + 0.2643339347018072, + 0.47463422827840507, + -0.6303763941813709, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 268 mm; move right 61 mm; move downward 1 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 657 mm; move right 143 mm; move downward 30 mm; roll downward 3 degrees; pitch upward 3 degrees; yaw clockwise 7 degrees; open gripper;" + }, + { + "frame_index": 160, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 271 mm; move right 58 mm; move downward 1 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw clockwise 7 degrees; open gripper;\nSubtask Movement: move forward 645 mm; move right 140 mm; move downward 30 mm; roll downward 3 degrees; pitch upward 3 degrees; yaw clockwise 7 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 201, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + -0.004285714589059353, + 0.0, + -0.0057142856530845165, + 0.0, + -0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + 0.2710714638233185, + -0.05785715579986572, + -0.0014285714132711291, + -0.012857142835855484, + 0.04285714402794838, + -0.11714284867048264, + 1.0 + ], + "delta_full_state_norm": [ + 0.7745072235818666, + -0.35073604438248107, + -0.06783943547846116, + 0.22022926251925434, + 0.47463422827840507, + -0.6639785321990257, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 271 mm; move right 58 mm; move downward 1 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw clockwise 7 degrees; open gripper;", + "subtask_movement_text": "move forward 645 mm; move right 140 mm; move downward 30 mm; roll downward 3 degrees; pitch upward 3 degrees; yaw clockwise 7 degrees; open gripper;" + }, + { + "frame_index": 161, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 275 mm; move right 54 mm; move downward 1 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 632 mm; move right 135 mm; move downward 30 mm; roll downward 3 degrees; pitch upward 3 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + -0.004285714589059353, + 0.0, + -0.004285714123398066, + 0.0, + -0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + 0.2746428847312927, + -0.053571440279483795, + -0.0014285714132711291, + -0.0071428571827709675, + 0.044285714626312256, + -0.10857141762971878, + 1.0 + ], + "delta_full_state_norm": [ + 0.7745072235818666, + -0.35073604438248107, + -0.06783943547846116, + 0.23493082111147934, + 0.47463422827840507, + -0.6639785321990257, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 275 mm; move right 54 mm; move downward 1 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 632 mm; move right 135 mm; move downward 30 mm; roll downward 3 degrees; pitch upward 3 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 162, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 278 mm; move right 49 mm; move downward 1 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 6 degrees; open gripper;\nSubtask Movement: move forward 620 mm; move right 131 mm; move downward 30 mm; roll downward 3 degrees; pitch upward 3 degrees; yaw clockwise 6 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + -0.005000000353902578, + 0.0, + 0.0, + 0.0, + -0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + 0.2778571546077728, + -0.04928571730852127, + -0.0014285714132711291, + -0.0028571428265422583, + 0.044285714626312256, + -0.09999999403953552, + 1.0 + ], + "delta_full_state_norm": [ + 0.7745072235818666, + -0.37850610460999046, + -0.06783943547846116, + 0.27903549209599143, + 0.47463422827840507, + -0.6639785321990257, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 278 mm; move right 49 mm; move downward 1 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 6 degrees; open gripper;", + "subtask_movement_text": "move forward 620 mm; move right 131 mm; move downward 30 mm; roll downward 3 degrees; pitch upward 3 degrees; yaw clockwise 6 degrees; open gripper;" + }, + { + "frame_index": 163, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 281 mm; move right 44 mm; move downward 1 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 608 mm; move right 126 mm; move downward 30 mm; roll downward 3 degrees; pitch upward 3 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 55 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + -0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + 0.28142860531806946, + -0.044285718351602554, + -0.0014285714132711291, + -0.004285714123398066, + 0.044285714626312256, + -0.09142856299877167, + 1.0 + ], + "delta_full_state_norm": [ + 0.7982432915057922, + -0.3923911256717364, + -0.06783943547846116, + 0.27903549209599143, + 0.47463422827840507, + -0.6975806811697338, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 281 mm; move right 44 mm; move downward 1 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 608 mm; move right 126 mm; move downward 30 mm; roll downward 3 degrees; pitch upward 3 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 164, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 284 mm; move right 39 mm; move downward 1 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 5 degrees; open gripper;\nSubtask Movement: move forward 595 mm; move right 121 mm; move downward 30 mm; roll downward 3 degrees; pitch upward 3 degrees; yaw clockwise 5 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + -0.0053571430034935474, + 0.0, + 0.0, + 0.0, + -0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + 0.2842857539653778, + -0.038928575813770294, + -0.0014285714132711291, + -0.004285714123398066, + 0.044285714626312256, + -0.08142856508493423, + 1.0 + ], + "delta_full_state_norm": [ + 0.7745072235818666, + -0.3923911256717364, + -0.06783943547846116, + 0.27903549209599143, + 0.47463422827840507, + -0.6975806811697338, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 284 mm; move right 39 mm; move downward 1 mm; roll downward 0 degrees; pitch upward 3 degrees; yaw clockwise 5 degrees; open gripper;", + "subtask_movement_text": "move forward 595 mm; move right 121 mm; move downward 30 mm; roll downward 3 degrees; pitch upward 3 degrees; yaw clockwise 5 degrees; open gripper;" + }, + { + "frame_index": 165, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 12 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;\nNext 20 Movement: move forward 287 mm; move right 34 mm; move downward 1 mm; roll downward 1 degrees; pitch upward 3 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 583 mm; move right 115 mm; move downward 30 mm; roll downward 3 degrees; pitch upward 3 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012142857536673546, + -0.0057142856530845165, + 0.0, + 0.0, + 0.0, + -0.009999999776482582, + 1.0 + ], + "delta_next_20": [ + 0.2874999940395355, + -0.033571429550647736, + -0.0014285714132711291, + -0.009999999776482582, + 0.044285714626312256, + -0.0714285746216774, + 1.0 + ], + "delta_full_state_norm": [ + 0.7745072235818666, + -0.40627614673348234, + -0.06783943547846116, + 0.27903549209599143, + 0.47463422827840507, + -0.6975806811697338, + -1.0 + ], + "movement_text": "move forward 12 mm; move right 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 1 degrees; open gripper;", + "next_20_movement_text": "move forward 287 mm; move right 34 mm; move downward 1 mm; roll downward 1 degrees; pitch upward 3 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 583 mm; move right 115 mm; move downward 30 mm; roll downward 3 degrees; pitch upward 3 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 166, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 291 mm; move right 28 mm; move downward 1 mm; roll downward 1 degrees; pitch upward 3 degrees; yaw clockwise 4 degrees; open gripper;\nSubtask Movement: move forward 571 mm; move right 110 mm; move downward 30 mm; roll downward 3 degrees; pitch upward 3 degrees; yaw clockwise 4 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 200, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + -0.005000000353902578, + 0.0, + 0.0, + 0.0, + -0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + 0.29107141494750977, + -0.027857143431901932, + -0.0014285714132711291, + -0.012857142835855484, + 0.044285714626312256, + -0.06142857298254967, + 1.0 + ], + "delta_full_state_norm": [ + 0.7982432915057922, + -0.37850610460999046, + -0.06783943547846116, + 0.27903549209599143, + 0.47463422827840507, + -0.6639785321990257, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 291 mm; move right 28 mm; move downward 1 mm; roll downward 1 degrees; pitch upward 3 degrees; yaw clockwise 4 degrees; open gripper;", + "subtask_movement_text": "move forward 571 mm; move right 110 mm; move downward 30 mm; roll downward 3 degrees; pitch upward 3 degrees; yaw clockwise 4 degrees; open gripper;" + }, + { + "frame_index": 167, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 294 mm; move right 23 mm; move downward 1 mm; roll downward 1 degrees; pitch upward 3 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 558 mm; move right 105 mm; move downward 30 mm; roll downward 3 degrees; pitch upward 3 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 199, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + -0.004642857238650322, + 0.0, + 0.0, + 0.0, + -0.008571428246796131, + 1.0 + ], + "delta_next_20": [ + 0.29428574442863464, + -0.022857146337628365, + -0.0014285714132711291, + -0.012857142835855484, + 0.044285714626312256, + -0.05285714194178581, + 1.0 + ], + "delta_full_state_norm": [ + 0.8101112790453233, + -0.364621065444227, + -0.06783943547846116, + 0.27903549209599143, + 0.47463422827840507, + -0.6639785321990257, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 5 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 294 mm; move right 23 mm; move downward 1 mm; roll downward 1 degrees; pitch upward 3 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 558 mm; move right 105 mm; move downward 30 mm; roll downward 3 degrees; pitch upward 3 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 168, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 297 mm; move right 18 mm; move downward 1 mm; roll downward 1 degrees; pitch upward 3 degrees; yaw clockwise 3 degrees; open gripper;\nSubtask Movement: move forward 545 mm; move right 100 mm; move downward 30 mm; roll downward 3 degrees; pitch upward 3 degrees; yaw clockwise 3 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 199, + 54 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.012857143767178059, + -0.004285714589059353, + 0.0, + 0.0, + 0.0, + -0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.297142893075943, + -0.018214289098978043, + -0.0014285714132711291, + -0.015714285895228386, + 0.044285714626312256, + -0.044285714626312256, + 1.0 + ], + "delta_full_state_norm": [ + 0.7982432915057922, + -0.35073604438248107, + -0.06783943547846116, + 0.27903549209599143, + 0.47463422827840507, + -0.6303763941813709, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 297 mm; move right 18 mm; move downward 1 mm; roll downward 1 degrees; pitch upward 3 degrees; yaw clockwise 3 degrees; open gripper;", + "subtask_movement_text": "move forward 545 mm; move right 100 mm; move downward 30 mm; roll downward 3 degrees; pitch upward 3 degrees; yaw clockwise 3 degrees; open gripper;" + }, + { + "frame_index": 169, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 13 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 300 mm; move right 14 mm; move downward 1 mm; roll downward 1 degrees; pitch upward 3 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 532 mm; move right 96 mm; move downward 30 mm; roll downward 3 degrees; pitch upward 3 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 199, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013214285485446453, + -0.0035714288242161274, + 0.0, + 0.0, + 0.0014285714132711291, + -0.0071428571827709675, + 1.0 + ], + "delta_next_20": [ + 0.30000004172325134, + -0.01392857264727354, + -0.0014285714132711291, + -0.017142856493592262, + 0.044285714626312256, + -0.03714285418391228, + 1.0 + ], + "delta_full_state_norm": [ + 0.8101112790453233, + -0.3229659841549717, + -0.06783943547846116, + 0.27903549209599143, + 0.490196006938697, + -0.6303763941813709, + -1.0 + ], + "movement_text": "move forward 13 mm; move right 4 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 300 mm; move right 14 mm; move downward 1 mm; roll downward 1 degrees; pitch upward 3 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 532 mm; move right 96 mm; move downward 30 mm; roll downward 3 degrees; pitch upward 3 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 170, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 303 mm; move right 11 mm; move downward 1 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw clockwise 2 degrees; open gripper;\nSubtask Movement: move forward 519 mm; move right 92 mm; move downward 30 mm; roll downward 3 degrees; pitch upward 2 degrees; yaw clockwise 2 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 199, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.013928571715950966, + -0.002500000176951289, + 0.0, + 0.0, + 0.0028571428265422583, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.3028571903705597, + -0.011071428656578064, + -0.0014285714132711291, + -0.017142856493592262, + 0.04285714402794838, + -0.029999997466802597, + 1.0 + ], + "delta_full_state_norm": [ + 0.8338473469692489, + -0.28131089381370755, + -0.06783943547846116, + 0.27903549209599143, + 0.505757785598989, + -0.5967742452106628, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 3 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 303 mm; move right 11 mm; move downward 1 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw clockwise 2 degrees; open gripper;", + "subtask_movement_text": "move forward 519 mm; move right 92 mm; move downward 30 mm; roll downward 3 degrees; pitch upward 2 degrees; yaw clockwise 2 degrees; open gripper;" + }, + { + "frame_index": 171, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 2 mm; move downward 1 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 305 mm; move right 10 mm; move downward 1 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 505 mm; move right 90 mm; move downward 30 mm; roll downward 3 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.0021428572945296764, + -0.0010714286472648382, + 0.0, + 0.0057142856530845165, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.3053571879863739, + -0.009642857126891613, + -0.0014285714132711291, + -0.017142856493592262, + 0.03999999910593033, + -0.024285713210701942, + 1.0 + ], + "delta_full_state_norm": [ + 0.8457153964053556, + -0.2674258636999528, + -0.13065349105282698, + 0.27903549209599143, + 0.5368813429195729, + -0.5967742452106628, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 2 mm; move downward 1 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 305 mm; move right 10 mm; move downward 1 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 505 mm; move right 90 mm; move downward 30 mm; roll downward 3 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 172, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 308 mm; move right 10 mm; move downward 2 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 491 mm; move right 87 mm; move downward 29 mm; roll downward 3 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.0014285714132711291, + -0.0003571428533177823, + 0.0, + 0.0057142856530845165, + -0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + 0.3078571856021881, + -0.009642857126891613, + -0.0017857144121080637, + -0.017142856493592262, + 0.034285712987184525, + -0.01857142709195614, + 1.0 + ], + "delta_full_state_norm": [ + 0.8575833839448868, + -0.23965579894643907, + -0.08877745229699563, + 0.27903549209599143, + 0.5368813429195729, + -0.5967742452106628, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 308 mm; move right 10 mm; move downward 2 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 491 mm; move right 87 mm; move downward 29 mm; roll downward 3 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 173, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 311 mm; move right 11 mm; move downward 3 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;\nSubtask Movement: move forward 476 mm; move right 86 mm; move downward 28 mm; roll downward 3 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 198, + 53 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01428571529686451, + -0.0010714286472648382, + 0.0, + 0.0, + 0.0057142856530845165, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.31071433424949646, + -0.010714286006987095, + -0.0028571428265422583, + -0.017142856493592262, + 0.02857142500579357, + -0.012857142835855484, + 1.0 + ], + "delta_full_state_norm": [ + 0.8457153964053556, + -0.22577077335868878, + -0.06783943547846116, + 0.27903549209599143, + 0.5368813429195729, + -0.5631720962399547, + -1.0 + ], + "movement_text": "move forward 14 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 311 mm; move right 11 mm; move downward 3 mm; roll downward 1 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 476 mm; move right 86 mm; move downward 28 mm; roll downward 3 degrees; pitch upward 2 degrees; yaw clockwise 1 degrees; open gripper;" + }, + { + "frame_index": 174, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 314 mm; move right 12 mm; move downward 4 mm; roll downward 1 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 462 mm; move right 85 mm; move downward 28 mm; roll downward 3 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.0010714286472648382, + 0.0, + 0.0, + 0.004285714123398066, + -0.004285714123398066, + 1.0 + ], + "delta_next_20": [ + 0.3139285743236542, + -0.011785714887082577, + -0.0035714288242161274, + -0.01857142709195614, + 0.022857140749692917, + -0.008571428246796131, + 1.0 + ], + "delta_full_state_norm": [ + 0.8575833839448868, + -0.22577077335868878, + -0.06783943547846116, + 0.27903549209599143, + 0.5213195629911402, + -0.5631720962399547, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 314 mm; move right 12 mm; move downward 4 mm; roll downward 1 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 462 mm; move right 85 mm; move downward 28 mm; roll downward 3 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 175, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 317 mm; move right 16 mm; move downward 5 mm; roll downward 1 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 447 mm; move right 84 mm; move downward 28 mm; roll downward 3 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.0014285714132711291, + 0.0, + 0.0, + 0.004285714123398066, + -0.0028571428265422583, + 1.0 + ], + "delta_next_20": [ + 0.31714287400245667, + -0.015714285895228386, + -0.005357143469154835, + -0.01857142709195614, + 0.01857142709195614, + -0.004285714123398066, + 1.0 + ], + "delta_full_state_norm": [ + 0.8575833839448868, + -0.23965579894643907, + -0.06783943547846116, + 0.27903549209599143, + 0.5213195629911402, + -0.5295699527457733, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 317 mm; move right 16 mm; move downward 5 mm; roll downward 1 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 447 mm; move right 84 mm; move downward 28 mm; roll downward 3 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 176, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 321 mm; move right 20 mm; move downward 7 mm; roll downward 1 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 432 mm; move right 83 mm; move downward 28 mm; roll downward 3 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 197, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.0003571428533177823, + 0.0, + 0.0, + 0.004285714123398066, + -0.0014285714132711291, + 1.0 + ], + "delta_next_20": [ + 0.3207142949104309, + -0.020000001415610313, + -0.007142857648432255, + -0.01857142709195614, + 0.014285714365541935, + -0.0014285714132711291, + 1.0 + ], + "delta_full_state_norm": [ + 0.8575833839448868, + -0.19800071199967828, + -0.06783943547846116, + 0.27903549209599143, + 0.5213195629911402, + -0.4959678065133285, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 321 mm; move right 20 mm; move downward 7 mm; roll downward 1 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 432 mm; move right 83 mm; move downward 28 mm; roll downward 3 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 177, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 324 mm; move right 26 mm; move downward 10 mm; roll downward 1 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 418 mm; move right 82 mm; move downward 28 mm; roll downward 3 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 196, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + -0.0003571428533177823, + 0.0, + 0.0, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.32428571581840515, + -0.02571428380906582, + -0.009642857126891613, + -0.019999997690320015, + 0.009999999776482582, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8575833839448868, + -0.19800071199967828, + -0.06783943547846116, + 0.27903549209599143, + 0.5213195629911402, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 324 mm; move right 26 mm; move downward 10 mm; roll downward 1 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 418 mm; move right 82 mm; move downward 28 mm; roll downward 3 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 178, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 329 mm; move right 33 mm; move downward 13 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 403 mm; move right 82 mm; move downward 28 mm; roll downward 3 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 196, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.014642857015132904, + 0.0, + 0.0, + -0.0014285714132711291, + 0.004285714123398066, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3285714089870453, + -0.03285714611411095, + -0.012857143767178059, + -0.019999997690320015, + 0.0057142856530845165, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8575833839448868, + -0.18411568301742465, + -0.06783943547846116, + 0.2643339347018072, + 0.5213195629911402, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 329 mm; move right 33 mm; move downward 13 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 403 mm; move right 82 mm; move downward 28 mm; roll downward 3 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 179, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 333 mm; move right 41 mm; move downward 16 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 389 mm; move right 82 mm; move downward 28 mm; roll downward 3 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 195, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015000000596046448, + 0.0, + 0.0, + -0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3328571319580078, + -0.0414285734295845, + -0.01607142947614193, + -0.01857142709195614, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8694514333809935, + -0.18411568301742465, + -0.06783943547846116, + 0.2643339347018072, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 333 mm; move right 41 mm; move downward 16 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 389 mm; move right 82 mm; move downward 28 mm; roll downward 3 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 180, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 336 mm; move right 52 mm; move downward 20 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 374 mm; move right 82 mm; move downward 28 mm; roll downward 3 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 195, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015714285895228386, + 0.0, + 0.0, + 0.0, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.33642855286598206, + -0.05249999836087227, + -0.01964285783469677, + -0.019999999552965164, + 0.0014285714132711291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8931874703566312, + -0.18411568301742465, + -0.06783943547846116, + 0.27903549209599143, + 0.490196006938697, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 336 mm; move right 52 mm; move downward 20 mm; roll downward 1 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 374 mm; move right 82 mm; move downward 28 mm; roll downward 3 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 181, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 339 mm; move right 66 mm; move downward 24 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 358 mm; move right 82 mm; move downward 28 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 194, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3392857015132904, + -0.06642856448888779, + -0.023928573355078697, + -0.027142856270074844, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8813194518688123, + -0.18411568301742465, + -0.06783943547846116, + 0.27903549209599143, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 339 mm; move right 66 mm; move downward 24 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 358 mm; move right 82 mm; move downward 28 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 182, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 342 mm; move right 82 mm; move downward 28 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 342 mm; move right 82 mm; move downward 28 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 194, + 51 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015714285895228386, + 0.0, + 0.0, + -0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3424999713897705, + -0.08178570866584778, + -0.028214288875460625, + -0.044285714626312256, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8931874703566312, + -0.18411568301742465, + -0.06783943547846116, + 0.2643339347018072, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 342 mm; move right 82 mm; move downward 28 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 342 mm; move right 82 mm; move downward 28 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 183, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 345 mm; move right 99 mm; move downward 34 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 327 mm; move right 82 mm; move downward 28 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 193, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015714285895228386, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3449999988079071, + -0.09857141971588135, + -0.033571433275938034, + -0.06285713613033295, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8931874703566312, + -0.18411568301742465, + -0.06783943547846116, + 0.27903549209599143, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 345 mm; move right 99 mm; move downward 34 mm; roll downward 4 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 327 mm; move right 82 mm; move downward 28 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 184, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 348 mm; move right 117 mm; move downward 39 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 311 mm; move right 82 mm; move downward 28 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 193, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015357143245637417, + 0.0, + 0.0, + -0.0057142856530845165, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3482142984867096, + -0.11714284867048264, + -0.038928575813770294, + -0.08999998867511749, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8813194518688123, + -0.18411568301742465, + -0.06783943547846116, + 0.22022926251925434, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 15 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 348 mm; move right 117 mm; move downward 39 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 311 mm; move right 82 mm; move downward 28 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 185, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 352 mm; move right 135 mm; move downward 44 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 296 mm; move right 82 mm; move downward 28 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015714285895228386, + 0.0, + 0.0, + -0.0028571428265422583, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.35178571939468384, + -0.13535712659358978, + -0.044285718351602554, + -0.11142857372760773, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8931874703566312, + -0.18411568301742465, + -0.06783943547846116, + 0.249632377307623, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 352 mm; move right 135 mm; move downward 44 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 296 mm; move right 82 mm; move downward 28 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 186, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 355 mm; move right 153 mm; move downward 49 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 280 mm; move right 82 mm; move downward 28 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01607142947614193, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3553571403026581, + -0.15321427583694458, + -0.04928572103381157, + -0.13428571820259094, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9050555197927381, + -0.18411568301742465, + -0.06783943547846116, + 0.27903549209599143, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 355 mm; move right 153 mm; move downward 49 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 280 mm; move right 82 mm; move downward 28 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 187, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 358 mm; move right 169 mm; move downward 54 mm; roll downward 9 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 264 mm; move right 82 mm; move downward 28 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 191, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01607142947614193, + 0.0, + 0.0, + -0.0028571428265422583, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.35821428894996643, + -0.16928569972515106, + -0.05428571626543999, + -0.15857143700122833, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9050555197927381, + -0.18411568301742465, + -0.06783943547846116, + 0.249632377307623, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 358 mm; move right 169 mm; move downward 54 mm; roll downward 9 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 264 mm; move right 82 mm; move downward 28 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 188, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 361 mm; move right 184 mm; move downward 59 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 248 mm; move right 82 mm; move downward 28 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 191, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.015714285895228386, + 0.0, + 0.0, + -0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.36071428656578064, + -0.18392856419086456, + -0.05857143551111221, + -0.17571428418159485, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.8931874703566312, + -0.18411568301742465, + -0.06783943547846116, + 0.2643339347018072, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 361 mm; move right 184 mm; move downward 59 mm; roll downward 10 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 248 mm; move right 82 mm; move downward 28 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 189, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 361 mm; move right 195 mm; move downward 63 mm; roll downward 11 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 232 mm; move right 82 mm; move downward 28 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 190, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01607142947614193, + -0.0007142857066355646, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3614285886287689, + -0.19535712897777557, + -0.0625000074505806, + -0.18857142329216003, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9050555197927381, + -0.2118857409819319, + -0.06783943547846116, + 0.27903549209599143, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 361 mm; move right 195 mm; move downward 63 mm; roll downward 11 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 232 mm; move right 82 mm; move downward 28 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 190, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 357 mm; move right 204 mm; move downward 65 mm; roll downward 11 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 216 mm; move right 81 mm; move downward 28 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 190, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.016428573057055473, + -0.0010714286472648382, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.35678574442863464, + -0.20428572595119476, + -0.0650000050663948, + -0.19999998807907104, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9169235692288449, + -0.22577077335868878, + -0.06783943547846116, + 0.27903549209599143, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 1 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 357 mm; move right 204 mm; move downward 65 mm; roll downward 11 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 216 mm; move right 81 mm; move downward 28 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 191, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 17 mm; move right 2 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 340 mm; move right 206 mm; move downward 67 mm; roll downward 12 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 200 mm; move right 80 mm; move downward 28 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 189, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.016785714775323868, + -0.0021428572945296764, + -0.0014285714132711291, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.3403571546077728, + -0.2060714215040207, + -0.06678571552038193, + -0.2085714191198349, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9287915567683758, + -0.2674258636999528, + -0.1515915027525988, + 0.27903549209599143, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 17 mm; move right 2 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 340 mm; move right 206 mm; move downward 67 mm; roll downward 12 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 200 mm; move right 80 mm; move downward 28 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 192, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 3 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 324 mm; move right 204 mm; move downward 66 mm; roll downward 12 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 183 mm; move right 78 mm; move downward 27 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 189, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.017500000074505806, + -0.002500000176951289, + -0.0014285714132711291, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.32357141375541687, + -0.20392857491970062, + -0.06607143580913544, + -0.20999999344348907, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9525275937440136, + -0.28131089381370755, + -0.1515915027525988, + 0.27903549209599143, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 18 mm; move right 3 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 324 mm; move right 204 mm; move downward 66 mm; roll downward 12 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 183 mm; move right 78 mm; move downward 27 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 193, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 2 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 295 mm; move right 201 mm; move downward 65 mm; roll downward 12 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 165 mm; move right 75 mm; move downward 25 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 188, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.017500000074505806, + -0.0021428572945296764, + -0.0007142857066355646, + -0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.294642835855484, + -0.20142856240272522, + -0.06464286148548126, + -0.20999999344348907, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9525275937440136, + -0.2674258636999528, + -0.10971546911552998, + 0.2643339347018072, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 18 mm; move right 2 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 295 mm; move right 201 mm; move downward 65 mm; roll downward 12 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 165 mm; move right 75 mm; move downward 25 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 194, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 5 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 250 mm; move right 194 mm; move downward 64 mm; roll downward 12 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move forward 148 mm; move right 73 mm; move downward 25 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 188, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.01785714365541935, + -0.005000000353902578, + -0.0017857144121080637, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.25035715103149414, + -0.19357143342494965, + -0.06392857432365417, + -0.2085714191198349, + 0.0, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.9643956431801204, + -0.37850610460999046, + -0.17252952810240418, + 0.27903549209599143, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 18 mm; move right 5 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 250 mm; move right 194 mm; move downward 64 mm; roll downward 12 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 148 mm; move right 73 mm; move downward 25 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 195, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 6 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 198 mm; move right 174 mm; move downward 62 mm; roll downward 12 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move forward 130 mm; move right 68 mm; move downward 23 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 188, + 48 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018214285373687744, + -0.0057142856530845165, + -0.0017857144121080637, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.19750000536441803, + -0.17357143759727478, + -0.062142856419086456, + -0.2085714191198349, + 0.0, + 0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + 0.9762636307196513, + -0.40627614673348234, + -0.17252952810240418, + 0.27903549209599143, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 18 mm; move right 6 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 198 mm; move right 174 mm; move downward 62 mm; roll downward 12 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move forward 130 mm; move right 68 mm; move downward 23 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 196, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 6 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 139 mm; move right 151 mm; move downward 60 mm; roll downward 12 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 112 mm; move right 62 mm; move downward 21 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 187, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018214285373687744, + -0.006071428768336773, + -0.002500000176951289, + -0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.13857142627239227, + -0.15071430802345276, + -0.060357142239809036, + -0.2085714191198349, + 0.0, + 0.011428571306169033, + 1.0 + ], + "delta_full_state_norm": [ + 0.9762636307196513, + -0.4201611858992458, + -0.2144055651519814, + 0.2643339347018072, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 18 mm; move right 6 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 139 mm; move right 151 mm; move downward 60 mm; roll downward 12 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 112 mm; move right 62 mm; move downward 21 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 197, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 8 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 75 mm; move right 126 mm; move downward 59 mm; roll downward 12 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 94 mm; move right 56 mm; move downward 19 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 187, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018928570672869682, + -0.007500000298023224, + -0.0032142859417945147, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.07464288920164108, + -0.12642858922481537, + -0.059285711497068405, + -0.20714284479618073, + 0.0, + 0.011428571306169033, + 1.0 + ], + "delta_full_state_norm": [ + 0.9999996676952891, + -0.47570130635426455, + -0.2562816022015586, + 0.27903549209599143, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 19 mm; move right 8 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 75 mm; move right 126 mm; move downward 59 mm; roll downward 12 degrees; pitch downward 0 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 94 mm; move right 56 mm; move downward 19 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 198, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 9 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move forward 12 mm; move right 96 mm; move downward 62 mm; roll downward 12 degrees; pitch upward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 75 mm; move right 49 mm; move downward 15 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 187, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018928570672869682, + -0.008571429178118706, + -0.0032142859417945147, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + 0.012142881751060486, + -0.09642858803272247, + -0.062142860144376755, + -0.20714284479618073, + 0.0057142856530845165, + 0.011428571306169033, + 1.0 + ], + "delta_full_state_norm": [ + 0.9999996676952891, + -0.5173564057475375, + -0.2562816022015586, + 0.27903549209599143, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 19 mm; move right 9 mm; move downward 3 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move forward 12 mm; move right 96 mm; move downward 62 mm; roll downward 12 degrees; pitch upward 0 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 75 mm; move right 49 mm; move downward 15 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 199, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 11 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 48 mm; move right 62 mm; move downward 69 mm; roll downward 12 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 56 mm; move right 40 mm; move downward 12 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 187, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018571428954601288, + -0.011071428656578064, + -0.0035714288242161274, + -0.0028571428265422583, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.04821429401636124, + -0.062142860144376755, + -0.06857144087553024, + -0.20571427047252655, + 0.022857142612338066, + 0.011428571306169033, + 1.0 + ], + "delta_full_state_norm": [ + 0.9881316801557583, + -0.614551589387794, + -0.2772196207263472, + 0.249632377307623, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 19 mm; move right 11 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 48 mm; move right 62 mm; move downward 69 mm; roll downward 12 degrees; pitch upward 1 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 56 mm; move right 40 mm; move downward 12 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 200, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 14 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 106 mm; move right 23 mm; move downward 79 mm; roll downward 10 degrees; pitch upward 3 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 37 mm; move right 29 mm; move downward 9 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 188, + 45 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018571428954601288, + -0.013928571715950966, + -0.004285714589059353, + -0.0071428571827709675, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.10607142746448517, + -0.022500012069940567, + -0.07857143133878708, + -0.1728571206331253, + 0.04714285582304001, + 0.011428571306169033, + 1.0 + ], + "delta_full_state_norm": [ + 0.9881316801557583, + -0.7256318302978316, + -0.3190956577759244, + 0.20552770392702957, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 19 mm; move right 14 mm; move downward 4 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 106 mm; move right 23 mm; move downward 79 mm; roll downward 10 degrees; pitch upward 3 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 37 mm; move right 29 mm; move downward 9 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 201, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 15 mm; move downward 4 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 161 mm; move left 21 mm; move downward 90 mm; roll downward 6 degrees; pitch upward 4 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 19 mm; move right 15 mm; move downward 4 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 188, + 45 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018571428954601288, + -0.015357143245637417, + -0.004285714589059353, + -0.017142856493592262, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.16107141971588135, + 0.0210714228451252, + -0.08964286744594574, + -0.10714283585548401, + 0.0771428570151329, + 0.011428571306169033, + 1.0 + ], + "delta_full_state_norm": [ + 0.9881316801557583, + -0.7811719507528504, + -0.3190956577759244, + 0.10261680815794261, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 19 mm; move right 15 mm; move downward 4 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 161 mm; move left 21 mm; move downward 90 mm; roll downward 6 degrees; pitch upward 4 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 19 mm; move right 15 mm; move downward 4 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 202, + "segment_id": 0, + "subtask": "approach the microwave", + "reason": "The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: approach the microwave\nSubtask Reasoning: The robot's arm is moving from the lower workspace area towards the upper right corner where the microwave is located, indicating a transition to approach the target object.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 18 mm; move right 17 mm; move downward 5 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 214 mm; move left 67 mm; move downward 101 mm; roll downward 1 degrees; pitch upward 7 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 188, + 44 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018214285373687744, + -0.016785714775323868, + -0.0053571430034935474, + -0.019999999552965164, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.21357141435146332, + 0.06714284420013428, + -0.10142858326435089, + -0.024285703897476196, + 0.11571428179740906, + 0.011428571306169033, + 1.0 + ], + "delta_full_state_norm": [ + 0.9762636307196513, + -0.8367120712078693, + -0.3819096997002567, + 0.07321369097349284, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 18 mm; move right 17 mm; move downward 5 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 214 mm; move left 67 mm; move downward 101 mm; roll downward 1 degrees; pitch upward 7 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 203, + "segment_id": 203, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 19 mm; move downward 5 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 265 mm; move left 115 mm; move downward 112 mm; roll upward 4 degrees; pitch upward 9 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 111 mm; move right 109 mm; move downward 34 mm; roll downward 9 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 188, + 44 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018928570672869682, + -0.018571428954601288, + -0.0053571430034935474, + -0.027142856270074844, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2646428644657135, + 0.11499998718500137, + -0.11214286088943481, + 0.061428576707839966, + 0.16285714507102966, + 0.011428571306169033, + 1.0 + ], + "delta_full_state_norm": [ + 0.9999996676952891, + -0.906137212724634, + -0.3819096997002567, + -0.0002940924033068004, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 19 mm; move right 19 mm; move downward 5 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 265 mm; move left 115 mm; move downward 112 mm; roll upward 4 degrees; pitch upward 9 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 111 mm; move right 109 mm; move downward 34 mm; roll downward 9 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 204, + "segment_id": 203, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 18 mm; move downward 5 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 315 mm; move left 164 mm; move downward 124 mm; roll upward 9 degrees; pitch upward 13 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 92 mm; move right 91 mm; move downward 29 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 188, + 43 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018928570672869682, + -0.018214285373687744, + -0.0053571430034935474, + -0.027142856270074844, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3149999678134918, + 0.16428570449352264, + -0.12428571283817291, + 0.16428571939468384, + 0.2199999988079071, + 0.011428571306169033, + 1.0 + ], + "delta_full_state_norm": [ + 0.9999996676952891, + -0.892252155454853, + -0.3819096997002567, + -0.0002940924033068004, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 19 mm; move right 18 mm; move downward 5 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 315 mm; move left 164 mm; move downward 124 mm; roll upward 9 degrees; pitch upward 13 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 92 mm; move right 91 mm; move downward 29 mm; roll downward 8 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 205, + "segment_id": 203, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 18 mm; move downward 5 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 365 mm; move left 213 mm; move downward 138 mm; roll upward 16 degrees; pitch upward 16 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 73 mm; move right 73 mm; move downward 23 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 189, + 43 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.019285714253783226, + -0.01785714365541935, + -0.005000000353902578, + -0.025714285671710968, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.36464282870292664, + 0.21285712718963623, + -0.13785715401172638, + 0.2800000011920929, + 0.28714287281036377, + 0.011428571306169033, + 1.0 + ], + "delta_full_state_norm": [ + 1.0, + -0.8783671706011421, + -0.3609716948255016, + 0.014407456604593305, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 19 mm; move right 18 mm; move downward 5 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 365 mm; move left 213 mm; move downward 138 mm; roll upward 16 degrees; pitch upward 16 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 73 mm; move right 73 mm; move downward 23 mm; roll downward 6 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 206, + "segment_id": 203, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 16 mm; move downward 5 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 384 mm; move left 231 mm; move downward 133 mm; roll upward 18 degrees; pitch upward 16 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 54 mm; move right 55 mm; move downward 18 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 189, + 42 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018928570672869682, + -0.01607142947614193, + -0.005000000353902578, + -0.02428571507334709, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3839285373687744, + 0.23071430623531342, + -0.13285714387893677, + 0.30571427941322327, + 0.28714287281036377, + 0.011428571306169033, + 1.0 + ], + "delta_full_state_norm": [ + 0.9999996676952891, + -0.8089420290843773, + -0.3609716948255016, + 0.029109005612493632, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 19 mm; move right 16 mm; move downward 5 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 384 mm; move left 231 mm; move downward 133 mm; roll upward 18 degrees; pitch upward 16 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 54 mm; move right 55 mm; move downward 18 mm; roll downward 5 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 207, + "segment_id": 203, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 19 mm; move right 15 mm; move downward 4 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 403 mm; move left 247 mm; move downward 128 mm; roll upward 19 degrees; pitch upward 16 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 35 mm; move right 39 mm; move downward 13 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 189, + 42 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.018571428954601288, + -0.014642857015132904, + -0.004285714589059353, + -0.019999999552965164, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.40285712480545044, + 0.2467857152223587, + -0.12785713374614716, + 0.33000001311302185, + 0.28714287281036377, + 0.011428571306169033, + 1.0 + ], + "delta_full_state_norm": [ + 0.9881316801557583, + -0.7534018724213235, + -0.3190956577759244, + 0.07321369097349284, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 19 mm; move right 15 mm; move downward 4 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 403 mm; move left 247 mm; move downward 128 mm; roll upward 19 degrees; pitch upward 16 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 35 mm; move right 39 mm; move downward 13 mm; roll downward 3 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 208, + "segment_id": 203, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 16 mm; move right 11 mm; move downward 4 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 421 mm; move left 261 mm; move downward 124 mm; roll upward 20 degrees; pitch upward 16 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move forward 16 mm; move right 24 mm; move downward 9 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 189, + 41 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.016428573057055473, + -0.011428571306169033, + -0.0039285714738070965, + -0.014285714365541935, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.42142853140830994, + 0.261428564786911, + -0.12357143312692642, + 0.3499999940395355, + 0.28714287281036377, + 0.011428571306169033, + 1.0 + ], + "delta_full_state_norm": [ + 0.9169235692288449, + -0.62843661044954, + -0.29815762560110226, + 0.13201991575806749, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 16 mm; move right 11 mm; move downward 4 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 421 mm; move left 261 mm; move downward 124 mm; roll upward 20 degrees; pitch upward 16 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move forward 16 mm; move right 24 mm; move downward 9 mm; roll downward 2 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 209, + "segment_id": 203, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move forward 11 mm; move right 10 mm; move downward 3 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 438 mm; move left 273 mm; move downward 120 mm; roll upward 21 degrees; pitch upward 16 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 13 mm; move downward 5 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 189, + 41 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.011428571306169033, + -0.009642857126891613, + -0.002500000176951289, + -0.011428571306169033, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.43785712122917175, + 0.2728571593761444, + -0.11964285373687744, + 0.3642857074737549, + 0.28714287281036377, + 0.011428571306169033, + 1.0 + ], + "delta_full_state_norm": [ + 0.7507711556579408, + -0.5590114689327752, + -0.2144055651519814, + 0.16142303294251725, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move forward 11 mm; move right 10 mm; move downward 3 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 438 mm; move left 273 mm; move downward 120 mm; roll upward 21 degrees; pitch upward 16 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 13 mm; move downward 5 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 210, + "segment_id": 203, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 3 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 449 mm; move left 282 mm; move downward 117 mm; roll upward 22 degrees; pitch upward 16 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 11 mm; move right 3 mm; move downward 3 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 189, + 40 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + -0.0028571428265422583, + -0.0017857144121080637, + -0.008571428246796131, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.44928571581840515, + 0.2824999988079071, + -0.11714285612106323, + 0.3757142722606659, + 0.28714287281036377, + 0.011428571306169033, + 1.0 + ], + "delta_full_state_norm": [ + 0.37099434740972104, + -0.2951959148754535, + -0.17252952810240418, + 0.19082615012696702, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 3 mm; move downward 2 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 449 mm; move left 282 mm; move downward 117 mm; roll upward 22 degrees; pitch upward 16 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 11 mm; move right 3 mm; move downward 3 mm; roll downward 1 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 211, + "segment_id": 203, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 449 mm; move left 285 mm; move downward 115 mm; roll upward 22 degrees; pitch upward 16 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 11 mm; move right 0 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 189, + 40 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + -0.0007142857066355646, + -0.0014285714132711291, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.44928571581840515, + 0.28535717725753784, + -0.11535715311765671, + 0.38428571820259094, + 0.28714287281036377, + 0.011428571306169033, + 1.0 + ], + "delta_full_state_norm": [ + 0.37099434740972104, + -0.18411568301742465, + -0.10971546911552998, + 0.2643339347018072, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 449 mm; move left 285 mm; move downward 115 mm; roll upward 22 degrees; pitch upward 16 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 11 mm; move right 0 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 212, + "segment_id": 203, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 449 mm; move left 285 mm; move downward 115 mm; roll upward 22 degrees; pitch upward 16 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 190, + 40 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.011428571306169033, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.44928571581840515, + 0.28535717725753784, + -0.11464285850524902, + 0.3857142925262451, + 0.28714287281036377, + 0.011428571306169033, + 1.0 + ], + "delta_full_state_norm": [ + -0.008782460838498651, + -0.18411568301742465, + -0.06783943547846116, + 0.27903549209599143, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 449 mm; move left 285 mm; move downward 115 mm; roll upward 22 degrees; pitch upward 16 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 11 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 213, + "segment_id": 203, + "subtask": "press the stop button", + "reason": "The robot's end-effector is in direct contact with the microwave control panel and remains stationary, indicating the execution of a press action.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: press the stop button\nSubtask Reasoning: The robot's end-effector is in direct contact with the microwave control panel and remains stationary, indicating the execution of a press action.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 27 mm; move left 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 438 mm; move left 285 mm; move downward 115 mm; roll upward 22 degrees; pitch upward 16 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 190, + 40 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.02678571455180645, + 0.0057142856530845165, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.43785712122917175, + 0.28535717725753784, + -0.11464285850524902, + 0.3857142925262451, + 0.28714287281036377, + 0.011428571306169033, + 1.0 + ], + "delta_full_state_norm": [ + -0.5191075652975898, + 0.03804478069863304, + -0.06783943547846116, + 0.27903549209599143, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 27 mm; move left 6 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 438 mm; move left 285 mm; move downward 115 mm; roll upward 22 degrees; pitch upward 16 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 214, + "segment_id": 214, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving away from the stove area, leaving the workspace clear after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving away from the stove area, leaving the workspace clear after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 35 mm; move left 15 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 411 mm; move left 280 mm; move downward 115 mm; roll upward 22 degrees; pitch upward 16 degrees; yaw counterclockwise 1 degrees; open gripper;\nSubtask Movement: move backward 165 mm; move left 73 mm; move downward 8 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 1 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 191, + 40 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03500000014901161, + 0.015000000596046448, + 0.0, + 0.0, + 0.0, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + -0.41107138991355896, + 0.27964285016059875, + -0.11464285850524902, + 0.3857142925262451, + 0.28714287281036377, + 0.011428571306169033, + 1.0 + ], + "delta_full_state_norm": [ + -0.7920721452588638, + 0.39905556365625516, + -0.06783943547846116, + 0.27903549209599143, + 0.47463422827840507, + -0.32795707535110463, + -1.0 + ], + "movement_text": "move backward 35 mm; move left 15 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 411 mm; move left 280 mm; move downward 115 mm; roll upward 22 degrees; pitch upward 16 degrees; yaw counterclockwise 1 degrees; open gripper;", + "subtask_movement_text": "move backward 165 mm; move left 73 mm; move downward 8 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 1 degrees; open gripper;" + }, + { + "frame_index": 215, + "segment_id": 214, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving away from the stove area, leaving the workspace clear after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving away from the stove area, leaving the workspace clear after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 41 mm; move left 17 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 376 mm; move left 265 mm; move downward 115 mm; roll upward 22 degrees; pitch upward 16 degrees; yaw counterclockwise 0 degrees; open gripper;\nSubtask Movement: move backward 130 mm; move left 58 mm; move downward 8 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 191, + 41 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.040714286267757416, + 0.01714285835623741, + 0.0, + 0.0, + 0.0, + 0.0057142856530845165, + 1.0 + ], + "delta_next_20": [ + -0.37607142329216003, + 0.2646428942680359, + -0.11464285850524902, + 0.3857142925262451, + 0.28714287281036377, + 0.0057142856530845165, + 1.0 + ], + "delta_full_state_norm": [ + -0.9819605648571177, + 0.4823657624428008, + -0.06783943547846116, + 0.27903549209599143, + 0.47463422827840507, + -0.32795707535110463, + -1.0 + ], + "movement_text": "move backward 41 mm; move left 17 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw counterclockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 376 mm; move left 265 mm; move downward 115 mm; roll upward 22 degrees; pitch upward 16 degrees; yaw counterclockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 130 mm; move left 58 mm; move downward 8 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw counterclockwise 0 degrees; open gripper;" + }, + { + "frame_index": 216, + "segment_id": 214, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving away from the stove area, leaving the workspace clear after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving away from the stove area, leaving the workspace clear after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 46 mm; move left 18 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 335 mm; move left 248 mm; move downward 115 mm; roll upward 22 degrees; pitch upward 16 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 89 mm; move left 41 mm; move downward 8 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 41 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.04571428522467613, + 0.018214285373687744, + -0.0014285714132711291, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.3353571593761444, + 0.24750001728534698, + -0.11464285850524902, + 0.3857142925262451, + 0.28714287281036377, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.5240207894200037, + -0.1515915027525988, + 0.27903549209599143, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 46 mm; move left 18 mm; move downward 1 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 335 mm; move left 248 mm; move downward 115 mm; roll upward 22 degrees; pitch upward 16 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 89 mm; move left 41 mm; move downward 8 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 217, + "segment_id": 214, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving away from the stove area, leaving the workspace clear after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving away from the stove area, leaving the workspace clear after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 44 mm; move left 22 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 290 mm; move left 229 mm; move downward 113 mm; roll upward 22 degrees; pitch upward 16 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 44 mm; move left 22 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 193, + 42 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.04357142746448517, + 0.022499999031424522, + -0.006071428768336773, + 0.0, + 0.0057142856530845165, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.289642870426178, + 0.22928571701049805, + -0.11321429163217545, + 0.3857142925262451, + 0.28714287281036377, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.690641114577025, + -0.4237857367498339, + 0.27903549209599143, + 0.5368813429195729, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 44 mm; move left 22 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 290 mm; move left 229 mm; move downward 113 mm; roll upward 22 degrees; pitch upward 16 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 44 mm; move left 22 mm; move downward 6 mm; roll downward 0 degrees; pitch upward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 218, + "segment_id": 214, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving away from the stove area, leaving the workspace clear after the previous interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving away from the stove area, leaving the workspace clear after the previous interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 41 mm; move left 26 mm; move downward 10 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 246 mm; move left 207 mm; move downward 107 mm; roll upward 22 degrees; pitch upward 16 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 193, + 43 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.0414285734295845, + 0.025714287534356117, + -0.009642857126891613, + 0.0014285714132711291, + 0.017142856493592262, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2460714429616928, + 0.20678570866584778, + -0.1071428582072258, + 0.3857142925262451, + 0.28142857551574707, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -1.0, + 0.8156064851729137, + -0.6331658946976527, + 0.29373704949017587, + 0.6613755671293458, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 41 mm; move left 26 mm; move downward 10 mm; roll upward 0 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 246 mm; move left 207 mm; move downward 107 mm; roll upward 22 degrees; pitch upward 16 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 219, + "segment_id": 10214, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving away from the stove/microwave area, indicating a retreat action after completing an interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving away from the stove/microwave area, indicating a retreat action after completing an interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 39 mm; move left 29 mm; move downward 14 mm; roll upward 2 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 205 mm; move left 181 mm; move downward 97 mm; roll upward 22 degrees; pitch upward 15 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 174 mm; move left 151 mm; move downward 79 mm; roll upward 17 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 194, + 44 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03928571566939354, + 0.02857143059372902, + -0.013571429066359997, + 0.029999999329447746, + 0.02428571507334709, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.2046428769826889, + 0.1810714304447174, + -0.09749999642372131, + 0.38428571820259094, + 0.264285683631897, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.9344884909058421, + 0.9266867260829512, + -0.8634841121203609, + 0.5877681937797397, + 0.7391844769166338, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 39 mm; move left 29 mm; move downward 14 mm; roll upward 2 degrees; pitch upward 1 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 205 mm; move left 181 mm; move downward 97 mm; roll upward 22 degrees; pitch upward 15 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 174 mm; move left 151 mm; move downward 79 mm; roll upward 17 degrees; pitch upward 11 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 220, + "segment_id": 10214, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving away from the stove/microwave area, indicating a retreat action after completing an interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving away from the stove/microwave area, indicating a retreat action after completing an interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 36 mm; move left 30 mm; move downward 15 mm; roll upward 3 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 165 mm; move left 153 mm; move downward 84 mm; roll upward 20 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 135 mm; move left 122 mm; move downward 65 mm; roll upward 15 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 194, + 46 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03642857074737549, + 0.029642855748534203, + -0.015357143245637417, + 0.058571428060531616, + 0.029999999329447746, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.16535715758800507, + 0.1525000035762787, + -0.08392857015132904, + 0.35428571701049805, + 0.23999999463558197, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.8395442192101394, + 0.9683416806440841, + -0.9681741910942703, + 0.8817993464555876, + 0.8014315763401136, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 36 mm; move left 30 mm; move downward 15 mm; roll upward 3 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 165 mm; move left 153 mm; move downward 84 mm; roll upward 20 degrees; pitch upward 14 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 135 mm; move left 122 mm; move downward 65 mm; roll upward 15 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 221, + "segment_id": 10214, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving away from the stove/microwave area, indicating a retreat action after completing an interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving away from the stove/microwave area, indicating a retreat action after completing an interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 34 mm; move left 31 mm; move downward 16 mm; roll upward 4 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 129 mm; move left 123 mm; move downward 69 mm; roll upward 17 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 98 mm; move left 92 mm; move downward 50 mm; roll upward 12 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 193, + 47 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03392856940627098, + 0.030714286491274834, + -0.01607142947614193, + 0.0657142847776413, + 0.03857142850756645, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.12892858684062958, + 0.12285714596509933, + -0.06857142597436905, + 0.29571428894996643, + 0.20999999344348907, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.7564679969505435, + 1.0, + -1.0, + 0.9553071298323872, + 0.8948022559107092, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 34 mm; move left 31 mm; move downward 16 mm; roll upward 4 degrees; pitch upward 2 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 129 mm; move left 123 mm; move downward 69 mm; roll upward 17 degrees; pitch upward 12 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 98 mm; move left 92 mm; move downward 50 mm; roll upward 12 degrees; pitch upward 8 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 222, + "segment_id": 10214, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving away from the stove/microwave area, indicating a retreat action after completing an interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving away from the stove/microwave area, indicating a retreat action after completing an interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 33 mm; move left 31 mm; move downward 16 mm; roll upward 4 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 95 mm; move left 92 mm; move downward 52 mm; roll upward 13 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 64 mm; move left 62 mm; move downward 34 mm; roll upward 8 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 193, + 49 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03285714611411095, + 0.031071428209543228, + -0.01607142947614193, + 0.0657142847776413, + 0.04714285582304001, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.0950000062584877, + 0.09214285761117935, + -0.05249999836087227, + 0.22999998927116394, + 0.17142857611179352, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.7208640962285262, + 1.0, + -1.0, + 0.9553071298323872, + 0.9881729151910543, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 33 mm; move left 31 mm; move downward 16 mm; roll upward 4 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 95 mm; move left 92 mm; move downward 52 mm; roll upward 13 degrees; pitch upward 10 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 64 mm; move left 62 mm; move downward 34 mm; roll upward 8 degrees; pitch upward 6 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 223, + "segment_id": 10214, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving away from the stove/microwave area, indicating a retreat action after completing an interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving away from the stove/microwave area, indicating a retreat action after completing an interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 31 mm; move left 31 mm; move downward 18 mm; roll upward 4 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 62 mm; move left 61 mm; move downward 36 mm; roll upward 9 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 31 mm; move left 31 mm; move downward 18 mm; roll upward 4 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 192, + 50 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + -0.03142857179045677, + 0.030714286491274834, + -0.017500000074505806, + 0.07571428269147873, + 0.05714285746216774, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.062142860144376755, + 0.06107143312692642, + -0.03642857074737549, + 0.16428571939468384, + 0.12428571283817291, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + -0.6733918984840992, + 1.0, + -1.0, + 1.0, + 1.0, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 31 mm; move left 31 mm; move downward 18 mm; roll upward 4 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 62 mm; move left 61 mm; move downward 36 mm; roll upward 9 degrees; pitch upward 7 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 31 mm; move left 31 mm; move downward 18 mm; roll upward 4 degrees; pitch upward 3 degrees; yaw clockwise 0 degrees; open gripper;" + }, + { + "frame_index": 224, + "segment_id": 10214, + "subtask": "move away from the microwave", + "reason": "The robot's arm is retracted and moving away from the stove/microwave area, indicating a retreat action after completing an interaction.", + "user": "What action should the robot take to achieve the instruction\nINSTRUCTION:\npress the stop button on the microwave\n", + "assistant_plan_level": "LONG PLAN:\n1. approach the microwave\n2. press the stop button\n3. move away from the microwave\n", + "assistant_short_plan": "SHORT PLAN:\nSubtask: move away from the microwave\nSubtask Reasoning: The robot's arm is retracted and moving away from the stove/microwave area, indicating a retreat action after completing an interaction.\n", + "assistant_movement_level": "MOVEMENT:\nCurrent Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\nNext 20 Movement: move backward 31 mm; move left 30 mm; move downward 19 mm; roll upward 5 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;\nSubtask Movement: move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;\n", + "assistant_position_level": null, + "assistant_object_level": "OBJECT:\n", + "gripper_2d": [ + 191, + 52 + ], + "task_obj_bbox": null, + "distractor_bboxes": [], + "delta_full_state": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "delta_next_20": [ + -0.030714286491274834, + 0.03035714291036129, + -0.018928570672869682, + 0.08857142925262451, + 0.06714285910129547, + 0.0, + 1.0 + ], + "delta_full_state_norm": [ + 0.37099434740972104, + -0.18411568301742465, + -0.06783943547846116, + 0.27903549209599143, + 0.47463422827840507, + -0.4623656602808838, + -1.0 + ], + "movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;", + "next_20_movement_text": "move backward 31 mm; move left 30 mm; move downward 19 mm; roll upward 5 degrees; pitch upward 4 degrees; yaw clockwise 0 degrees; open gripper;", + "subtask_movement_text": "move backward 0 mm; move right 0 mm; move downward 0 mm; roll downward 0 degrees; pitch downward 0 degrees; yaw clockwise 0 degrees; open gripper;" + } + ], + "all_object_names": [ + "obj" + ], + "obj_cat": "obj", + "distr_cats": [], + "grounding_camera": "robot0_agentview_left", + "grounding_method": "self_render_selfconsistent" +} \ No newline at end of file diff --git a/lerobot/PnPCounterToCab/videos/chunk-000/robot0_agentview_left_image/episode_000001.mp4 b/lerobot/PnPCounterToCab/videos/chunk-000/robot0_agentview_left_image/episode_000001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c1343161ebdaefe6308225d54a66aa11aae23a7a --- /dev/null +++ b/lerobot/PnPCounterToCab/videos/chunk-000/robot0_agentview_left_image/episode_000001.mp4 @@ -0,0 +1,3 @@ +version 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